JPH11314765A - Driving device for continuous unloading equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make improvements in operational safety efficiency by changing a vertical moving position in the optional transverse direction in keeping the operation continued intact when applying triaxial position control and making an elevator section move vertically. SOLUTION: A traveling speed of a traveling frame 6 and a turning speed of a turning frame 8 are set up by an electronic arithmetic processing means 30 from each signal out of a travel distance detector 21 of the traveling frame 6, a turning angle detector 23 of the turning frame 8 and a derricking angle detector 25 of a derricking boom 10, and an elevator section 15 is moved vertically as automatically correcting an inevitable lateral slippage in the elevator section 15, and in the midway, it is shifted in the optional transverse direction by an manual operating means 29, thereby making the vertical moving position so as to be alterable.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating device for a continuous type unloading facility for unloading bulk materials loaded on a cargo ship outboard, and more particularly to an operating device for moving an elevator section into and out of a hold. is there.

[0002]

2. Description of the Related Art As a continuous unloading facility for unloading bulk materials loaded on a cargo ship berthed on a quay outboard, a swinging boom provided on a traveling frame running in the longitudinal direction of the quay supports a undulating boom. It is widely known that the elevator part attached to the tip of the elevator is loaded vertically into and out of the hold from the hold to discharge the loaded bulk from the elevator part to the outside of the ship via the hoisting boom. I have.

That is, the continuous unloading equipment has a structure capable of controlling the position of an elevator in three axial directions by three operations of running, turning, and raising and lowering. Is corrected by the traveling of the traveling frame and the pivoting of the revolving frame, and can be safely taken in and out at the center of the warehouse.

In order to eliminate the inconvenience and inaccuracy of manually performing the above-mentioned position control operation while visually observing the driver, an automatic operation in which the elevator unit placed at the center of the entrance is vertically moved in the vertical direction as it is before taking in and out. A control system is disclosed in Japanese Patent Application Laid-Open No. 5-132152.

The system described in Japanese Patent Application Laid-Open No. 5-132152 discloses a control target position for displacement based on the position of an elevator portion located at the center of a warehouse opening visually before and after taking in and out, and an up-and-down boom required for that purpose. Calculate the running speed of the running frame and the turning speed of the turning frame with respect to the hoisting speed of the vehicle, and automatically move the running frame, the turning frame, and the hoisting boom so that they can be moved in and out while maintaining the control target position within the allowable value. Synchronized movement is performed.

[0006] According to this system, the initial positioning of the elevator section and the initial setting of the hoisting / lowering boom hoisting speed are performed by the driver, so that the elevator can be automatically moved in and out without any manual operation.

[0007]

However, in actual work, it is difficult to visually recognize that the elevator is correctly positioned at the center of the warehouse.
For example, when descending from above and approaching the gate, not only may the position be found out of place, but even if it passes through the center of the gate, depending on the structure, it may contact or catch the edge of the gate, or During the descent, it may be necessary to change the descent position depending on the conditions in the hold.

In these cases, the operation must be stopped and the operation must be restarted after the positioning of the elevator section and the initial setting of the hoisting boom hoisting speed have to be performed again. It takes a long time until it is not satisfactory in terms of efficiency.

According to the present invention, when it is necessary to change the lateral position of the elevator unit, the automatic operation control system stops the operation and moves the elevator unit in the lateral direction to perform positioning and initialization again. There must be,
The present invention aims to solve the inconvenience of providing an operating device that can easily and accurately position an elevator section and put it in and out of a hold to improve driving safety, operability, and efficiency. The purpose is to do.

[0010]

SUMMARY OF THE INVENTION According to the present invention, a swivel frame provided on a traveling frame supports a hoisting boom, and an elevator mounted at the tip of the hoist is vertically inserted into and removed from a hold through a hold. Means for solving the above-mentioned problem, which is provided by a continuous unloading facility for unloading bulk materials outboard, is as follows.

That is, detecting means for detecting the traveling distance of the traveling frame, the turning angle of the turning frame, and the undulating angle of the hoisting boom, electronic arithmetic processing means to which signals from these three detecting means are inputted, and an elevator Manual operation means for moving the elevator section in any lateral direction, and the electronic arithmetic processing means runs at a speed synchronized with the lateral shift in a direction to offset the lateral shift of the elevator section due to the undulation of the hoisting boom. These operations are instructed so that the running of the frame and the turning of the turning frame are performed.

