TW201323306A - Continuous unloader - Google Patents
Continuous unloader Download PDFInfo
- Publication number
- TW201323306A TW201323306A TW101102032A TW101102032A TW201323306A TW 201323306 A TW201323306 A TW 201323306A TW 101102032 A TW101102032 A TW 101102032A TW 101102032 A TW101102032 A TW 101102032A TW 201323306 A TW201323306 A TW 201323306A
- Authority
- TW
- Taiwan
- Prior art keywords
- ship
- swing
- continuous unloader
- excavating
- bulk cargo
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/60—Loading or unloading ships
- B65G67/606—Loading or unloading ships using devices specially adapted for bulk material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/06—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
Abstract
Description
本發明是關於對船舶所裝載的散裝貨物進行連續性挖掘搬運的連續式卸載機。 The present invention relates to a continuous unloader for continuous excavation and handling of bulk cargo loaded on a ship.
連續式卸載機，是對裝載在散裝載貨船之船倉的散裝貨物例如礦石或煤炭等進行連續性起貨的機械。連續式卸載機，是設置在岸壁，具備有散裝貨物挖掘用的鏟斗，和，連接有複數鏟斗的環狀鏈條，及，環狀鏈條驅動用的馬達等。接著，藉由環狀鏈條的驅動，使連接在環狀鏈條的複數鏟斗能夠連續性挖掘船舶之船倉內所裝載的散裝貨物。 The continuous unloader is a machine that continuously picks up bulk goods such as ore or coal loaded in the ship's warehouse of a bulk loaded cargo ship. The continuous unloader is installed on the bank, and includes a bucket for excavating bulk cargo, an endless chain to which a plurality of buckets are connected, and a motor for driving an endless chain. Then, by the driving of the endless chain, the plurality of buckets connected to the endless chain can continuously excavate the bulk cargo loaded in the ship's warehouse.
專利文獻1，其所揭示的技術是對連續式卸載機的水平挖掘力進行檢測，以輕負荷的條件確保目標所示的卸貨量。此外，專利文獻2，其所揭示的技術是使卸載機挖掘部追隨船底，於掏底階段在船舶上下動大時能夠以低成本並且以卸貨效率不會明顯降低的形態進行掏底作業。 Patent Document 1, the technique disclosed is to detect the horizontal digging force of the continuous unloader, and to ensure the unloading amount indicated by the target under light load conditions. Further, Patent Document 2 discloses a technique in which the unloader excavation portion follows the bottom of the ship, and the bottoming operation can be performed at a low cost and in a form in which the unloading efficiency is not significantly lowered when the ship is moved up and down in the bottoming stage.
[專利文獻1]日本特開平9-255162號公報 [Patent Document 1] Japanese Patent Laid-Open No. Hei 9-255162
[專利文獻2]日本特開2002-37458號公報 [Patent Document 2] Japanese Patent Laid-Open Publication No. 2002-37458
於連續式卸載機的卸貨中，海浪變高時，擺動的船舶有可能對連續式卸載機施加載重。此時，鏟斗會碰撞到環狀鏈條支撐用的底部構件，使連續式卸載機的構件產生破損或倒翻的危險性。另一方面，先前，對於海浪的監視，是由連續式卸載機的操作員以目視執行監視，因此於船舶的擺動時特別是於上下動時的確認就較困難。 In the unloading of a continuous unloader, when the waves become high, the oscillating vessel may impose a load on the continuous unloader. At this time, the bucket may collide with the bottom member for supporting the endless chain, and the member of the continuous unloader may be damaged or reversed. On the other hand, in the past, the monitoring of the sea waves was performed visually by the operator of the continuous unloader, and therefore it was difficult to confirm the swinging of the ship, particularly when moving up and down.
本發明，是有鑑於上述情況而為的發明，目的在於提供一種能夠正確掌握卸貨中的船舶擺動，能夠減輕從船舶施加在連續式卸載機之載重的連續式卸載機。 The present invention has been made in view of the above circumstances, and an object of the invention is to provide a continuous unloader capable of accurately grasping the swing of a ship during unloading and reducing the load applied to the continuous unloader from a ship.
為了解決上述課題，本發明的連續式卸載機採用以下的手段。 In order to solve the above problems, the continuous unloader of the present invention employs the following means.
即，本發明相關的連續式卸載機，具備：挖掘手段，和船舶擺動檢測用的擺動檢測手段，及以視覺性顯示所檢測之擺動的顯示手段，該挖掘手段，具有：挖掘船舶的船倉內所裝載之散裝貨物用的鏟斗；連接有複數鏟斗的環狀構件；及環狀構件驅動用的驅動部。 That is, the continuous unloader according to the present invention includes: an excavating means, and a swing detecting means for detecting the ship's wobble, and a display means for visually displaying the detected wobble, the excavating means having the inside of the ship's warehouse a bucket for loaded bulk cargo; an annular member to which a plurality of buckets are connected; and a driving portion for driving the annular member.
