JPS6012423A - Method of land equipment following ships - Google Patents

Abstract

PURPOSE:To keep approximately constant a distance between a moving member and a ship, by a method wherein movement of the ship followed by the moving member of a land system is detected and controlled by a detector. CONSTITUTION:A ship hull interlocking detecting device, mounted in a spot at the upper part of a ship hull, is provided with a position detector 36 consisting of a high-sensitive flecture type servo accelerometer for detecting the acceleration of 3 shafts of an X, a Y, and a Z shaft, and an angle detector 37 consisting of gyroscopes for 3 shafts, and a detecting signal is sent to a computing part 38 where it is converted into a digital value to store it at a memory part 39. The data regulated by a regulator 40 for the initial stage condition of the position detector and a regulator 41 for the initial stage condition of the angle detector are inputted, in response to the result, a concrete driving command for moving each part of a unloader is given by a driving part 42 to solenoid valves V1 and V2, which control cylinders 9 and 8, and motors M1, M2, and M3 of driving devices 1, 5, and 13, and each part of the unloader is moved so that it follows movement of a ship hull.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method of following movable members of land equipment for keeping the distance between ships and unloaders, floating bridges, and other movable members of land equipment almost constant at all times.

For example, when unloading bulk materials such as ore from a ship, the ship undergoes movements such as rolling and pitching due to waves in an almost constant cycle, and as the unloading progresses, the water level changes, so the ship's hatch If the lifting part of the unloader inserted from the ship is not moved to follow the movement of the ship, it may collide with the ship's hull and cause an accident.

On the other hand, when the unloader moves while proceeding with the unloading operation, there are limits to the relative position of the unloader with respect to the ship's body in each of the six directions of X, Y, and Z, so all collision prevention means are required.

In this collision prevention means and 1-, distance sensors are usually installed in the x, y, and z directions, and a means for controlling the distance so as not to exceed the limit values in each direction is adopted. However, if we attempt to maintain a constant relative position between the constantly rocking ship and the lifting section of the unloader using only this means,
A relatively long time delay occurs in realization of boom movement from detection by a sensor, and the delay becomes excessive especially in the case of a large unloader, so a very large amount of power is required to put it into practical use. It turns out.

The present invention provides a tracking device that can easily and quickly cause an unloader or other land equipment that unloads cargo from a ship, etc. that is rocking in a constant cycle to follow the movement of the ship, etc. The purpose is to

Next, the present invention will be explained in detail using illustrated examples.

Figures 1 to 7 show an embodiment in which the present invention is applied to follow an unloader to a carrier ship, in which a truck 2 equipped with a traveling drive device 1 extends in the longitudinal direction of a quay B. A swivel base 6 is attached to the top of the bogie 2, which is rotated by a swing drive device 5. A boom 7 extending laterally perpendicular to the direction
is mounted on a horizontal shaft 8 so that it can be raised and lowered, and the boom 7 and the swivel base 6 are connected via a hydraulic cylinder 9 for raising and lowering.

A horizontal annular support 10 is attached to the tip of the boom 7 and has a horizontal axis 1.
1, and the swivel base 6 and the annular support base 1
0 is connected to the annular support base 10 via a horizontal holding mechanism 12 that works to always hold the annular support stand 10 in a horizontal state.

An annular rotating member 14 is attached to the upper part of the annular support base 10, and is rotated by a drive device 16 via a drive gear and a large-diameter annular driven gear. , a vertical upper ascending conveying section 16, a lower ascending conveying section 17 bendably connected to the lower end thereof, and a bending/stretching section connected to the annular turning member 14 and a bracket on the side of the lower ascending conveying section 17. and a hydraulic cylinder 18, and the ascending conveyance section 1
A scooping section 19 consisting of a packet wheel rotated by a drive device is provided at the lower end of 5, and the upper ascending conveyance section 16 is inserted through and fixed to the annular turning member 14, and the upward conveyance section 15 and the scooping section 19 are connected to each other. A lifting section is constituted by the inserting section 19.

