JP7262962B2 - Bridge type cargo handling equipment - Google Patents

Description

TECHNICAL FIELD The present invention relates to a bridge type cargo handling apparatus.

For some time there have been bridge-type cargo handling devices that can raise and lower booms, such as unloaders or container cranes. In such a bridge type cargo handling apparatus, cargo handling work is performed with the boom horizontal, and the boom is raised when the cargo handling work is completed or when the cargo handling work is interrupted.

Patent Literature 1 discloses a crane that suppresses changes in the positions of a trolley and a lifting device when the boom is raised and lowered.

JP 2017-178580 A

A typical bridge-type cargo handling apparatus with a boom takes a long time to raise the boom. Also, usually, the operator of the bridge type cargo handling apparatus does not move the trolley and the sling while the boom is hoisting.

On the other hand, there is a demand to move the sling to a predetermined position when cargo handling work is finished or interrupted. Conventionally, in order to meet this demand, the operator had to wait until the boom was raised after performing an operation to raise the boom, and then perform a driving operation to move the sling to a predetermined position. In this case, the problem arises that the operator is constrained to maneuver the sling for a long period of time.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a bridge-type cargo handling apparatus capable of moving a hoisting gear to a predetermined position when cargo handling work is completed or interrupted without requiring an operator to operate the hoisting gear for a long period of time. .

The present invention comprises a girder having a girder and a boom, a trolley traversing along the girder, a sling suspended from the trolley by a wire, and a plurality of wound wires moving the trolley and the sling. A bridge type cargo handling device comprising a plurality of drums,
The suspension is performed by driving the plurality of drums during a period from the start of the rising motion of the boom to the end of the rising motion, or from the start of the laying motion of the boom to the end of the laying motion. The configuration includes a processing unit that moves the tool to the target position.

According to the present invention, it is possible to move the lifting gear to a predetermined position at the end or interruption of the cargo handling operation without the operator being restrained for a long time to operate the lifting gear.

It is a figure which shows the state at the time of the boom horizontality in the bridge type material handling apparatus which concerns on embodiment of this invention. It is a figure which shows the state at the time of retraction of a boom in the bridge type material handling apparatus which concerns on embodiment. It is a figure which shows the structure of the control system of the bridge|bridge type material handling apparatus which concerns on embodiment. 4 is a flow chart showing a procedure of processing during storage according to the first embodiment; It is explanatory drawing which shows operation|movement of the 1st process (a) to the 3rd process (c) in the 1st example of a process at the time of storage. It is explanatory drawing which shows operation|movement of the 1st process (a) to the 3rd process (c) in the 2nd example of a process at the time of storage. It is explanatory drawing which shows operation|movement of the 1st process (a) to the 3rd process (c) in the 3rd example of a process at the time of storage. 4 is a flowchart showing a procedure of target position setting processing executed by a setting processing unit; FIG. 4 is a diagram for explaining target position setting processing, in which (a) shows the stage before the setting operation, (b) shows the time when setting is completed, and (c) shows the case where setting is not possible. FIG. 10 is a diagram showing an interference area set in the bridge-shaped material handling apparatus of Embodiment 2; FIG. 10 is a flowchart showing part of the procedure of processing during storage according to the second embodiment; FIG. FIG. 10 is a diagram for explaining the processing during storage of the second embodiment, in which (a) is the first pattern of processing during storage, (b) is the second pattern of processing during storage, and (c) is the third pattern of processing during storage. each shown. FIG. 11 is a flowchart showing a modified example of storage processing according to the second embodiment; FIG.

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 state of the bridge type cargo handling apparatus according to the embodiment of the present invention when the boom is horizontal. FIG. 2 is a diagram showing a state when the boom is retracted in the bridge type cargo handling apparatus according to the embodiment. FIG. 3 is a diagram showing the configuration of the control system of the bridge type cargo handling apparatus according to the embodiment.

The bridge type cargo handling apparatus 1 of this embodiment is an unloader that unloads bulk cargo from a cargo ship at a port facility, for example. The bridge-type cargo handling apparatus 1 includes a girder 13 including a boom 11 that can be raised and lowered and a girder 12 that cannot be raised and lowered, a plurality of legs 15 that support the girder 13, a cargo recovery part 17 such as a hopper into which cargo is thrown, and a cargo. , a trolley 23 that traverses along the girder 13 by hanging the hoisting tool 21, an operator's cab 31, and a machine room 32. The machine room 32 is provided with a plurality of drums 51a to 51d and motors Ma to Md (FIG. 3) for driving them.