根據本發明時，藉由環狀構件的驅動，就可使連接在環狀構件的複數鏟斗連續性挖掘船舶的船倉內所裝載的散裝貨物。此外，由於是利用擺動檢測手段對散裝貨物挖掘執行時的船舶擺動進行檢測，由顯示手段顯示出所檢測的擺動，因此就能夠根據船舶的擺動正確執行挖掘手段的運 轉變更。例如：對挖掘手段的操作員傳達船舶的擺動狀態，能夠幫助卸貨時之挖掘手段的操作。另外，對站在船舶側之指示操作員的指示人員(指揮者)傳達船舶的擺動狀態，能夠幫助卸貨時的操作指示。具體而言，使挖掘手段的運轉根據船舶的擺動，運轉成能夠減輕從船舶施加在挖掘手段的載重。 According to the present invention, by the driving of the annular member, the plurality of buckets connected to the annular member can continuously excavate the bulk cargo loaded in the ship's warehouse. Further, since the swing of the ship during the execution of the bulk cargo excavation is detected by the swing detecting means, the detected swing is displayed by the display means, so that the operation of the excavating means can be correctly performed in accordance with the swing of the ship. Change. For example, the operator of the excavation means communicates the swing state of the ship, and can assist in the operation of the excavation means at the time of unloading. In addition, the instruction person (commander) who instructs the operator standing on the side of the ship communicates the swing state of the ship, and can assist in the operation instruction at the time of unloading. Specifically, the operation of the excavating means is operated in accordance with the swing of the ship so that the load applied to the excavating means from the ship can be reduced.
於上述發明中，擺動檢測手段是設置在挖掘手段。 In the above invention, the swing detecting means is provided in the excavating means.
根據該發明時，因是於挖掘手段設有擺動檢測手段，所以就不需要設置從船舶側傳往挖掘手段側的訊號傳送手段，例如船舶上不需要設有無線裝置。 According to the invention, since the swing detecting means is provided in the excavating means, it is not necessary to provide the signal transmitting means from the side of the ship to the side of the excavating means. For example, it is not necessary to provide a wireless device on the ship.
此外，本發明相關的連續式卸載機，具備：挖掘手段，和對船舶和挖掘手段之接近狀態進行檢測的接近狀態檢測手段，及對所檢測出的接近狀態進行通報的通報手段，該挖掘手段，具有：挖掘船舶的船倉內所裝載之散裝貨物用的鏟斗；連接有複數鏟斗的環狀構件；及環狀構件驅動用的驅動部。 Further, the continuous unloader according to the present invention includes: an excavating means, a proximity detecting means for detecting a proximity state of the ship and the excavating means, and a notifying means for notifying the detected approaching state, the excavating means The utility model has a bucket for excavating bulk cargo loaded in a ship's warehouse, an annular member connected with a plurality of buckets, and a driving portion for driving the annular member.
根據本發明時，藉由環狀構件的驅動，就可使連接在環狀構件的複數鏟斗連續性挖掘船舶的船倉內所裝載的散裝貨物。此外，由於是利用接近狀態檢測手段對散裝貨物挖掘執行時的船舶接近狀態進行檢測，通報所檢測的接近狀態，因此就能夠根據船舶的接近狀態正確執行挖掘手段的運轉變更。例如：對挖掘手段的操作員傳達船舶的接近狀態，能夠幫助卸貨時之挖掘手段的操作。具體而言，使挖掘手段的運轉根據船舶的接近狀態運轉成能夠避免彼此 干涉。 According to the present invention, by the driving of the annular member, the plurality of buckets connected to the annular member can continuously excavate the bulk cargo loaded in the ship's warehouse. In addition, since the approach state of the ship at the time of execution of the bulk cargo excavation is detected by the approach state detecting means, and the detected approach state is notified, the operation change of the excavation means can be accurately performed in accordance with the approach state of the ship. For example, the operator of the excavation means can communicate the approach state of the ship, and can assist in the operation of the excavation means at the time of unloading. Specifically, the operation of the excavating means is operated in accordance with the approaching state of the ship so as to avoid each other put one's oar in.
另外，本發明相關的連續式卸載機，具備：挖掘手段，和對船舶的擺動量進行檢測的擺動檢測手段，及根據所檢測出的擺動量對挖掘手段之環狀構件的鬆弛量或者對散裝貨物和挖掘手段的距離進行變更的操作手段，其挖掘手段，具有：挖掘船舶的船倉內所裝載之散裝貨物用的鏟斗；連接有複數鏟斗的環狀構件；及環狀構件驅動用的驅動部。 Further, the continuous unloader according to the present invention includes: an excavating means, and a swing detecting means for detecting the amount of swing of the ship, and a slack amount of the ring member of the excavating means or a bulk amount according to the detected amount of swing An operation means for changing the distance between the cargo and the excavation means, the excavation means includes: a bucket for excavating bulk cargo loaded in a ship's silo; an annular member to which a plurality of buckets are connected; and a ring member for driving Drive unit.
根據本發明時，藉由環狀構件的驅動，就可使連接在環狀構件的複數鏟斗連續性挖掘船舶的船倉內所裝載的散裝貨物。此外，由於是利用擺動檢測手段對散裝貨物挖掘執行時的船舶擺動量進行檢測，根據所檢測的擺動量，使挖掘手段之環狀構件的鬆弛量或者對散裝貨物和挖掘手段的距離變更，因此就能夠根據船舶的擺動正確執行挖掘手段的運轉變更。其結果，就能夠使挖掘手段的操作根據船舶的擺動操作成減輕從船舶施加在挖掘手段的載重。 According to the present invention, by the driving of the annular member, the plurality of buckets connected to the annular member can continuously excavate the bulk cargo loaded in the ship's warehouse. Further, since the swing amount of the ship during the execution of the bulk cargo excavation is detected by the swing detecting means, the amount of slack of the annular member of the excavating means or the distance to the bulk cargo and the excavating means is changed based on the detected amount of swing. It is possible to accurately perform the operation change of the excavating means in accordance with the swing of the ship. As a result, the operation of the excavating means can be made to reduce the load applied to the excavating means from the ship in accordance with the swinging operation of the ship.
