JP7134056B2 - grab bucket controller - Google Patents

Description

The present invention relates to a grab bucket control device.

A cargo handling device such as an unloader that unloads cargo such as bulk cargo is provided with a grab bucket that can be opened and closed and raised and lowered. The grab bucket closes the bucket portion in the hold to grab the cargo, and then ascends and traverses while gripping the cargo to carry the cargo to a cargo collecting portion such as a hopper. In general, the grab bucket is lifted by winding a supporting wire, and closed by winding an opening/closing wire while fixing or unwinding the supporting wire.

Patent Literature 1 discloses a control method for driving a hoisting motor for raising and lowering a grab bucket in a lowering direction at a low speed when the grab bucket is closed to grab a load (see paragraph 0010).

JP-A-4-358695

Since the grab bucket reciprocates many times during cargo handling, if the grab bucket takes a long time to pick up the cargo at one time, the overall work time required for cargo handling increases accordingly. On the other hand, the operation suitable for the grab bucket to pick up the load differs depending on the type of load.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a grab bucket control device capable of shortening the overall work time required for cargo handling according to the type of cargo.

The present invention is a grab bucket control device that moves up and down by winding and unwinding a support wire, and controls a grab bucket that opens and closes according to the relative winding amount or unwinding amount of the support wire and the open/close wire. hand,
a control unit that performs winding control of the support wire and winding control of the opening/closing wire;
a selection unit that selects a pattern of grabbing motion of the grab bucket;
with
the grabbing motion includes a closing motion to close the grab bucket and a lifting of the grab bucket;
The control section is configured to change the length of the overlapping period between the terminal side period of the closing movement and the start side period of the rising, according to the pattern selected by the selection section.

ADVANTAGE OF THE INVENTION According to this invention, the control apparatus of the grab bucket which can shorten the synthetic work time required for cargo handling according to the kind of cargo can be provided.

FIG. 4 is a diagram showing a state (A) in which the bucket part is open and a state (B) in which the bucket part is closed in the grab bucket according to the embodiment of the present invention; 1 is a diagram showing a grab bucket control device according to an embodiment of the present invention; FIG. It is a time chart explaining the pick-up motion of a 1st pattern. It is a time chart explaining the pick-up motion of the second pattern. It is a time chart explaining the pick-up motion of a 3rd pattern.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a diagram showing a grab bucket according to an embodiment of the present invention, (A) shows a state in which the bucket section is open, and (B) shows a state in which the bucket section is closed. FIG. 2 is a diagram showing a grab bucket control device according to an embodiment of the present invention.

The grab bucket 10 and the control device 60 according to the present embodiment are provided, for example, in an unloader that unloads bulk cargo from a cargo ship at a harbor facility.

The grab bucket 10 includes a support portion 11 connected to support wires Wa and Wb, a bucket portion 13 supported by the support portion 11 so as to be capable of opening and closing motions, and a bucket portion 13 connected to opening and closing wires Wc and Wd to drive the bucket portion 13 to open and close. and a drive mechanism 19 for

The support portion 11 supports each element of the grab bucket 10, and the entire grab bucket 10 is moved up and down by moving the support portion 11 up and down. The support portion 11 moves up and down as the support wires Wa and Wb are wound up or unwound.

The drive mechanism 19 includes a frame 12 connected to the bucket portion 13 and a plurality of pulleys 15 and 16 rotatably supported by the support portion 11 and the frame 12 . A plurality of pulleys 15 and 16 are hung with an opening/closing wire Wc. When the opening/closing wire Wc is wound or unwound, the support portion 11 and the frame 12 are brought close to each other or separated from each other by a fraction of the winding amount of the opening/closing wire Wc, thereby opening/closing the bucket portion 13 . Although two pulleys 15 and 16 are shown in FIG. 1, the first set of pulleys 15 and 16 to which the opening/closing wire Wc is wound and the second set of pulleys to which another opening/closing wire Wd is wound are shown. 15 and 16 are provided in the direction perpendicular to the paper surface of FIG. Also, the number of pulleys 15 and 16 in each set is not limited to two, and may be three or more.

As shown in FIG. 2, the control device 60 includes an arithmetic unit 71, an operation unit 62 for inputting various operating commands by an operator, and an I/O 67 for inputting/outputting various signals.