In the present embodiment, there is no particular limitation, but a driving method that uses four drums 51a to 51d to move the trolley 23 horizontally, open and close the suspension fixture 21, and lift and lower the suspension fixture 21 (also referred to as "support"). Adopted. A plurality of drums 51a to 51d wind and feed the wires Wa to Wd (see FIGS. 1 and 3). Both ends of the girder 13 are provided with a sea-side pulley 18 and a land-side pulley 19 on which wires Wa to Wd are hung. ing. The slack receiving carriages 25 and 26 are provided with pulleys for supporting the wires Wa to Wd. The two wires Wb and Wc are stretched from the seaside drums 51b and 51c to the sling 21 via the seaside pulley 18, the pulley of the slack receiving carriage 25, and the pulley of the trolley 23. Another two wires Wa and Wd are stretched from the land side drums 51 a and 51 d to the sling 21 via the land side pulley 19 , the pulley of the slack catcher 26 and the pulley of the trolley 23 . By rotating the drums 51a to 51d, the wires Wa to Wd are wound up or unwound, and the action of winding up or unwinding is combined with the action of pulling the wires Wa to Wd by the weight of the hanger 21. , traversing of the trolley 23, opening and closing, and lifting and lowering of the sling 21 become possible.

The slack receiving carriages 25 and 26 support the plurality of wires Wa to Wd between the trolley 23 and the sea side pulley 18 and between the trolley 23 and the land side pulley 19 to take up slack in the plurality of wires Wa to Wd. Reduce. Although illustration is omitted, the trolley 23 and the slack-receiving trucks 25 and 26 are connected by separate wires via a plurality of pulleys provided on the girder 13 and the slack-receiving trucks 25 and 26 . As the trolley 23 moves, another wire is pulled, so that the slack receiving carriage 25 on the sea side is arranged at a position approximately halfway between the trolley 23 and the pulley 18 on the land side. The slack receiving carriage 26 is arranged approximately halfway between the trolley 23 and the land side pulley 19 .

The girder 13 has a plurality of anchor fixing parts to which the trolley 23 can be fixed. The operator can fix the trolley 23 to the girder 13 by moving the trolley 23 to the anchor fixing portion and connecting the anchor fixing portion and the anchor hole 23f of the trolley 23 using a fixture such as a pin. The fixation of the trolley 23 using a fixture is called anchor fixation. The trolley 23 is provided with an anchor detector 24 (see FIG. 3) that detects whether or not the trolley is anchored. The anchor detection section 24 corresponds to an example of an identification section according to the present invention.

A plurality of legs 15 are arranged on both sides of the girder 13 on the sea side and the land side (both sides in the direction perpendicular to the plane of FIG. 1). The two land-side legs 15 are connected at their lower parts via beams 16 . When the hanger 21 descends to the height of the beam, the hanger 21 and the beam 16 interfere with each other. A plurality of legs 15 are provided with traveling devices capable of traveling on rails on land, so that the bridge-type cargo handling device 1 can be moved in the direction along the quay (perpendicular to the paper surface of FIG. 1).

The boom 11 is raised and lowered by rotating around the hinge portion 11h by a boom driving device 53 (FIG. 3) provided exclusively for raising and lowering the boom 11. As shown in FIG. The boom 11 is leveled during cargo handling operations and raised to the stowed position when cargo handling operations are completed or interrupted. A bending pulley G is provided around the hinge portion 11h of the boom 11, and as shown in FIG. The paths of the wires Wb and Wc are maintained.

As shown in FIG. 3, in addition to a plurality of drums 51a to 51d and a plurality of motors Ma to Md, the machine room 32 includes a drive circuit 52 for driving the motors Ma to Md, and a boom drive device 53 for raising and lowering the boom 11. is provided.

The driver's cab 31 is provided with a control device 60 that controls the driving of the bridge type cargo handling apparatus 1 . The control device 60 includes an arithmetic unit 71, a display unit 61 for outputting information to the operator, an operation unit 62 for the operator to perform driving operations, etc., and an I/O 67 for inputting/outputting various signals. Note that the display unit 61 and the operation unit 62 may be provided in the operator's cab 31 and the remaining components of the control device 60 may be provided in other parts such as the machine room 32 .

The operation unit 62 includes an operation lever 63 for operating the sling 21 and the trolley 23, a boom raising/lowering switch 64 for raising/lowering the boom 11, and a target setting button 65 used for setting a target position, which will be described later. be The boom hoisting switch 64 and the target setting button 65 may be provided as display switches or display buttons by a touch panel provided on the display panel, for example.

The drive circuit 52 and the boom drive device 53 are connected to the I/O 67 , and the boom drive device 53 and the drive circuit 52 can be moved based on control signals from the control device 60 . The I/O 67 receives signals indicating the amount and direction of driving from the drive circuit 52 and the boom drive device 53, and the control device 60 controls the hoisting position of the boom 11, the sling 21 and the trolley based on these signals. 23 operating positions can be determined. Furthermore, the I/O 67 receives a detection signal from the anchor detector 24, and the controller 60 can identify whether the trolley 23 is anchored based on this detection signal.