根據本發明時，能夠正確掌握卸貨中的船舶擺動，能夠減輕從船舶施加在連續式卸載機的載重。 According to the present invention, it is possible to accurately grasp the swing of the ship during unloading, and it is possible to reduce the load applied to the continuous unloader from the ship.
以下，針對本發明相關的實施形態參照圖面進行說 明。 Hereinafter, embodiments related to the present invention will be described with reference to the drawings. Bright.
以下，針對本發明的第1實施形態使用第1圖進行說明。 Hereinafter, a first embodiment of the present invention will be described using FIG.
首先，針對本實施形態相關之連續式卸載機1的構成進行說明。 First, the configuration of the continuous unloader 1 according to the present embodiment will be described.
連續式卸載機1設置在岸壁5上，連續式卸載機1的本體部4能夠沿著鋪設在岸壁5的軌道36移動。連續式卸載機1，是於本體部4的上部設有起重機9，起重機9支撐著立柱2。在立柱2設有挖掘手段，挖掘手段，其立柱2的下部透過船舶6的開口部7插入船倉。接著，挖掘手段，對裝載在船舶6之船倉內的散裝貨物進行挖掘。於此，所謂船舶6，例如是散裝貨船，散裝貨物為礦石或煤炭。 The continuous unloader 1 is disposed on the bank 5, and the body portion 4 of the continuous unloader 1 is movable along the rail 36 laid on the bank 5. The continuous unloader 1 is provided with a crane 9 at the upper portion of the main body portion 4, and the crane 9 supports the column 2. An excavation means is provided on the column 2, and the excavation means is provided, and the lower part of the column 2 is inserted into the ship's silo through the opening part 7 of the ship 6. Next, the excavation means excavates the bulk cargo loaded in the ship's warehouse. Here, the ship 6 is, for example, a bulk cargo ship, and the bulk cargo is ore or coal.
在船倉經由挖掘收容在鏟斗3的散裝貨物，是被移送往沿著起重機9設置的起重輸送帶35。接著，散裝貨物，是由起重輸送帶35和設置在本體部4的機內輸送帶搬運，然後搬出至連續式卸載機1的外部。 The bulk cargo accommodated in the bucket 3 through the excavation in the ship's warehouse is transferred to the hoisting conveyor belt 35 provided along the crane 9. Next, the bulk cargo is transported by the hoisting conveyor 35 and the in-vehicle conveyor provided in the main body portion 4, and then carried out to the outside of the continuous unloader 1.
挖掘手段，例如：具備有散裝貨物挖掘用的鏟斗3，和，連接有複數鏟斗3的環狀鏈條10，及，環狀鏈條10驅動用的馬達等。環狀鏈條10，如第5圖所示，是在挖掘手段的下部通過前端鏈輪32及後端鏈輪33。前端鏈輸32和後端鏈輪33，例如是由底部構件31支撐著。 The excavation means includes, for example, a bucket 3 for excavating bulk cargo, an endless chain 10 to which the plurality of buckets 3 are connected, and a motor for driving the endless chain 10, and the like. As shown in Fig. 5, the endless chain 10 passes through the front end sprocket 32 and the rear end sprocket 33 at the lower portion of the excavating means. The front chain link 32 and the rear chain sprocket 33 are supported, for example, by the bottom member 31.
船舶6，在卸貨中，沿著岸壁5停靠，會受海浪的影響。因此，當海浪變高時，船舶6恐怕會碰撞連續式卸載機1。例如：要通過底部構件31下側的鏟斗3可能會碰到船底或所裝載的散裝貨物，接著鏟斗3又往上側移動，可能會碰撞到底部構件31。 The ship 6, in the unloading, stops along the bank 5 and is affected by the waves. Therefore, when the sea wave becomes high, the ship 6 is likely to collide with the continuous unloader 1. For example, the bucket 3 to be passed through the lower side of the bottom member 31 may hit the bottom of the ship or the loaded bulk cargo, and then the bucket 3 moves to the upper side again, possibly hitting the bottom member 31.
本實施形態中，由擺動檢測手段檢測出卸貨中的船舶6擺動，由顯示手段以視覺性顯示所檢測的擺動。其結果，根據顯示手段所顯示的船舶擺動對挖掘手段進行操作，即使是海浪較高時還是能夠持續進行卸貨。此外，還能夠根據海浪的高度，迅速並且正確執行卸貨中斷的判斷。 In the present embodiment, the swing detecting means detects the swing of the ship 6 during unloading, and visually displays the detected wobble by the display means. As a result, the excavating means is operated in accordance with the swing of the ship displayed by the display means, and the unloading can be continued even when the waves are high. In addition, it is also possible to quickly and correctly perform the judgment of the unloading interruption according to the height of the sea wave.
以下，針對本實施形態相關的擺動檢測手段進行說明。 Hereinafter, the wobble detecting means according to the present embodiment will be described.
擺動檢測手段，如第1圖所示，是由設置在連續式卸載機1的雷射測距儀15及晃動檢測攝影機16，和，設置在船舶6的晃動檢測標靶17所構成。接著，當船舶6的甲板面為XY面，甲板面的垂直方向為Z方向時，雷射測距儀15是對Z方向的船舶6上下動進行檢測。此外，利用晃動檢測攝影機16和晃動檢測標靶17的組合，對X方向及Y方向的船舶6擺動進行檢測。 As shown in Fig. 1, the oscillating detecting means is constituted by a laser range finder 15 and a sway detecting camera 16 provided in the continuous unloader 1, and a sway detecting target 17 provided in the ship 6. Next, when the deck surface of the ship 6 is the XY plane and the vertical direction of the deck surface is the Z direction, the laser range finder 15 detects the up and down movement of the ship 6 in the Z direction. Further, the combination of the sway detection camera 16 and the sway detection target 17 detects the oscillating motion of the ship 6 in the X direction and the Y direction.