The drive circuit 52 is connected to the I/O 67 and can be operated based on a control signal from the control device 60 . The drive circuit 52 drives the motors Ma-Md by supplying current to the motors Ma-Md. Further, the I/O 67 receives signals indicating the drive amount and the drive direction from the drive circuit 52, and the controller 60 can obtain the drive amounts of the motors Ma to Md based on these signals.

Support wires Wa, Wb and opening/closing wires Wc, Wd are wound around drums 51a-51d that are driven to rotate by motors Ma-Md. The control device 60 drives the motors Ma to Md via the drive circuit 52 to rotate the drums 51a to 51d, thereby winding or unwinding the support wires Wa, Wb and the opening/closing wires Wc, Wd. As a result, the grab bucket 10 can be moved up and down and opened and closed.

Specifically, the control device 60 winds the support wires Wa and Wb onto the drums 51a and 51b to raise the grab bucket 10, and the control device 60 lets out the support wires Wa and Wb from the drums 51a and 51b. As a result, the grab bucket 10 descends.

Furthermore, the grab bucket 10 is opened and closed by the control device 60 changing the relative winding amount or feeding amount of the opening/closing wires Wc and Wd with respect to the supporting wires Wa and Wb. Specifically, if winding is expressed by a positive winding amount and unwinding is expressed by a negative winding amount, the winding amount obtained by subtracting the winding amount of the support wires Wa and Wb from the winding amount of the opening/closing wires Wc and Wd is positive. , the bucket portion 13 of the grab bucket 10 moves in the closing direction, and if negative, the bucket portion 13 of the grab bucket 10 moves in the opening direction.

The grab bucket 10 grabs the cargo by opening the bucket part 13 and landing on the hold, closing the bucket part 13 and rising. The movement including the closing movement and the rising at this time is called a pick-up movement.

The operation unit 62 includes an operation lever 63 capable of at least lifting operation of the grab bucket 10, operation of grabbing motion, and operation of opening the bucket portion 13, and the type of grabbing motion of the grab bucket 10 is selected. A grab operation selection switch 64 and a load type input section 65 for inputting the type of load are included. The grab operation selection switch 64 and the cargo type input unit 65 may be configured by, for example, a display panel display and a touch panel provided on the display panel. Further, the load type input section 65 may include a first input section capable of inputting the brand of the load and a second input section capable of inputting the viscosity of the load.

The computing device 71 includes a CPU (Central Processing Unit), a storage device storing control programs and control data, and a memory in which the CPU develops data. Arithmetic device 71 implements a plurality of functional modules as a result of the CPU executing a control program. The plurality of functional modules include a drum control section 72 that drives the plurality of drums 51a to 51d in accordance with the operation of the operation lever 63, and a selection processing section that selects the pattern of the grab bucket 10 from among a plurality of types. 73, and a load type-grab operation correspondence data storage unit 74 that stores data showing the correspondence between a plurality of load types and the appropriate pick-up motion for each load type. The selection processing unit 73 and the grab operation selection switch 64, or the selection processing unit 73 and the load type input unit 65 correspond to an example of the selection unit according to the present invention.

The drum control unit 72 controls the plurality of drums 51a to 51d so that these operations are performed when the operation lever 63 receives from the operation unit 62 a command to traverse or lift the grab bucket 10 based on the operation. Furthermore, when the drum control unit 72 receives a command to grab the grab bucket 10 based on the operation of the operation lever 63, it controls the plurality of drums 51a to 51d according to the pattern selected by the selection processing unit 73. The grab bucket 10 is caused to perform a pick-up motion including a closing motion and a lift.

The selection processing unit 73 selects the pattern of the grabbing movement of the grab bucket 10 from a plurality of patterns based on the input of the grab operation selection switch 64 or the load type input unit 65 . When there is an input from the load type input unit 65, the selection processing unit 73 selects a pick-up movement pattern suitable for the input load type based on the data in the load type-grabbing operation correspondence data storage unit 74. to select. Further, when the grab operation selection switch 64 is operated, the selection processing unit 73 selects the pattern of the grab-up exercise according to this operation.