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 an operation processing unit 72 that drives the plurality of drums 51a to 51d in response to operation of the operation lever 63, and a boom drive device 53 that drives the boom 11 in response to operation of the boom hoisting switch 64. A hoisting processing unit 73 for raising and lowering, a storage time processing unit 74 for moving the sling 21 to a predetermined target position when the boom 11 is stored, a setting processing unit 75 for setting the target position of the sling 21 when the boom 11 is stored, and an interference area storage unit 76 for storing the interference area R1 of the tool 21 . The storage time processing section 74 corresponds to an example of a processing section according to the present invention.

As shown in FIGS. 1 and 2 , the bridge type cargo handling apparatus 1 is defined with an interference region R1 where there is a possibility of interference with the sling 21 . The interference region R1 in FIGS. 1 and 2 includes, for example, the vicinity of the side surface and the vicinity of the bottom surface of the load recovery section 17, the area below the load recovery section 17, the vicinity of the beam 16, and the vicinity of the ground. The interference area storage unit 76 stores an interference area R1 as data of the transverse position and height along the girder 13, for example.

In the bridge type cargo handling apparatus 1 configured as described above, when starting cargo handling work, the operator operates the boom hoisting switch 64 in the operator's cab 31 to lay the boom 11 from the standby position to the horizontal position. With the boom 11 lying horizontally, the operator operates the operation lever 63 to move, lift, and open/close the sling 21, thereby unloading cargo from the hold of the cargo ship. Further, when the cargo handling work is completed, or when the cargo handling work is interrupted (for example, when changing the hold in the cargo ship), the operator operates the boom hoisting switch 64 to move the boom 11 from the horizontal position to the standby position. up to When the boom 11 is lifted from the horizontal position to the standby position, in conjunction with the rotation of the boom 11, the retraction processing unit 74 executes a retraction processing described later to automatically move the sling 21 to a predetermined target position. move to

When the boom 11 is raised, for example, when it is in a horizontal position and when it is raised up to a certain angle θ, the distance between the sea side pulley 18 and the bending pulley G becomes shorter. For this reason, if the boom 11 is raised to a certain angle θ while the drums 51a to 51d are stationary, the wires Wb and Wc will be paid out by a certain amount Le from the seaside drums 51b and 51c without raising the boom 11. The traversing of the trolley 23 and the lifting and lowering of the sling 21 occur by the same amount. This extension amount Le is a function of the angle θ, and is hereinafter referred to as "virtual extension amount Le(θ)". Assuming that the retracted position of the boom 11 is an angle θmax, the total amount of the virtual extension amount when the boom 11 is raised from the horizontal position to the retracted position is Le(θmax). Therefore, when the boom 11 is raised from the horizontal position to the retracted position while the drums 51a to 51d are stopped, the trolley 23 travels a predetermined length to the land side due to the action of the virtual extension amount Le (θmax), 21 descends a predetermined length. The storage processing unit 74 moves the sling 21 to the target position in conjunction with the rotation of the boom 11 under control incorporating the effect of the virtual feed-out amount Le(θ) of the sea-side wires Wb and Wc. Next, the storage processing will be described with reference to a flowchart and explanatory diagrams.

<Processing when storing 1>
FIG. 4 is a flow chart showing the procedure of storage processing according to the first embodiment. FIGS. 5(a) to 5(c) are explanatory diagrams showing the movements of the first to third processes in the first example of the processing at the time of storage. A first example shows a case where the target position D of the sling 21 is set inside the load recovery section 17, and the sling 21 can be moved to the target position D without being obstructed by the interference area R1.

Data of a correction extension amount ΔLe(θ _n ) obtained by dividing the above-described virtual extension amount Le(θ) by each minute angle Δθ is provided in advance to the storage processing unit 74 . Here, ΔLe(θ _n )=Le(θ _n +Δθ)−Le(θ _n ), θ _n =Δθ×n, where n is a natural number. While the boom 11 moves from the hoisting angle _θi to the hoisting angle θi ₊₁ , the stowage processing unit 74 winds the wires Wb and Wc onto the drums 51b and 51c on the sea side extra by the correction feed amount ΔLe(θi ₎ . By performing correction processing, the positions of the sling 21 and the trolley 23 can be controlled in the same manner as the control when the boom 11 is fixed.

When the operation to raise the boom 11 is performed and the hoisting processing of the boom 11 is started by the hoisting processing section 73, the stowing processing section 74 starts the stowing processing of FIG. When the retraction process is started, first, the retraction process section 74 obtains the current position of the sling 21 as the starting point from the driving amounts of the motors Ma to Md at that time (step S1). Further, the storing-time processing unit 74 reads a preset target position D (FIG. 5(a)) as the end point of the sling 21 (step S2). Then, the storage time processing unit 74 determines whether or not there is a risk that the sling 21 will interfere with something at the starting point (step S3). It is determined whether or not R1 overlaps (step S4). Step S3 will be described in detail in processing 3 at the time of storage. The normal path in step S4 corresponds to, for example, a straight line or a path along which the hanger 21 moves when the drums 51a to 51d are driven at a substantially constant speed when the boom 11 is raised.