所檢測出之船舶6擺動相關的訊號，是從雷射測距儀15及晃動檢測攝影機16傳送至控制部。接著，根據所檢測出的訊號，顯示手段例如以波形分別顯示X、Y、Z方向的船舶6擺動。控制部及顯示手段，例如是設置在連續 式卸載機1的操作室。另，船舶6的擺動，也可不採波形顯示，而是以數值或指示器等顯示。 The detected signal related to the swing of the ship 6 is transmitted from the laser range finder 15 and the sway detecting camera 16 to the control unit. Next, based on the detected signals, the display means displays the ship 6 in the X, Y, and Z directions, for example, in a waveform. The control unit and the display means are, for example, set in continuous The operating room of the unloader 1 . In addition, the swing of the ship 6 may be displayed without using a waveform, but by a numerical value, an indicator, or the like.
如此一來，連續式卸載機1的操作員就能夠掌握船舶6的擺動量、週期，有助於卸貨時之挖掘手段的操作。此外，根據船舶6的擺動量，也可關聯到散裝貨物和鏟斗3之間隙大致具有的相對距離。雷射測距儀15及晃動檢測攝影機16，是安裝在連續式卸載機1，並不安裝在船舶6側因此就不需要訊號傳送用的無線裝置。 In this way, the operator of the continuous unloader 1 can grasp the swing amount and cycle of the ship 6, and contribute to the operation of the excavating means at the time of unloading. Further, depending on the amount of swing of the ship 6, it is also possible to relate to the relative distance that the gap between the bulk cargo and the bucket 3 has. The laser range finder 15 and the sway detection camera 16 are mounted on the continuous unloader 1, and are not mounted on the side of the ship 6, so that a wireless device for signal transmission is not required.
其次，針對本發明的第2實施形態使用第2圖進行說明。 Next, a second embodiment of the present invention will be described using FIG.
本實施形態，針對連續式卸載機1的本體部4及挖掘手段，是採用和第1實施形態相同的構成，因此省略該相同部份的說明。 In the present embodiment, the main body portion 4 and the excavating means of the continuous unloader 1 are the same as those of the first embodiment, and therefore the description of the same portions will be omitted.
本實施形態中，由接近狀態檢測手段對卸貨中的連續式卸載機1和船舶6的立柱2之接近狀態進行檢測，由通報手段(例如警報裝置)通報(警鳴)所檢測出的接近狀態。其結果，根據警報裝置所通報的接近狀態操作挖掘手段，即使海浪高時還是能夠持續進行卸貨。此外，也可根據海浪的高度，迅速並且正確執行卸貨中斷。 In the present embodiment, the approach state detecting means detects the approach state of the continuous unloader 1 and the column 2 of the ship 6 during unloading, and the notification means (for example, an alarm device) notifies (alarm) the detected approach state. As a result, the excavation means is operated in accordance with the approach state notified by the alarm device, and the unloading can be continued even when the sea wave is high. In addition, unloading interruptions can be performed quickly and correctly depending on the height of the waves.
接近狀態檢測手段，如第2圖所示，其由設置在船舶6之開口部7緣的投光側光電感測器11及受光側光電感測器12，和設置在船舶6的訊號傳送用無線裝置13，及 設置在連續式卸載機1的訊號接收用無線裝置18(參照第1圖)所構成。接著，投光側光電感測器11及受光側光電感測器12，是對插入在開口部7的立柱2和船舶6的甲板8之干涉進行檢測。此外，投光側光電感測器11及受光側光電感測器12所檢測出的訊號，是經由訊號傳送用無線裝置13及接收用無線裝置18傳送至控制部。其次，控制部是根據投光側光電感測器11及受光側光電感測器12所檢測出的訊號，對有關干涉是否通報進行判斷，需要通報時，由通報手段通報有關連續式卸載機1和船舶6之立柱2的接近。控制部及通報手段，例如是設置在連續式卸載機1的操作室。 As shown in FIG. 2, the approach state detecting means is provided by the light projecting side photodetector 11 and the light receiving side photodetector 12 provided at the edge of the opening 7 of the ship 6, and the signal transmission provided in the ship 6. Wireless device 13, and The signal receiving wireless device 18 (see Fig. 1) of the continuous unloader 1 is provided. Next, the light projecting side photodetector 11 and the light receiving side photodetector 12 detect the interference between the column 2 inserted in the opening 7 and the deck 8 of the ship 6. Further, the signals detected by the light-emitting side photodetector 11 and the light-receiving side photo-detector 12 are transmitted to the control unit via the signal transmitting wireless device 13 and the receiving wireless device 18. Next, the control unit judges whether or not the interference is notified based on the signal detected by the light-emitting side photodetector 11 and the light-receiving side photo-sensing device 12. When the notification is required, the continuous unloader 1 is notified by the notification means. Close to the column 2 of the ship 6. The control unit and the notification means are provided, for example, in an operation room of the continuous unloader 1.
如此一來，連續式卸載機1的操作員就能夠掌握連續式卸載機1和船舶6之立柱2的干涉危險性，有助於卸貨時之挖掘手段的操作。此外，通報手段，若採用電動警笛等，就能夠通知周圍有關干涉的危險性。 In this way, the operator of the continuous unloader 1 can grasp the interference risk of the continuous unloader 1 and the column 2 of the ship 6, and contribute to the operation of the excavating means at the time of unloading. In addition, if a notification method is used, an electric siren or the like can be used to notify the surrounding danger of interference.