The data in the cargo type-grab operation correspondence data storage unit 74 associates the brand of cargo with the parameter indicating the pattern of the picking motion suitable for the standard cargo of each brand, for example, as shown in the correspondence table A. data. The parameters indicating the pattern of the grabbing movement include, for example, the amount related to the remaining opening of the bucket portion 13 when the grab bucket 10 starts to rise, and the amount related to the shortening time of the grabbing movement.

When the operator of the cargo handling equipment inputs the brand in the cargo type input unit 65, the selection processing unit 73 acquires from the correspondence table A the parameters of the pick-up motion pattern suitable for the standard cargo of the input brand. . The cargo is, for example, iron ore, coal, industrial salt, chemical raw materials, etc., and the brand may be classified according to the place of origin, particle size, and the like. Further, when the operator inputs the viscosity of the load in the load type input unit 65, the selection processing unit 73 corrects the parameters acquired from the correspondence table A according to the viscosity, and the parameters of the pick-up motion used in the actual control. may be determined as As the viscosity becomes lower, the appropriate remaining opening degree becomes smaller. The selection processing unit 73 is given in advance a coefficient or function for calculating the correction amount of the remaining opening according to the viscosity. can be applied to calculate the correction amount.

<Multiple patterns of picking up exercise>
3 to 5 show time charts for explaining the pick-up motions of the first to third patterns. In the first to fourth stages of each time chart, each time of the ascending/descending speed of the grab bucket 10, the opening/closing speed of the bucket portion 13, the winding speed of the support wires Wa and Wb, and the winding speed of the opening/closing wires Wc and Wd. A change is indicated. 3 to 5, the period from timing t0 to timing t1 shows the descent of the grab bucket, and at timing t1 when the descent is completed, the bucket portion 13 opens and the grab bucket 10 lands on the load. shall be in After timing t1, the grab bucket 10 is grabbed up, and timings t4a to t4c in FIGS.

The grabbing movement of the first pattern (FIG. 3) is a pattern in which the period T1e on the terminal end of the closing movement of the grab bucket 10 overlaps the period T2f on the starting side of the upward movement of the grab bucket 10, and the overlapping period is zero. That is, the grab bucket 10 completes the closing movement by the time the grab bucket 10 starts to rise, and the remaining opening degree of the grab bucket 10 at the start of the rise is 0%. The pick-up motion of the first pattern is suitable for picking up loads with small lumps or low viscosity.

In the first pattern, the drum control unit 72 sets the winding start timing t2 of the support wires Wa and Wb for raising the grab bucket 10 to the timing after the closing movement period Tc has passed. Furthermore, in order to end the closing movement of the grab bucket 10 and start rising, the drum control unit 72 considers the period Td during which the winding speed of the open/close wires Wc and Wd is decelerated and then accelerated as the deceleration period of the closing movement and the rising period. set to a long period including the acceleration period of Such control realizes the above-described pick-up motion of the first pattern.

The second pattern of the pick-up motion (FIG. 4) has a long overlapping period Tj in which the terminal end period T1e of the closing motion of the grab bucket 10 overlaps with the start side period T2f of the upward movement of the grab bucket 10. In the example of FIG. 4, the deceleration period of the closing motion and the acceleration period of the rise all overlap. As a result, before the grab bucket 10 completes the closing motion, when the remaining opening degree is large (for example, 33%), the grab bucket 10 starts to rise, and the closing motion continues even after the start of the rising, and the rising The closing motion is completed (0% opening) during this period. Then, the grab bucket 10 is lifted up to a specified height in a completely closed state.

The second pattern of pick-up motion is suitable for picking up bulky or highly viscous loads. Due to such characteristics of the cargo, even if the remaining opening degree is large while the grab bucket 10 is rising, the amount of cargo spilling from the grab bucket 10 does not increase. , the timing t4a of completion of the lifting of the pick-up motion of the first pattern can be significantly earlier than the timing t4a. That is, it is possible to greatly shorten the time required for the pick-up motion.

In the second pattern, the drum control unit 72 sets the winding start timing t2A of the support wires Wa and Wb for raising the grab bucket 10 to a timing earlier than the closing movement period Tc. Specifically, the winding start timing t2A is set to the start timing of the deceleration period of the closing movement. Further, the drum control unit 72 sets the period during which the winding speed of the open/close wires Wc and Wd is decelerated and then accelerated to zero in order to finish the closing movement of the grab bucket 10 and start the lifting. Such control realizes the above-described pick-up motion of the second pattern.