As a result, if the interference region R1 does not overlap with the normal route, the storage processing unit 74 adopts the normal route as the moving route of the sling 21 (step S5). Then, in conjunction with the rotation of the boom 11, the retraction processing unit 74 incorporates the action of the virtual extension amount Le(θ) so as to move the sling 21 along the adopted movement path, and the motors Ma to The driving amount of Md is calculated (steps S7 and S8).

A method for calculating the driving amount of the motors Ma to Md is not particularly limited, but as an example, the following method can be adopted. That is, first, if the boom 11 is fixed, the retraction processing unit 74 calculates the total drive amount of the drums 51a to 51d required to move the sling 21 from the start end point to the end point, and The total drive amount is divided into drive amounts for each predetermined control cycle so that the total drive amount is achieved during the period in which the boom 11 rises from the horizontal position to the standby position (step S7). Further, the storage time processing unit 74 corrects the driving amount for each control cycle thus calculated by subtracting the driving amount of the correction extension amount ΔLe(θ) corresponding to the hoisting angle of the boom 11 (step S8). . The rotation speed of the boom 11 is the same each time, and the change in the hoisting angle of the boom 11 for each predetermined control cycle is known. For this reason, in step S8, the storage time processing unit 74 may calculate the correction extension amount ΔLe(θ) corresponding to the change in the hoisting angle, and reduce the driving amount corresponding to this. By such a calculation method, the drive amounts of the motors Ma to Md are calculated for each control cycle.

Subsequently, the storing time processing unit 74 drives the motors Ma to Md with the corrected drive amounts in each control cycle (step S9). As a result, as shown in FIGS. 5(a) and 5(b), as the boom 11 rises from the horizontal position at a low speed, the sling 21 advances toward the inside of the load recovery section 17. As shown in FIG. Then, as shown in FIG. 5(c), when the boom 11 reaches the retracted position and stops, the sling 21 reaches the target position D in the load recovery section 17 and stops.

<Processing when storing 2>
FIGS. 6(a) to 6(c) are explanatory diagrams showing the operations of the first to third steps in the second example of the processing at the time of storage. The second example shows a case where the target position D of the sling 21 is set below the back reach, and the interference region R1 interferes when the sling 21 is moved to the target position D along the normal path.

When the boom 11 is operated to raise the boom 11, the retracting process of FIG. It is determined whether or not the interference region R1 overlaps with the normal route connecting . Then, in the case of FIG. 6A, it is determined (YES) that it overlaps with the interference region R1 in the determination processing of step S4.

If YES is determined in the determination process of step S4, the storage time processing unit 74 creates a path that avoids the interference area R1 and allows movement to the target position D, and adopts this as the movement path of the sling 21 (step S6). For example, in the example of FIG. 6A, the lifting tool 21 interferes with the beam 16 portion of the interference area R1, so the processing unit 74 for storage causes the lifting of the lifting tool 21, the lateral movement of the trolley 23, and the Combined with the lowering of the tool 21, paths P1 to P3 that do not overlap the interference region R1 are created. The routes P1 to P3 can be obtained as the shortest routes that have a predetermined margin and do not overlap the interference region R1, for example.

Then, the storage time processing unit 74 incorporates the action of the virtual extension amount Le(θ) so that the sling 21 moves along the adopted movement route in conjunction with the rotation of the boom 11, and the motor Ma ∼ The driving amount of Md is calculated (steps S7 and S8).

A method for calculating the drive amount of the motors Ma to Md is not particularly limited, but as an example, the following method can be adopted. That is, first, when the boom 11 is fixed, the retraction processing unit 74 first determines the drums 51a to 51a for each of the paths P1, P2, and P3 necessary to move the sling 21 along each of the paths P1, P2, and P3. 51d is calculated, and the drive amount for each control cycle is calculated so that these drives are achieved during the period in which the boom 11 rises from the horizontal position to the standby position (step S7). Further, the storage time processing unit 74 corrects the driving amount for each control cycle thus calculated by subtracting the driving amount of the correction extension amount ΔLe(θ) corresponding to the hoisting angle of the boom 11 (step S8). . By such a calculation method, the drive amounts of the motors Ma to Md are calculated for each control cycle for moving the sling 21 along the paths P1, P2, and P3 in conjunction with the rotation of the boom 11. FIG.

Subsequently, the storing time processing unit 74 drives the motors Ma to Md with the corrected drive amounts in each control cycle (step S9). As a result, as shown in FIGS. 6(a) and 6(b), as the boom 11 rises from the horizontal position at a low speed, the sling 21 moves along paths P1, P2, and P3 avoiding the interference region R1. proceed along. Then, as shown in FIG. 6(c), when the boom 11 reaches the retracted position and stops, the sling 21 reaches the target position D below the back reach and stops.