其次，針對本發明的第3實施形態使用第3圖進行說明。 Next, a third embodiment of the present invention will be described using FIG.
本實施形態，針對連續式卸載機1的本體部4及挖掘手段是採用和第1實施形態相同的構成，因此省略該相同部份的說明。 In the present embodiment, the main body portion 4 and the excavating means of the continuous unloader 1 are the same as those of the first embodiment, and therefore the description of the same portions will be omitted.
本實施形態中，由擺動檢測手段對卸貨中的船舶6擺動進行檢測，由顯示手段以視覺性顯示所檢測出的擺動。 其結果，根據顯示手段所顯示的船舶擺動對挖掘手段進行操作，即使海浪高時還是能夠持續進行卸貨。此外，還可根據海浪的高度，迅速並且正確執行卸貨中斷的判斷。 In the present embodiment, the swing detecting means detects the swing of the ship 6 during unloading, and the display means visually displays the detected swing. As a result, the excavating means is operated in accordance with the swing of the ship displayed by the display means, and the unloading can be continued even when the wave is high. In addition, the judgment of the unloading interruption can be quickly and correctly performed according to the height of the sea wave.
接著，針對本實施形態相關的擺動檢測手段進行說明。 Next, the swing detecting means according to the present embodiment will be described.
擺動檢測手段，如第3圖所示，其由設置在船舶6的GPS21及訊號傳送用無線裝置13，和設置在連續式卸載機1的訊號接收用無線裝置18(參照第1圖)所構成。接著，當船舶6的甲板面為XY面，甲板面垂直方向為Z方向時，GPS21是對X方向及Y方向的船舶6擺動，和，Z方向的船舶6上下動進行檢測。 As shown in Fig. 3, the swing detecting means is constituted by the GPS 21 and the signal transmitting wireless device 13 installed in the ship 6, and the signal receiving wireless device 18 (see Fig. 1) provided in the continuous unloader 1. . Next, when the deck surface of the ship 6 is the XY plane and the vertical direction of the deck surface is the Z direction, the GPS 21 swings the ship 6 in the X direction and the Y direction, and the ship 6 in the Z direction moves up and down to detect.
GPS21所檢測出之船舶6擺動相關的訊號，是從訊號傳送用無線裝置13經由訊號接收用無線裝置18傳送至控制部。接著，根據所檢測出的訊號，由顯示手段以波形分別顯示例如X、Y、Z方向的船舶6擺動。控制部及顯示手段，例如是設置在連續式卸載機1的操作室。另，船舶6的擺動，也可不採用波形顯示，而是以數值或指示器等顯示。 The signal related to the swing of the ship 6 detected by the GPS 21 is transmitted from the signal transmitting wireless device 13 to the control unit via the signal receiving wireless device 18. Next, based on the detected signals, the ship 6 swings in the X, Y, and Z directions, for example, by the display means. The control unit and the display means are provided, for example, in an operation room of the continuous unloader 1. In addition, the swing of the ship 6 may be displayed by a numerical value, an indicator or the like without using a waveform display.
如此一來，連續式卸載機1的操作員就能夠掌握船舶6的擺動量、週期，有助於卸貨時之挖掘手段的操作。此外，根據船舶6的擺動量，也可關聯到散裝貨物和鏟斗3之間隙大致具有的相對距離。再加上，藉由使用無線通訊手段，就不需在船舶6側和連續式卸載機1側設置訊號用配線。另外，針對GPS21，如第3圖所示，例如4台 GPS21設置在船舶6的各處，就能夠掌握船舶6全體的擺動量。 In this way, the operator of the continuous unloader 1 can grasp the swing amount and cycle of the ship 6, and contribute to the operation of the excavating means at the time of unloading. Further, depending on the amount of swing of the ship 6, it is also possible to relate to the relative distance that the gap between the bulk cargo and the bucket 3 has. Further, by using the wireless communication means, it is not necessary to provide wiring for the signal on the side of the ship 6 and the side of the continuous unloader 1. In addition, for GPS21, as shown in Fig. 3, for example, 4 units The GPS 21 is installed in each part of the ship 6, and the amount of swing of the entire ship 6 can be grasped.
其次，針對本發明的第4實施形態使用第4圖進行說明。 Next, a fourth embodiment of the present invention will be described using FIG.
本實施形態，針對連續式卸載機1的本體部4及挖掘手段，是採用和第1實施形態相同的構成，因此省略該相同部份的說明。 In the present embodiment, the main body portion 4 and the excavating means of the continuous unloader 1 are the same as those of the first embodiment, and therefore the description of the same portions will be omitted.
本實施形態中，由擺動檢測手段對卸貨中的船舶6擺動進行檢測，由顯示手段以視覺性顯示所檢測出的擺動。其結果，根據顯示手段所顯示的船舶擺動對挖掘手段進行操作，即使海浪高時還是能夠持續進行卸貨。此外，還可根據海浪的高度，迅速並且正確執行卸貨中斷的判斷。 In the present embodiment, the swing detecting means detects the swing of the ship 6 during unloading, and the display means visually displays the detected swing. As a result, the excavating means is operated in accordance with the swing of the ship displayed by the display means, and the unloading can be continued even when the wave is high. In addition, the judgment of the unloading interruption can be quickly and correctly performed according to the height of the sea wave.
接著，針對本實施形態相關的擺動檢測手段進行說明。 Next, the swing detecting means according to the present embodiment will be described.