In the pick-up motion of the third pattern (FIG. 5), the period T1e on the terminal end of the closing motion of the grab bucket 10 overlaps with the period T2f on the start side of the rising of the grab bucket 10, and the overlapping period Tj is longer than that of the first pattern. , is a pattern shorter than the second pattern. In the example of FIG. 5, the deceleration period of the closing movement and the acceleration period of the upward movement partially overlap. As a result, before the grab bucket 10 completes the closing motion, the grab bucket 10 starts to rise when the remaining degree of opening is moderate, and the closing motion continues even after the start of the rising, and the closing motion continues during the rising. Exercise is completed (0% opening). Then, the grab bucket 10 is lifted up to a specified height in a completely closed state.

This pick-up motion is suitable for picking up loads of medium mass or medium viscosity. Due to such characteristics of the load, even if the grab bucket 10 has a moderate degree of remaining opening while the grab bucket 10 is rising, the amount of load spilled from the grab bucket 10 does not increase, and on the other hand, the timing at which the grab bucket 10 completes the rise is t4c can be made earlier than the timing t4a of completion of the lifting of the pick-up motion of the first pattern. That is, the time required for the pick-up motion can be shortened.

In the third pattern, the drum control unit 72 sets the winding start timing t2B of the support wires Wa and Wb for raising the grab bucket 10 to a timing earlier than the closing movement period Tc. Specifically, the winding start timing t2B is set during the deceleration period of the closing movement. Further, the drum control unit 72 sets a short period Td during which the winding speed of the open/close wires Wc and Wd is decelerated and then accelerated in order to finish the closing movement of the grab bucket 10 and start the lifting. Specifically, the period Td is set to a period from the start of the deceleration period of the closing movement to the end of the acceleration period of the rising. Such control realizes the above-described pick-up motion of the third pattern.

By setting the length of the overlapping period Tj of the periods Te1 and T2f in more stages, it is possible to create a large number of pick-up motion patterns. Then, for each pick-up motion pattern, the remaining opening degree or shortened time period of the grab bucket 10 at the start of lifting is calculated, and the calculated remaining opening degree or shortened time period is associated with each pattern. Using the degree of opening or shortened time as a parameter, it is possible to specify the pattern of the pick-up motion from among a large number of patterns.

<Description of operation>
According to the control device for the grab bucket 10 configured as described above, the operator previously inputs the type of load (for example, brand and viscosity) via the load type input unit 65, so that the selection processing unit 73 A pick-up motion pattern of the grab bucket 10 suitable for the type of load is selected. Alternatively, when the operator operates the grab operation selection switch 64 according to the type of cargo, the selection processing unit 73 selects the pattern of the grabbing movement of the grab bucket 10 according to the operation.

Then, in a state in which the selection processing unit 73 has been selected, the operator operates the operation lever 63 to cause the grab bucket 10 to land on the load, and furthermore, the operator operates the operation lever 63 to perform the grabbing motion. , the drum control unit 72 controls the drums 51a to 51d so that the grab bucket 10 is picked up in the selected pattern. After that, the operator operates the operation lever 63 to move the grab bucket 10 to the transport destination of the cargo, and opens the bucket part 13 to transport the cargo to the transport destination. The operator performs cargo handling by repeating such operations.

<Embodiment effect>
As described above, according to the control device 60 of the grab bucket 10 of the present embodiment, the selection processing section 73 is provided for selecting the gripping movement of the grab bucket from among a plurality of patterns. Further, the drum control unit 72 determines, according to the pattern selected by the selection processing unit 73, the length of the overlap period Tj between the end period T1e of the closing movement of the pick-up movement and the beginning period T2f of the rising movement of the pick-up movement. to control the grabbing movement of the grab bucket 10. According to such control, by causing the selection processing unit 73 to select the pattern of the grabbing movement suitable for the type of cargo, it is possible to suppress a decrease in the amount of cargo picked up by the grab bucket 10 at one time, It is possible to shorten the time required for one pick-up. Therefore, it is possible to greatly reduce the total working time for transporting a certain amount of cargo.