<Process 3 when storing>
FIGS. 7(a) to 7(c) are explanatory diagrams showing operations from the first process to the third process in the third example of processing at the time of storage. A third example shows a case where the sling 21 may interfere with something when the boom 11 is raised.

When the boom 11 is operated to raise the boom 11, the retraction processing in FIG. 4 is started, and the processing proceeds to steps S1 to S3 as described above. Determine if there is a risk of interference with something at the point. Then, as shown in FIG. 7(a), when there is a risk of interference at the starting point, it is determined YES in the determination processing of step S3.

The case where the sling 21 may interfere with something at the starting point is, for example, based on the positional information of the starting point, when the starting point overlaps with the interference region R1, or when the starting point overlaps the load recovery section 17. This is the case, for example, when it overlaps with the specific region R2, such as below, where there is a particularly high risk of interference. The specific region R2 may be set in advance by a user or a setting member of the manufacturer, and the data may be stored in the interference region storage unit 76. FIG.

If YES is determined in the determination process of step S3, the storage time processing section 74 requests the hoisting processing section 73 to stop driving the boom 11 (step S10). The hoisting processing unit 73 stops the boom driving device 53 in response to this request, and the driving of the boom 11 is stopped. Further, as shown in FIG. 7(b), the retraction processing unit 74 outputs a warning from the display unit 61 to the effect that the boom 11 cannot be raised and lowered due to the fear of interference with the sling 21 (step S11). Then, the storage time processing unit 74 ends the storage time processing, and the undulation processing unit 73 ends drive control of the boom 11 .

In this case, the operator can recognize from the warning output that the boom 11 cannot be raised due to the position of the sling 21 . Then, as shown in FIG. 7(c), the operator can move the sling 21 to a position where there is no risk of interference, and operate the boom hoisting switch 64 again to raise the boom 11 to the standby position. becomes.

<Target position setting process>
FIG. 8 is a flow chart showing the procedure of target position setting processing executed by the setting processing unit. 9(a) to 9(c) are diagrams for explaining the target position setting process. FIG. 9(a) is the stage before the setting operation, FIG. 9(b) is the time when the setting is completed, and FIG. indicates that the setting is not possible.

The target position of the hanger 21 described above can be set to any position by an operator's operation. To set the target position, first, the operator operates the sling 21 and the trolley 23 to move the sling 21 to the intended target position D0, as shown in FIG. 9(a). The operator then operates the target setting button 65 . Then, the setting processing unit 75 starts target position setting processing (FIG. 8).

When the target position setting process is started, the setting processing section 75 calculates the current position of the sling 21 from the driving amounts of the motors Ma to Md at that time (step S21). Subsequently, the setting processing section 75 determines whether or not the calculated position of the sling 21 overlaps with the interference area R1 stored in the interference area storage section 76 (step S22). As a result, as shown in FIG. 9B, if there is no overlap with the interference region R1, the setting processing unit 75 sets the calculated position of the sling 21 as the target position, and the storage time processing unit The data of the target position is transferred to 74 (step S23).

On the other hand, as shown in FIG. 9C, if the position of the sling 21 and the interference region R1 overlap, the setting processing unit 75 causes the display unit 61 to indicate that the target position cannot be set in the interference region R1. A warning is output (step S24), and the target position setting process ends without setting the target position.

Through such target position setting processing, the operator can set the target position to which the sling 21 is to be moved in the retraction processing to any position other than the interference region R1. For example, since the interference region R1 is set to the side surface and bottom surface of the load recovery section 17, the lower side of the load recovery section 17, the ground, the beams 16, etc., the setting processing section 75 can be set in the load recovery section 17, the leg 15 The target position of the sling 21 can be set above the ground in between, above the ground in the back reach range, below the anchor fixing portion of the trolley 23, and the like.

<Embodiment effect>
As described above, according to the bridge type cargo handling apparatus 1 of the first embodiment, the storing time processing unit 74 drives the plurality of drums 51a to 51d to move the sling 21 to the target position while the boom 11 is raised. Prepare. Therefore, the operator is not restrained for a long time for manipulating the sling 21, and only by performing an operation to move the boom 11 to the standby position at the end or interruption of the cargo handling work, the boom 11 can be interlocked with the rotation of the boom 11. can be moved to move the sling 21 to the target position.

Furthermore, according to the bridge type cargo handling apparatus 1 of Embodiment 1, the setting processing section 75 capable of setting the target position of the sling 21 based on the operation of the target setting button 65 is provided. Therefore, when moving the boom 11 to the standby position, the operator can set the target position to which the sling 21 automatically moves to a desired position.

Furthermore, according to the bridge type cargo handling apparatus 1 of Embodiment 1, when the request for setting the target position matches the interference area R1 that may interfere with the sling 21, the setting processing unit 75 warns that the setting is impossible. to output As a result, it is possible to prevent an inappropriate position from being set as the target position of the sling 21 .