擺動檢測手段，如第4圖所示，其由設置在船舶6之甲板8上的2台傾斜儀25及訊號傳送用無線裝置13，和，設置在連續式卸載機1的訊號接收用無線裝置18(參照第1圖)所構成。接著，傾斜儀25，是對船舶6的傾斜角度例如俯仰角或滾動角進行檢測。 As shown in FIG. 4, the swing detecting means includes two tilt meters 25 and a signal transmitting wireless device 13 provided on the deck 8 of the ship 6, and a signal receiving wireless device provided in the continuous unloader 1. 18 (refer to Figure 1). Next, the inclinometer 25 detects the inclination angle of the ship 6, such as the pitch angle or the roll angle.
傾斜儀25所檢測出之船舶6擺動相關的訊號，是從訊號傳送用無線裝置13經由訊號接收用無線裝置18傳送至控制部。接著，根據所檢測出的訊號，由顯示手段以波 形分別顯示例如俯仰角、滾動角的船舶6擺動。控制部及顯示手段，例如是設置在連續式卸載機1的操作室。另，船舶6的擺動，也可不採用波形顯示，而是以數值或指示器等顯示。 The signal related to the swing of the ship 6 detected by the inclinometer 25 is transmitted from the signal transmitting wireless device 13 to the control unit via the signal receiving wireless device 18. Then, according to the detected signal, the wave is displayed by the means The ship 6 is swung in a shape such as a pitch angle and a roll angle, respectively. The control unit and the display means are provided, for example, in an operation room of the continuous unloader 1. In addition, the swing of the ship 6 may be displayed by a numerical value, an indicator or the like without using a waveform display.
如此一來，連續式卸載機1的操作員就能夠掌握船舶6的擺動週期，有助於卸貨時之挖掘手段的操作。此外，藉由使用無線通訊手段，就不需在船舶6側和連續式卸載機1側設置訊號用配線。再加上，傾斜儀25，其與第1實施形態的雷射測距儀15、晃動檢測攝影機16及晃動檢測標靶17，或第2實施形態的投光側光電感測器11及受光側光電感測器12有所不同，不容易受周圍環境(例如散裝貨物造成的粉塵)的影響，因此檢測精度就比較優良。 In this way, the operator of the continuous unloader 1 can grasp the swing period of the ship 6 and contribute to the operation of the excavating means at the time of unloading. Further, by using the wireless communication means, it is not necessary to provide wiring for signals on the side of the ship 6 and the side of the continuous unloader 1. Further, the inclinometer 25 is combined with the laser range finder 15 of the first embodiment, the sway detecting camera 16 and the sway detecting target 17, or the light projecting side photodetector 11 and the light receiving side of the second embodiment. The photo-sensing device 12 is different and is not easily affected by the surrounding environment (such as dust caused by bulk cargo), so the detection accuracy is excellent.
接著，針對本發明的第5實施形態使用第5圖至第8圖進行說明。 Next, a fifth embodiment of the present invention will be described with reference to Figs. 5 to 8 .
本實施形態，針對連續式卸載機1的本體部4及挖掘手段，是採用和第1實施形態相同的構成，因此省略該相同部份的說明。本實施形態，具備有使用第1實施形態或第3實施形態中所檢測出的船舶6擺動，對挖掘手段的環狀鏈條10鬆弛量或散裝貨物和挖掘手段的距離進行改變的操作手段。 In the present embodiment, the main body portion 4 and the excavating means of the continuous unloader 1 are the same as those of the first embodiment, and therefore the description of the same portions will be omitted. In the present embodiment, there is provided an operation means for changing the amount of slack of the endless chain 10 of the excavating means or the distance between the bulk cargo and the excavating means by using the swing of the ship 6 detected in the first embodiment or the third embodiment.
例如：當船舶6的擺動量較小時，如第5圖所示，操 作成使環狀鏈條10的鬆弛量為較小，當船舶6的擺動量較大時，如第6圖或第7圖所示，操作成使環狀鏈條10的鬆弛量為較大。如此一來，當船舶6的擺動量較大時，就能夠使鏟斗3和底部構件31的間隔為較大，因此在海浪較大時就能夠降低鏟斗3和底部構件31的碰撞危險性。環狀鏈條10的鬆弛量，是由能夠改變前端鏈輪32和後端鏈輪33之間的間隔及位置的油壓缸筒(未圖示)進行調整。 For example, when the amount of swing of the ship 6 is small, as shown in Fig. 5, When the amount of slack of the endless chain 10 is made small, when the amount of swing of the ship 6 is large, as shown in Fig. 6 or Fig. 7, the slack amount of the endless chain 10 is made large. In this way, when the swing amount of the ship 6 is large, the interval between the bucket 3 and the bottom member 31 can be made large, so that the collision risk of the bucket 3 and the bottom member 31 can be reduced when the ocean wave is large. . The amount of slack in the endless chain 10 is adjusted by a hydraulic cylinder (not shown) that can change the interval and position between the front sprocket 32 and the rear sprocket 33.
或者是，例如：當船舶6的擺動量較小時，操作成使散裝貨物和鏟斗3的平均間隔為較小，當船舶6的擺動量較大時，操作成使散裝貨物和鏟斗3的平均間隔為較大。由於船舶6一直都是擺動著，因此散裝貨物和鏟斗3的平均間隔會隨著時間變化。於此所謂平均間隔，是指隨著時間變化之散裝貨物和鏟斗3之間隔的平均間隔。在散裝貨物和鏟斗3為最接近時，鏟斗3能夠挖掘最多的散裝貨物。 Or, for example, when the amount of swing of the ship 6 is small, the operation is such that the average interval between the bulk cargo and the bucket 3 is small, and when the amount of swing of the ship 6 is large, the bulk cargo and the bucket 3 are operated. The average interval is larger. Since the vessel 6 is always oscillating, the average spacing of the bulk cargo and the bucket 3 will change over time. The average interval here refers to the average interval between the bulk cargo and the bucket 3 as a function of time. When the bulk cargo and the bucket 3 are closest, the bucket 3 is capable of excavating the most bulk cargo.