Furthermore, according to the control device 60 of the grab bucket 10 of the present embodiment, the longer the overlapping period Tj, the longer the drum control unit 72 controls the timing of starting to wind the support wires Wa and Wb in order to raise the grab bucket 10. Advance t2A and t2B. Furthermore, the longer the overlap period Tj, the longer the drum control unit 72 sets the period Td during which the winding speed of the open/close wires Wc and Wd is decelerated and then accelerated in order to finish the closing movement of the grab bucket 10 and start lifting. shorten. With such control, the grab bucket 10 can start rising during the closing motion and complete the closing motion during the rising in a short time and with a small number of drive switchings of the motors Ma to Md. can.

Furthermore, according to the control device 60 of the grab bucket 10 of the present embodiment, it has the operation lever 63 capable of inputting an operation command for picking up a load, and the drum control unit 72 controls the selection unit based on this operation command. Control of the grabbing movement of the grab bucket 10 is implemented in a pattern according to the selection. Therefore, the operator does not need to perform different operations for each pattern of the grabbing motion, and can realize the grabbing motion of the grab bucket 10 in a pattern according to the type of cargo, simply by performing a common grabbing operation.

Furthermore, according to the control device 60 of the grab bucket 10 of the present embodiment, the selection processing section 73 selects the pattern of the grabbing movement of the grab bucket 10 according to the type of load. Therefore, even if the operator does not know the optimum pick-up motion pattern corresponding to the type of load, by inputting the type of load, the selection processing unit 73 can perform the optimum pick-up motion corresponding to the type of load. You can choose your exercise pattern.

The embodiments of the present invention have been described above. However, the invention is not limited to the above embodiments. For example, in the above embodiments, a grab bucket and its control unit mounted on a bridge-type cargo handling device have been described, but the grab bucket and its control device according to the present invention may be mounted on various cargo handling devices such as a jib crane. . Further, in the above-described embodiment, the selection processing unit selects a suitable pick-up motion pattern according to the type of load. It may also be configured to select a pattern of pick-up motions. For example, the selection processing unit may select the pattern of the pick-up motion taking into consideration the weather and the amount of rain in rainy weather. Moreover, the selection processing unit may select the pattern of the pick-up motion by taking into consideration the amount of cargo loaded in the hold. When the load is fully loaded, there are many loads with large lumps on the upper part, but when the load is reduced, loads with small lumps tend to remain. Therefore, by including the amount of cargo in the selection conditions, it is possible to cope with changes in the size of the mass of cargo. Other details shown in the embodiments can be changed as appropriate without departing from the scope of the invention.

10 Grab Bucket 13 Bucket Unit 60 Control Device 62 Operation Unit 63 Operation Lever 64 Grab Operation Selection Switch 65 Load Type Input Unit 71 Arithmetic Unit 72 Drum Control Unit 73 Selection Processing Unit 74 Load Type-Grab Operation Corresponding Data Storage Unit 51a to 51d Drum Ma to Md Motors Wa, Wb Supporting wires Wc, Wd Opening/closing wires T1e Terminal side period of closing motion T2f Starting side period of rising Tj Overlapping period t2, t2A, t2B Winding start timing of supporting wire Td Winding speed of opening/closing wire period of deceleration and acceleration

Claims (4)

A control device for a grab bucket that moves up and down by winding and unwinding a support wire and controls a grab bucket that opens and closes according to the relative winding amount or unwinding amount of the support wire and the open/close wire,
a control unit that performs winding control of the support wire and winding control of the opening/closing wire;
a selection unit that selects a pattern of grabbing motion of the grab bucket;
with
the grabbing motion includes a closing motion to close the grab bucket and a lifting of the grab bucket;
According to the pattern selected by the selection unit, the control unit changes the length of the overlap period between the terminal end period of the closing movement and the starting end period of the rising.
Grab bucket controller. The longer the overlap period, the earlier the control unit advances the winding start timing of the support wire, and decelerates and accelerates the winding speed of the open/close wire at the end of the closing movement and the start of the upward movement. shorten the period
2. The grab bucket control device according to claim 1. Further equipped with an operation unit capable of inputting an operation command for picking up a load,
Based on the operation command, the control unit controls the winding of the support wire and the open/close wire so that the grab bucket performs the grabbing motion of the pattern selected by the selection unit.
3. The grab bucket control device according to claim 1 or 2. The selection unit selects the pattern according to the type of load.
The grab bucket control device according to any one of claims 1 to 3.

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