Furthermore, according to the bridge type cargo handling apparatus 1 of Embodiment 1, the target position to which the sling 21 automatically moves when the boom 11 is moved to the standby position is the inside of the cargo recovery section 17 such as a hopper and the space between the legs 15 . , above the ground in the back reach range, below the anchor fixing position of the trolley 23, and the like. As a result, in the storing process, the sling 21 can be automatically moved to a suitable position when cargo handling is finished or interrupted, and cargo handling work can be quickly started when cargo handling is resumed.

Furthermore, according to the bridge-type cargo handling apparatus 1 of Embodiment 1, in the processing during storage, when the sling 21 passes through the interference region R1 on the normal route, the processing unit 74 avoids the interference region R1. The sling 21 is moved to the target position along the route. Therefore, restrictions on the position of the starting end point of the sling 21 in the storage process can be reduced.

Furthermore, according to the bridge-type cargo handling apparatus 1 of the first embodiment, when the lifting device 21 is in the interference region R1 or the specific region R2 when the boom 11 is raised in the storage processing, the storage processing unit 74 , causes the boom drive 53 to stop raising the boom 11 . Therefore, when the boom 11 is moved to the retracted position, it is possible to prevent the sling 21 from interfering with something.

(Embodiment 2)
In the first embodiment described above, the interference region R1 includes the vicinity of the bottom surface of the cargo collecting portion 17 and the vicinity of the ground, and the target position of the sling 21 is restricted to a position where the sling 21 does not land on the floor. This is because when the sling 21 lands on the floor while the boom 11 is raised, the wires Wa to Wd loosen due to the landing, and the trolley 23 fixed along the girder 13 loosens. If the fixing of the trolley 23 becomes loose, the slackness-receiving carriage 25 on the boom 11 moves together with the trolley 23, and the wires Wb and Wc may come off. As a result, the trolley 23 and the land-side slack receiving carriage 26 may move significantly along the girder 13 .

On the other hand, when the trolley 23 is anchor-fixed to the girder 13, the trolley 23 does not move even if the sling 21 lands on the floor, and the slack receiving carriages 25 and 26 connected to the trolley 23 by separate wires. also does not move because the trolley 23 is fixed. Therefore, the fear as described above does not occur.

Therefore, in the bridge type material handling apparatus 1 of Embodiment 2, the target position setting process and the storage process are changed to processes corresponding to the case where the trolley 23 is anchored. Next, the target position setting process and storage process of the second embodiment will be described in detail.

<Target position setting process>
FIG. 10 is a diagram showing an interference area set in the bridge-type cargo handling apparatus 1 of Embodiment 2. FIG.

The interference area R11 of the second embodiment does not include the height at which the sling 21 lands on the interference area R11, such as the bottom surface of the load collecting portion 17, the ground between the legs 15, and the ground in the back reach range. Data representing such an interference region R11 is stored in the interference region storage unit 76 (FIG. 3) of the second embodiment.

The setting processing unit 75 of the second embodiment executes target position setting processing (FIG. 8) similar to that of the first embodiment. However, the process of determining whether or not the target position overlaps the interference area (step S22) is performed based on the interference area R11 of the second embodiment. Through such target position setting processing, the operator can set the target position of the sling 21 including the height at which the sling 21 lands.

When the height at which the sling 21 lands on the floor is set as the target position, other methods can be used in addition to the method of operating the target setting button 65 while the sling 21 is actually on the floor. They may be adopted together. For example, in a state in which the lifting device 21 is moved to the position before landing, the target position can be set by operating the target setting button 65 and inputting a numerical value of the target height at which the lifting device 21 is to land. , the position at which the hanging tool 21 lands on the floor may be set. Since the operation for landing the sling 21 is more complicated than the simple traversing and lifting operations, the method of numerically inputting the target height eliminates the need for complicated landing operations when setting the target position. is obtained.

<Moving process when storing>
FIG. 11 is a flow chart showing a part of the procedure of processing during storage according to the second embodiment. FIGS. 12(a) to 12(c) are explanatory diagrams showing the first to third patterns of the storage processing of the second embodiment.

In the storing process of the second embodiment, steps S31 to S37 of FIG. 11 are added between steps S3 and S4 of the storing process of the first embodiment (FIG. 4). Next, the added steps will be described in detail.

When the boom hoisting switch 64 executes the retraction process, and it is determined in the determination process in step S3 that there is no risk of interference at the start position, the retraction process unit 74 moves the sling 21 to the target position. is the height for landing (step S31). Then, if it is not at a landing height, the process proceeds directly to step S4, and the storing process shown in the first embodiment is executed.

On the other hand, if it is at the landing height, the storage time processing unit 74 determines whether or not the trolley 23 is anchored (step S32). is set (step S33). Then, when the end point is set, the process moves to step S4, and the process at the time of storage shown in the first embodiment is executed.