例如第8圖所示，鏟斗3是挖掘深度為A份量或深度為B份量的散裝貨物。散裝貨物和鏟斗3的平均間隔若較小，則在散裝貨物和鏟斗3為最接近時，就能夠挖掘如第8圖所示的深度A份量。另一方面，散裝貨物和鏟斗3的平均間隔若較大，則即使在散裝貨物和鏟斗3為最接近時，也只能夠挖掘如第8圖所示的深度B份量。 For example, as shown in Fig. 8, the bucket 3 is a bulk cargo having an excavation depth of A parts or a depth of B parts. If the average interval between the bulk cargo and the bucket 3 is small, the depth A amount as shown in Fig. 8 can be excavated when the bulk cargo and the bucket 3 are closest to each other. On the other hand, if the average interval between the bulk cargo and the bucket 3 is large, even when the bulk cargo and the bucket 3 are closest to each other, only the depth B amount as shown in Fig. 8 can be excavated.
但是，藉由調整散裝貨物和鏟斗3的平均間隔，在海浪高時，是能夠降低船舶6碰撞到連續式卸載機1的危險 性。例如：能夠降低要通過底板構件31下側的鏟斗3碰撞到船底或所裝載之散裝貨物的可能性，能夠降低接著又往上側移動的鏟斗3碰撞到底板構件31的可能性。 However, by adjusting the average interval between the bulk cargo and the bucket 3, it is possible to reduce the risk of the collision of the vessel 6 into the continuous unloader 1 when the waves are high. Sex. For example, it is possible to reduce the possibility that the bucket 3 on the lower side of the floor member 31 collides with the bottom of the ship or the loaded bulk cargo, and it is possible to reduce the possibility that the bucket 3 that moves next to the upper side collides with the floor member 31.
1‧‧‧連續式卸載機 1‧‧‧Continuous unloader
2‧‧‧立柱 2‧‧‧ column
3‧‧‧鏟斗 3‧‧‧ bucket
4‧‧‧本體部 4‧‧‧ Body Department
5‧‧‧岸壁 5‧‧‧ shore
6‧‧‧船舶 6‧‧‧Ship
7‧‧‧開口部 7‧‧‧ openings
8‧‧‧甲板 8‧‧‧Deck
9‧‧‧起重機 9‧‧‧ Crane
10‧‧‧環狀鏈條(環狀構件) 10‧‧‧Circular chain (ring member)
11‧‧‧投光側光電感測器 11‧‧‧Projecting side light inductive detector
12‧‧‧受光側光電感測器 12‧‧‧Acceptance side light sensor
13‧‧‧訊號傳送用無線裝置 13‧‧‧Signal transmission wireless device
15‧‧‧雷射測距儀 15‧‧‧Laser rangefinder
16‧‧‧晃動檢測攝影機 16‧‧‧Shake detection camera
17‧‧‧晃動檢測標靶 17‧‧‧Shake detection target
18‧‧‧訊號接收用無線裝置 18‧‧‧Signal receiving wireless device
21‧‧‧GPS 21‧‧‧GPS
25‧‧‧傾斜儀 25‧‧‧ tilt meter
31‧‧‧底部構件 31‧‧‧ bottom member
32‧‧‧前端鏈輪 32‧‧‧ front sprocket
33‧‧‧後端鏈輪 33‧‧‧Back end sprocket
第1圖為表示本發明第1實施形態相關的連續式卸載機側面圖。 Fig. 1 is a side view showing a continuous unloader according to a first embodiment of the present invention.
第2圖為表示本發明第2實施形態相關的連續式卸載機上面圖。 Fig. 2 is a top view showing a continuous unloader according to a second embodiment of the present invention.
第3圖為表示本發明第3實施形態相關的連續式卸載機上面圖。 Fig. 3 is a top view showing a continuous unloader according to a third embodiment of the present invention.
第4圖為表示本發明第4實施形態相關的連續式卸載機上面圖。 Fig. 4 is a top view showing a continuous unloader according to a fourth embodiment of the present invention.
第5圖為表示連續式卸載機之挖掘手段下部的側面圖。 Fig. 5 is a side view showing the lower portion of the excavating means of the continuous unloader.
第6圖為表示連續式卸載機之挖掘手段下部的側面圖。 Fig. 6 is a side view showing the lower portion of the excavating means of the continuous unloader.
第7圖為表示連續式卸載機之挖掘手段下部的側面圖。 Fig. 7 is a side view showing the lower portion of the excavating means of the continuous unloader.
第8圖為表示船舶內散裝貨物的擺動狀態說明圖。 Fig. 8 is an explanatory view showing a swing state of bulk cargo in a ship.