Thus, the elevator is moved up and down and the elevator is moved vertically, and the lateral displacement is automatically corrected and moved up and down along a predetermined vertical line. It is possible to manually change the lateral position to avoid the problem while continuing the vertical movement, thereby achieving the object of improving driving safety, operability, and efficiency. .

The operability can be further improved by adopting a joystick, which is widely used for biaxial displacement control, as the manual operation means to control the operation of the traveling frame and the turning frame.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to the drawings, an embodiment of the present invention will be described. FIG. 1 shows a quay 1 which is installed so as to be able to travel in its longitudinal direction and is loaded into a hold 3 of a cargo ship 2 berthing. 1 schematically illustrates a bucket elevator type continuous unloader known as one of continuous unloading facilities for unloading loose objects.

In FIG. 1, a rail 5 laid on a quay 1
The traveling frame 6 riding on the vehicle is reciprocated by the traveling motor 7, and the turning frame 8 installed on the traveling frame 6 is turned by the turning motor 9 in both left and right rotation directions on a horizontal plane. The up-and-down boom 10 installed on the top 8 is moved up and down around a base shaft 12 by an up-and-down motor 11. At the tip of the hoisting boom 10, a horizontal frame 14 that constantly maintains a horizontal state by a parallel link mechanism 13 using the hoisting boom 10 as one link is attached. The horizontal frame 14 surrounds a bucket elevator 16 of an elevator unit 15. Holds the elevator frame 18 extending in the vertical direction rotatably and has a cab 17,
The elevator frame 18 is rotated by a rotation prime mover 19.

The bucket elevator type continuous unloader shown in FIG.
1 and traveling speed detector 22, turning angle detector 23 and turning speed detector 24 of turning frame 8, turning angle detector 25 and turning speed detector 26 of hoisting boom 10, elevator section 1
5, a rotation angle detector 27 and a rotation speed detector 28.

Further, a joystick as manual operation means 29 and a microcomputer as electronic arithmetic processing means 30 are installed in the cab 17. The manual operation means 29 may be constituted by two operation levers for controlling the traveling of the traveling frame 6 and the turning of the revolving frame 8, respectively, but a joystick widely used for two-axis displacement control as shown in the figure. It is convenient to use a tee to control the above operation.

That is, one or both of the traveling frame 6 and the revolving frame 8 are moved in a predetermined direction at an arbitrary speed depending on the angle and direction in which the joystick is tilted from the neutral position.
The joystick is turned and the joystick is returned to the neutral position when the elevator unit 15 reaches the vertical movement position set visually. Thereafter, position control in three axial directions based on three operations of running, turning, and undulating is performed by the electronic arithmetic processing means 30, and the elevator unit 1 is returned while the joystick is returned to the neutral position.
5 is moved up and down along a predetermined vertical line.

FIGS. 2A and 2B show the elevator section 15.
FIG. 7 is a view for explaining an operation when the vehicle is positioned above the center of the warehouse mouth 4 and lowered along the vertical line V and inserted into the hold 3, where X is the traveling direction of the traveling frame 6 extending in the longitudinal direction of the quay; Y is a direction perpendicular to the quay, and Z is a vertical movement direction of the elevator unit 15. In this figure, the turning frame 8 is shown.
The center of the swirl and the relief center undulations boom 10 was assumed to be in the same center O _1.

In the initial positioning in which the center of rotation A ₁ of the elevator unit 15 is visually matched with the vertical line V at the center of the warehouse, the up-and-down boom 10 has an elevation angle α ₁ and a turning angle β _{1 with} respect to the horizontal axis Y. and those placed in the state shown in the R ₁ extending obliquely upward. When with depression alpha ₂ is the maximum lowered position is laid down undulations boom 10 to the state of the R ₃ extending obliquely downward through the state shown by R ₂ extending horizontally from the state, the rotation center A ₁ of the elevator portion 15 the rotation center O ₁ to move along an arc C whose center.

In order to correct the movement along the arc C to the movement along the vertical line V, the center of the traveling frame 6 is O ₁ → O ₂ →
The vehicle is caused to travel so as to move in the order of O ₃ , and the turning angle of the turning frame 8 is changed from β _{1 to} β ₂ in synchronization with the running speed.
→ it is sufficient to pivot so as to change the order of β _3.

When the turning center of the turning frame 8 and the undulating center of the undulating boom 10 are not the same, the distance between the centers is changed by the displacement from A ₁ to A ₂ and A ₃ in FIG. The vertical movement along the vertical line V can be performed by adding the length to the travel of the traveling frame 6 and turning the turning frame 8.