According to such control, as shown in FIG. 12A, as the boom 11 is raised, the trolley 23 and the sling 21 move without overlapping the interference area R11. Then, when the boom 11 is lifted up to the retracted position, the sling 21 stops at the height before landing on the floor of the target position. After that, when the operator wants to land the hoisting device 21, the trolley 23 is anchor-fixed, and the operation lever 63 is operated so that the hoisting device 21 is landed on the floor. The hanger 21 can be landed. In step S33, when the slack receiving carriage 25 positioned between the seaside pulley 18 and the trolley 23 is positioned on the girder 12, the storage time processing unit 74 determines the target landing height as the terminal point. You can set the position. For example, the storage time processing unit 74 may estimate the position of the slack receiving carriage 25 from the transverse position of the trolley 23 when the boom 11 is horizontal. Further, the storing time processing section 74 may acquire the position of the slack receiving carriage 25 from the detection result of the proximity switch or the like.

On the other hand, if it is determined in the determining process of step S32 that the anchor is fixed, the storage time processing section 74 subsequently determines whether or not the trolley 23 is above the target position (step S34), and YES. If so, the target position of the landing height is set as the terminal point (step S35). Then, when the end point is set, the process moves to step S4, and the process at the time of storage shown in the first embodiment is executed.

According to such control, as shown in FIG. 12(b), as the boom 11 rises, the sling 21 descends while the position of the trolley 23 is maintained. Then, when the boom 11 is raised to the retracted position, the sling 21 stops at the landing position set as the target position.

When it is determined in the determination processing in step S34 that the anchored trolley 23 is out of the target position, first, the retraction processing unit 74 causes the hoisting processing unit 73 to stop the driving of raising the boom 11. request to do so (step S36). Further, the storage time processing unit 74 outputs a warning from the display unit 61 that the trolley 23 is anchored at a position deviated from the target position (step S37). Then, the processing at the time of storage ends.

According to such control, as shown in FIG. 12(c), when the trolley 23 is anchored and the sling 21 cannot be moved to the target position, even if the boom hoisting switch 64 is operated, , the rotation of the boom 11 is restrained. Furthermore, the operator can correct the anchoring position of the trolley 23 or release the anchoring from the warning output, and redo the boom 11 hoisting operation.

FIG. 13 is a flow chart showing a modification of the processing during storage according to the second embodiment. FIG. 13 shows the steps after steps S5 and S6 (see FIG. 4) in the storage processing of the second embodiment.

In the storage time processing of the modified example, the storage time processing unit 74 determines whether or not the end point is at the landing height before calculating the driving amount of the motors Ma to Md in each control cycle in accordance with the movement path ( step S41). As a result, if it is the landing height, the driving amount is calculated so that the speed of the lifting device 21 is lowered when the lifting device 21 reaches the floor (step S7a). On the other hand, if it is not the landing height, the driving amount is calculated in the same manner as in the first embodiment (step S7). Then, the storage time processing unit 74 executes the processing of steps S8 and S9 as described in the first embodiment.

When the target position is the landing height and the lifting gear 21 is caused to land on the floor in accordance with the rotation of the boom 11, the storage processing of the modified example decelerates the lifting gear 21 at the time of landing and maintains the landing hold. can suppress the impact of

When the boom 11 is raised and lowered from the retracted position to the horizontal position, the sling 21 may be controlled to move to a predetermined position in conjunction with the rotation of the boom 11 . At that time, if the sling 21 is on the floor when the boom 11 starts to rotate and the trolley 23 is anchored, the sling 21 is cut off from the ground in conjunction with the rotation of the boom 11. The lifting device 21 may be controlled to move to the target position. On the other hand, when the sling 21 is on the floor and the trolley 23 is not anchored when the boom 11 starts rotating, a warning is output and the boom 11 is controlled to stop rotating. may Further, when the hoisting tool 21 is cut off from the ground, the control of decelerating the hoisting tool 21 more than after the ground cutting may be used together.

<Embodiment effect>
As described above, according to the bridge type cargo handling apparatus 1 of the second embodiment, the anchor detection unit 24 (for example, a proximity sensor or the like) that detects whether or not the trolley 23 is anchored is provided, and the storage time processing unit 74 , when the target position is the landing height of the lifting device 21 and the anchor detection unit 24 detects anchor fixation, the lifting device 21 is moved to the landing height of the target position. Therefore, in the processing at the time of storage, the height at which the sling 21 lands on the floor can be adopted as the target position of the sling 21, and the sling 21 can land on the target position. Inconveniences caused by landing of the hoisting device 21 include, for example, the loosening of the wires Wa to Wd due to the landing, and the possibility that the slackness receiving carriages 25 and 26 and the slinging device 21 may move significantly due to the weight of the slackness receiving carriage 25; Alternatively, there is a possibility that the wires Wb and Wc may come off the slack receiving carriage 25 .