A rotating body 20 consisting of an annular bottom plate and an inner annular side plate rising from its inner peripheral edge is arranged to surround the annular rotating member 14'f, and a number of wheels 21 fixed to the lower part of the rotating body 20 are arranged around the annular rotating member 14'f. The rotary body 20 is placed on an annular rail 22 fixed to the upper part of the support base 10, and is rotated in the direction of the arrow ( (b) direction.

6- An outer annular side plate 24 is disposed at the upper part of the outer peripheral side of the annular bottom plate, and an opening is provided in a portion of the outer annular side plate 24 on the boom 7 side, and a chute 25 is connected to the opening; Furthermore, a scraping plate 26 inclined with respect to the rotating direction of the rotating body is fixed to the front edge of the opening in the rotating direction of the rotating body, and the rotary feeder 20, the outer annular side plate 24, the chute 25, and the scraping plate 26 form a The outer annular side plate 24 is fixed to the annular support 10 via a connecting member 27.

The upper end of a chute 28 is connected to the upper end of the ascending conveyance section 15, and the lower end of the chute 28 is disposed in the upper part of the groove formed by the rotating body 20 and the outer annular side plate 24, and the chute of the rotary feeder. 25 is disposed above one end of the conveyor 29 extending along the boom 7, the other end of the conveyor 29 is disposed above the discharge chute 30, and the discharge chute 0 is placed on the turntable B. Furthermore, the lower end of the discharge chute 0 is opened at the upper part of the relay conveyor 31 attached to the truck 2, and the discharge end of the relay conveyor 61 is arranged at the upper part of the ground belt conveyor 62. There is.

The unloader configured as described above has a 2-degree rotating platform, 6. It has the functions of running the unloader main body consisting of the boom 7, annular support 10, etc., turning and raising and lowering the boom 7, and turning and swinging (bending) the lifting section. Then, while the movement of the unloader body is performed continuously at a very slow speed by the traveling of the unloader body and the swing of the boom 7 (the large radius rotation of the lift lift unit), either alone or in combination, the swing and swing movements of the lift lift unit are performed. The cargo is then unloaded.

Bulk materials such as ore in the carrier ship 66 are loaded into packets at the lower end of the ascending conveyance section 15 by a scooping section 19 consisting of a packet wheel, and then upwardly conveyed by the packets. It falls into the groove, is then scraped off by the scraping plate 26 onto the chute 25, and is supplied to the receiving end of the chute 25 and the conveyor 29. Further, the bulk materials transported by the transport conveyor 29 are supplied to the ground belt conveyor 62 via the discharge chute and the relay conveyor 31, and are transported to the destination location by the ground belt conveyor roller 2.

A hull motion detection device 5 is fixed at one location on the upper part of the hull 64, and the hull motion detection device 5 has an X shape.

The position detection device includes a position detection device 36 consisting of a highly sensitive flexure type servo accelerometer that detects acceleration in six axes of Y and Z axes, and an angle detection device 7 consisting of a six-axis gyroscope. The movement (6 elements) of the hull 64 is detected with respect to time by the filter 6 and the angle detection device 37,
The detection signal is sent to a calculation section 68, which performs integration and other simple calculations and converts it into a digital value, and this digital value is stored in a storage section 69.

Adjustment data from the position detection device initial condition adjustment device 40 and the angle detection device initial condition adjustment device 41 is inputted to the stored hull motion data, and based on the results, specific drive instructions for moving each part of the unloader are issued. However, the solenoid pulp V, , V2 which controls the cylinder 9.18' from the drive unit 42 and the electric motor M, , M2 of the drive device 1, 5.13. M3, and each part of the unloader is moved to follow the movement of the hull 64.

In this way, the scooping part 19 in the hull and unloader
(movable member) can be kept almost constant, but against disturbances in the regular cycle motion of the hull due to external forces such as transverse waves, for example, the rising lifting section, which is the part closest to the hull in the rising lifting section, A non-contact type switch (proximity switch), etc. that is activated by the iron (ship hull) when the iron (ship hull) approaches the lower part of the packet wheel (for example, the lower end of the packet wheel lifting conveyance section 15) at a certain distance. By attaching a contact prevention control device such as the above, and sending a signal from the contact prevention control device to the drive section as a correction signal, it is possible to carry out the work of discharging loose objects while preventing contact between the scooping section and the hull.