That is, the elevator unit 15 can be controlled in position in the three axes X, Y, and Z by the three operations of traveling, turning, and undulating, and can be moved up and down along a predetermined vertical line V. Are the same as those described in JP-A-5-132152.

In actual work, it is difficult for the driver to visually locate the elevator unit 15 at the center of the warehouse. Further, depending on the structure of the elevator unit 15, the elevator unit 15 may come into contact with or be caught by the edge of the warehouse during the vertical movement, or it may be inappropriate to lower the elevator directly as it is depending on the state of bulk storage in the hold. Further, it may be necessary to correct the descent point when loading a bulldozer for bottom dredging.

According to the present invention, when it is necessary to change the lateral position of the elevator unit 15 during the vertical movement as described above, the required manual operation is performed by continuing the vertical movement without stopping the operation. The greatest feature is to move the required amount in the horizontal direction.

FIGS. 3A and 3B show an elevator section 15.
FIG. 3 is a view for explaining an operation when the horizontal position is changed in the course of being lowered from above the warehouse mouth 4 and inserted into the hold 3, and axes X, Y and Z are the same as those in FIG.

The center of rotation A ₁ of the elevator section 15 is first placed so as to coincide with the vertical line V set as the vertical movement direction. At this time, the undulating boom 10 extends obliquely upward with an elevation angle α ₁ and a turning angle β _{1. The} state shown in FIG.
In this state, the traveling frame 6 and the revolving frame 8 are tuned to travel and rotate while the up and down boom 10 is lying down, so that the rotation center A ₁ moves along the vertical line V.

When the up-and-down boom 10 reaches a state indicated by R ₄ extending obliquely upward with the elevation angle α ₄ and the turning angle β ₄ , it is necessary to change the lateral position of the elevator unit 15, and the rotation on the vertical line V is required. and for moving the rotation center a ₅ on the vertical line V ₁ which sets the center a ₁ again. Movement completion time of undulations boom 10 is the elevation angle alpha _5, with the turning angle beta _5, the state shown by R ₅ extending obliquely upwardly, the running frame 6 to pivot and undulations center is moved in the order of O ₁ → O ₄ → O ₅ To run. As a result, the elevator unit 15 moves in the horizontal direction while descending.

After completing the lateral movement, the rotation center A
₅ is moved along the vertical line V ₁ and the elevator unit 15 is lowered,
At the turning and undulating center O ₆ which is the maximum lowering position, the state of R ₆ extending obliquely downward is reached with the turning angle β ₆ and the depression angle α ₆ .

When unloading bulk materials from the cargo hold 3 of the cargo ship 2 berthed on the quay 1, the raising and lowering boom 10 is raised to an arbitrary elevation angle and the joystick as the manual operation means 29 is operated to move the turning frame 8 to an arbitrary angle. The traveling frame 6 is traveled in a state where the vehicle is turned, and the elevator unit 15 is visually positioned above the center of the warehouse mouth 4, and the traveling is stopped by returning the joystick to the neutral position. Defeat the elevator part 1
5 is lowered. When the joystick is returned to the neutral position, the positions X ₁ and Y _{1 in} the X and Y directions of the elevator unit 15 are input and stored in the electronic arithmetic processing unit 30.

The falling speed of the hoisting boom 10, that is, the descending speed of the elevator unit 15, is arbitrarily set by the driver. According to the descending speed, the traveling frame 6 descends along the vertical line V initially set visually. The running direction and running speed of the turning frame 8 and the turning direction and turning speed of the turning frame 8 are calculated and commanded by the electronic arithmetic processing means 30. Thereby, the lowering operation as shown in FIGS. 2A and 2B is automatically performed.

The vertical line to be lowered during the descent is represented by V in FIG.
Since modified as V ₁ was its lateral moving direction and distance determined visually, by operating the joystick of Figure 3 with continued downward movement of the elevator section 15 (A), (B) performs lateral movement as shown in, return to the neutral position the joystick when it reaches the V ₁ is the new position. Then, the positions X ₂ and Y _{2 of the} V _{1 in} the X and Y directions are input and stored in the electronic arithmetic processing means 30, and thereafter the elevator unit 15 descends along the changed vertical line V _1. .

FIG. 4 is a flowchart of a driving operation for moving the elevator unit 15 up and down. When the elevator unit 15 is positioned at the center of the warehouse 4 and stopped before the cargo handling operation, the traveling frame 6, the turning angle β of the turning frame 8, the undulating boom 10
Of the vertical line V to be lowered by calculating the X and Y positions X ₁ and Y ₁ of the elevator unit 15 in step 42 in step 42. Is stored.