Furthermore, according to the bridge type cargo handling apparatus 1 of Embodiment 2, even when the target position is set to the height at which the sling 21 lands on the floor, if the anchor detection unit 24 does not detect anchor fixation, The storage time processing unit 74 moves the sling 21 to the height before landing on the floor of the target position in conjunction with the movement of the boom 11 to the storage position. Therefore, in the storage processing, it is possible to suppress the occurrence of inconvenience due to the landing of the lifting device 21, and when the target position is set to the height of the landing, the lifting device 21 can be moved close to the target position.

Furthermore, according to the retraction process (FIG. 13) of the modification of the second embodiment, the retraction process unit 74, when landing the lifting tool 21 at the target position, causes the lifting tool 21 to be lowered at the time of landing. The driving amount of the drums 51a to 51d is controlled so as to achieve the speed. As a result, the impact that occurs when the hanger 21 lands on the floor can be reduced.

Each embodiment of the present invention has been described above. However, the invention is not limited to the above embodiments. For example, the bridge-type cargo handling device according to the present invention is not limited to an unloader, but includes various types of cargo-handling devices, such as container cranes, as long as they are bridge-shaped cargo handling devices having booms that can be raised and lowered. Similarly, the hoisting device according to the present invention is not limited to a grab bucket, and various hoisting devices such as a spreader may be applied. Further, in the above-described embodiment, the four drums 51a to 51d are driven to move the trolley and lift and open and close the trolley. may be adopted. In the above-described embodiment, an anchor detection unit such as a proximity sensor is used as an identification unit for identifying whether or not the trolley is anchored. Means for identifying the presence or absence of anchor fixation in various ways, such as a portion, may be employed. Other details shown in the embodiments can be changed as appropriate without departing from the scope of the invention.

1 bridge-type cargo handling device 11 boom 12 girder 13 girder 15 leg 16 beam 17 load recovery part 18 sea side pulley 19 land side pulley 21 lifting tool 23 trolley 24 anchor detection part 25, 26 slack receiving truck 51a to 51d drum 52 drive circuit 53 Boom driving device 60 Control device 61 Display unit 62 Operation unit 63 Operation lever 64 Boom hoisting switch 65 Target setting button 72 Operation processing unit 73 hoisting processing unit 74 Storage time processing unit 75 Setting processing unit 76 Interference area storage unit D Target position G Bending Pulleys R1, R11 Interference area R2 Specific area Wa~Wd Wire

Claims (10)

a girder having a girder and a boom, a trolley that traverses along the girder, a sling suspended from the trolley by a wire, and a plurality of wire-wound drums that move the trolley and the sling. A bridge type cargo handling device comprising
The suspension is performed by driving the plurality of drums during a period from the start of the rising motion of the boom to the end of the rising motion, or from the start of the laying motion of the boom to the end of the laying motion. A bridge-type cargo handling device provided with a processing section for moving tools to a target position. further comprising a setting processing unit capable of setting the target position based on a setting operation;
The bridge type material handling equipment according to claim 1. The setting processing unit outputs a warning that the setting is not possible when there is a request to set the target position in an interference area that may interfere with the sling.
The bridge type cargo handling equipment according to claim 2. The target position can be set within the hopper, above the ground between the legs, above the ground in the back reach range, or below the anchor fixing position of the trolley.
The bridge type material handling equipment according to any one of claims 1 to 3. The processing unit moves the sling to the target position while avoiding an interference area that may interfere with the sling.
The bridge type material handling equipment according to any one of claims 1 to 4. further comprising a hoisting processing unit that raises the boom based on a request to raise the boom;
When the processing unit determines that the hoisting gear interferes with an interference area that has a possibility of interfering with the hoisting gear based on the position information of the hoisting gear when the request to raise the boom is input, requesting the hoisting processing unit to stop raising the boom;
The bridge type material handling equipment according to any one of claims 1 to 5. Further comprising an identification unit for identifying whether the trolley is anchored to the girder,
When the target position is a position where the lifting device lands and the identification unit detects anchor fixation, the processing unit causes the lifting device to land on the target position.
The bridge type material handling equipment according to any one of claims 1 to 6. When the target position is the position at which the lifting device lands on the floor and the identification unit identifies that the identification unit is not anchored, the processing unit moves the lifting device to the height of the target position before landing on the floor. move to
The bridge type material handling equipment according to claim 7. The bridge type material handling apparatus according to claim 7 or 8, wherein said processing section decelerates said lifting gear before landing said lifting gear on said target position. a seaside pulley disposed at the seaside end of the boom;
a slack catcher carriage that moves along the girder between the seaside pulley and the trolley and supports any one of the plurality of wires;
further comprising
The processing unit determines that the target position is the position at which the lifting device lands on the floor, the identification unit identifies that the anchor is not fixed, and the slack receiving carriage is positioned on the girder. landing the sling to the target position;
The bridge type material handling equipment according to claim 7.

Images