In Fig. 7, P is the liquid pump, ■ is the rear It is a leaf valve.

Like a ship moored to a rock wall in a port, movement in the X-Y directions (front, rear, left, and right) is restricted, and movement is restricted primarily in the Z direction (
In the case of continuous unloading from a ship that moves only in the vertical direction, the movement of the ship can be detected by the following relatively simple means.

FIG. 8 and FIG. 9 show an example, and 2
Two ultrasonic range finders 43, 44 are arranged below the boom 7 of the unloader above the hull 34, and each ultrasonic range finder 43, 44 is positioned on a substantially horizontal straight line at 45° to the longitudinal direction of the boom. The ultrasonic range finders 46, 44 are spaced apart and fixed to the boom 7 (a=b).
The distance between the boom 7 and the hull 64 is measured.

The hull pitches, rolls, and moves up and down around the center of gravity, but each ultrasonic range finder 43.44
The motion of the ship can be recorded by continuously measuring changes in distance H2 over time at two points.

18 = Since the distance between the center of the ascending conveyance section 15 suspended from the tip side of the Ushida boom 7 and the center of the ship's hull can be easily measured with an ultrasonic range finder, etc., the unloader position mentioned above can be easily measured. By inputting the data as data, the relative relationship between the no.tsuchi and the ascending conveyance section 15 can be easily calculated and controlled.

If there is a fender between the hull of the trench and the quay, the motion of the hull becomes somewhat more complicated than in the previous case, but in this case as well, the total motion of the hull can be measured by measuring H,,I(2). Therefore, there is no need to install an accelerometer on the hull as described above.

As means for detecting the hull movement, means other than those mentioned above may be used, such as six distance sensors on the same plane at the corners of a hexagon on a fixed part such as a quay or an unloader boom. It is also possible to fix the position of the ship and detect the entire movement of the ship by combining the respective distance sensors.

Note that the present invention can also be implemented as a loading device follow-up device for a ship that cannot berth at a quay, or a floating bridge follow-up device for a ferry boat.

According to the present invention, a detection device detects the movement of a vessel with respect to a movable member of land equipment, and the detection signal controls a drive device that drives the movable member, so that the movement between the movable member and the vessel is controlled. Since the distance is kept approximately constant, it is possible to reliably prevent collisions between movable members of land-based equipment and ships and damage caused by such collisions by simple means.

[Brief explanation of drawings]

1 to 7 show an embodiment of the present invention, in which FIG. 1 is a schematic plan view showing a carrier ship and an unloader equipped with a hull motion detection device, and FIG. 2 is a schematic plan view showing the carrier ship and unloader as a whole. 6 is a partially longitudinal side view showing the vicinity of the two-lifting cargo support structure and the rotary feeder, FIG. 4 is a plan view thereof, and FIG. 5 is a partially enlarged view of FIG. 3. 6 is a horizontal view 1511 showing a part of the rotary feeder, and FIG. 7 is a diagram showing a follow-up control circuit. 8 and 9 show other embodiments of the present invention, in which FIG. 8 is a side view showing the relationship between an unloader having a ship motion detection device and a carrier ship, and FIG. 9 is a side view showing the relationship between a ship motion detection device and a carrier ship. FIG. 2 is a plan view showing the arrangement of the device. In the figure, 2 is a trolley, 6 is a swivel table, 7 is a boom, 9 is a hydraulic cylinder for luffing, 1o is an annular support base, 14 is an annular rotating member, 15 is a lifting conveyor, 18 is a hydraulic cylinder for bending and stretching, 19 is a scooping part, 2o is a rotating body, 24 is an outer annular side plate, 25 is a chute, 26 is a scraping plate, 28 is a chute, 29 is a conveyor, 64 is a hull, 65 is a hull motion detection device, 66 is a position a detection device; 67 is an angle detection device;
43 and 44 are ultrasonic range finders.

Claims (1)

[Claims] The movement of the vessel with respect to the movable member of land equipment is detected by a total detection device, and the detection signal is used to control a drive device that drives the movable member to maintain a substantially constant distance between the movable member and the vessel. Features: A method for land equipment to follow ships.