Next, at step 43, it is determined whether or not the operation can be performed. If not, an operation stop command is issued at step 44, and if it is possible, the up and down speed of the up and down boom 10 is confirmed at step 45. At step 46, it is determined whether or not it is necessary to change the position of the tip of the hoisting boom 10, that is, the position of the elevator unit 15.

When there is no need to change, the turning angle and turning speed of the turning frame 8 are calculated in step 47, and the running distance and running speed of the running frame 6 are calculated in step 48. That is, in these steps 47 and 48, the turning direction and angle of the turning frame 8 are used to turn and run the turning boom 10 so that the tip end of the turning boom 10 is located at the target position X ₁ , Y _1. , Speed and running frame 6
, The traveling direction, the distance, and the speed of the vehicle including the correction of the allowable error.

On the basis of these calculated values, a driving command for traveling and turning is issued to the traveling frame 6 and the turning frame 8 in step 49, and the traveling position of the traveling frame 6, the turning angle of the turning frame 8, The elevation angle of the elevation boom 10 is read based on signals from the detectors 21, 23, and 25, and the deviation between the traveling position and the turning position is calculated in step 51, and the process returns to step 43.

If it is determined in step 46 that the horizontal position of the elevator unit 15 needs to be changed, step 5
Proceed to 2. That is, the elevator unit 15 is moved laterally toward the newly set vertical line to be lowered by operating the manual operation means 49, and the confirmation of the lateral movement at that time is made in step 52. And then step 5
In step 3, the traveling speed of the traveling frame 6 and the turning speed of the turning frame 8 for performing the lateral movement are calculated.

Next, at step 54, it is determined whether or not the horizontal movement of the elevator unit 15 has been completed. If completed, the running position of the running frame 6, the turning angle of the turning frame 8, and the turning angle of the hoisting boom 10 are read in step 55 by signals from the respective detectors, and in step 56, the elevator unit 15 is read.
X obtained by the change, computes the position X _2, Y ₂ in the Y direction. Then, in step 57, the correction amount between the traveling position and the turning position is cleared, and the process returns to step 43.

[0039]

As described above, according to the present invention, when the elevator section of the automatic unloading equipment is moved up and down by performing three-axis position control by three operations of running, turning, and undulating,
Not only can these three operations be performed by automatic operation to move up and down along a predetermined vertical line while automatically correcting the necessary lateral displacement due to undulation, but also to manually lift the elevator section By adding the means for moving in the horizontal direction, the vertical movement position can be changed arbitrarily while driving is continued.

For this reason, the elevator can be easily and accurately positioned and moved up and down to improve driving safety, operability and efficiency.

[Brief description of the drawings]

FIG. 1 is a side view schematically showing an embodiment of the present invention.

FIG. 2 is a diagram illustrating the operation of the embodiment of FIG. 1;
(A) is a side view, (B) is a plan view.

FIGS. 3A and 3B are diagrams illustrating operations different from those in FIG. 1, wherein FIG. 3A is a side view and FIG. 3B is a plan view.

FIG. 4 is a flowchart of a driving operation.

[Explanation of symbols]

6 traveling frame, 8 turning frame, 10 undulating boom, 15 elevator section, 21 mileage detector, 23 turning angle detector, 25 undulating angle detector, 29 manual operation means, 30 electronic arithmetic processing means,

Claims (2)

[Claims] 1. A lifted boom is supported on a revolving frame provided on a traveling frame, and an elevator section attached to the tip of the boom is vertically moved into and out of a hold from a hold opening to remove loaded bulk materials. In a continuous unloading facility for unloading outboard, signals from the traveling distance detecting means of the traveling frame, the turning angle detecting means of the turning frame, the rising angle detecting means of the hoisting boom, and the signals from the three detecting means. And electronic manual processing means for moving the elevator section in an arbitrary direction, wherein the electronic arithmetic processing section is provided with a lateral displacement of the elevator section due to the undulation of the undulating boom. These operations are instructed so that the traveling of the traveling frame and the turning of the revolving frame are performed at a speed synchronized with the lateral displacement in a direction to offset the rotation. Operation and wherein the being, that. 2. The operating apparatus for a continuous unloading facility according to claim 1, wherein said manual operation means is a joystick for controlling operations of said traveling frame and said turning frame.