1‧‧‧連續式卸載機 1‧‧‧Continuous unloader
2‧‧‧立柱 2‧‧‧ column
3‧‧‧鏟斗 3‧‧‧ bucket
4‧‧‧本體部 4‧‧‧ Body Department
5‧‧‧岸壁 5‧‧‧ shore
6‧‧‧船舶 6‧‧‧Ship
9‧‧‧起重機 9‧‧‧ Crane
15‧‧‧雷射測距儀 15‧‧‧Laser rangefinder
16‧‧‧晃動檢測攝影機 16‧‧‧Shake detection camera
17‧‧‧晃動檢測標靶 17‧‧‧Shake detection target
18‧‧‧訊號接收用無線裝置 18‧‧‧Signal receiving wireless device
35‧‧‧起重輸送帶 35‧‧‧ lifting conveyor belt
36‧‧‧軌道 36‧‧‧ Track
Claims (4)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011263797A JP5944148B2 (en) | 2011-12-01 | 2011-12-01 | Continuous unloader |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201323306A true TW201323306A (en) | 2013-06-16 |
| TWI486295B TWI486295B (en) | 2015-06-01 |
Family
ID=48535062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW101102032A TWI486295B (en) | 2011-12-01 | 2012-01-18 | Continuous unloader |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP5944148B2 (en) |
| CN (1) | CN103492295B (en) |
| TW (1) | TWI486295B (en) |
| WO (1) | WO2013080574A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105645132A (en) * | 2015-12-30 | 2016-06-08 | 上海航盛船舶设计有限公司 | Spiral chute lifting process |
| TWI701204B (en) * | 2018-01-11 | 2020-08-11 | 日商川崎重工業股份有限公司 | Load handling machinery |
| TWI797567B (en) * | 2020-03-18 | 2023-04-01 | 日商住友重機械搬運系統工程股份有限公司 | Unloader |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105523396B (en) * | 2015-12-29 | 2018-05-04 | 广船国际有限公司 | A kind of ship unloaders protective device and ship unloaders |
| CN106429536A (en) * | 2016-12-05 | 2017-02-22 | 大连华锐重工集团股份有限公司 | Upper lifting device of continuous unshipping machine |
| JP7051468B2 (en) * | 2018-02-02 | 2022-04-11 | 株式会社Ihi | Unloading device |
| CN111328318B (en) * | 2018-02-02 | 2022-01-07 | 株式会社Ihi | Unloading device |
| JP7011480B2 (en) * | 2018-02-02 | 2022-01-26 | 株式会社Ihi | Unloading device |
Family Cites Families (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6012423A (en) * | 1983-07-01 | 1985-01-22 | Mitsui Miike Mach Co Ltd | Method of land equipment following ships |
| CN1020574C (en) * | 1989-06-09 | 1993-05-12 | 住友重机械工业株式会社 | Bucket elevator type continuous ship unloader |
| JP2573175Y2 (en) * | 1993-02-05 | 1998-05-28 | 石川島播磨重工業株式会社 | Unloader and ship relative position detector |
| DE69508570T2 (en) * | 1995-06-16 | 1999-10-21 | Ishikawajima Harima Heavy Ind | Continuous discharge device |
| JP3492074B2 (en) * | 1996-03-25 | 2004-02-03 | 三菱重工業株式会社 | Detection method of horizontal excavation force in continuous unloader and continuous unloader using the detection method |
| TW458159U (en) * | 1996-03-29 | 2001-10-01 | Ishikawajima Harima Heavy Ind | Continuous unloading machine |
| JPH09297023A (en) * | 1996-05-02 | 1997-11-18 | Mitsubishi Heavy Ind Ltd | Measuring apparatus for relative position of unloader excavating part to hull |
| JPH11171348A (en) * | 1997-12-15 | 1999-06-29 | Ishikawajima Harima Heavy Ind Co Ltd | Refuge method when vessel oscillates in continuous automatic unloaded operation and refuge controller |
| JP2001253548A (en) * | 2000-03-14 | 2001-09-18 | Ishikawajima Harima Heavy Ind Co Ltd | Continuous unloader |
| JP4488603B2 (en) * | 2000-07-24 | 2010-06-23 | 三井造船株式会社 | Continuous unloader and operation method of continuous unloader |
| JP2002302267A (en) * | 2001-04-06 | 2002-10-18 | Hitachi Plant Eng & Constr Co Ltd | Oscillation tracking device of unloader |
| JP2005239411A (en) * | 2004-02-27 | 2005-09-08 | Mitsubishi Heavy Ind Ltd | Bucket type crane gear |
| CN201489359U (en) * | 2009-08-07 | 2010-05-26 | 上海达华测绘有限公司 | Monitoring platform of grab dredger |
| CN201926444U (en) * | 2010-02-09 | 2011-08-10 | 九江中船仪表有限责任公司 | Ship compass |
| CN202048897U (en) * | 2011-04-27 | 2011-11-23 | 宝山钢铁股份有限公司 | Laser three-dimensional bulk cargo imaging device for ship unloader |
-
2011
- 2011-12-01 JP JP2011263797A patent/JP5944148B2/en active Active
-
2012
- 2012-01-13 CN CN201280014056.1A patent/CN103492295B/en not_active Expired - Fee Related
- 2012-01-13 WO PCT/JP2012/050614 patent/WO2013080574A1/en active Application Filing
- 2012-01-18 TW TW101102032A patent/TWI486295B/en not_active IP Right Cessation
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105645132A (en) * | 2015-12-30 | 2016-06-08 | 上海航盛船舶设计有限公司 | Spiral chute lifting process |
| TWI701204B (en) * | 2018-01-11 | 2020-08-11 | 日商川崎重工業股份有限公司 | Load handling machinery |
| TWI797567B (en) * | 2020-03-18 | 2023-04-01 | 日商住友重機械搬運系統工程股份有限公司 | Unloader |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103492295B (en) | 2016-01-20 |
| CN103492295A (en) | 2014-01-01 |
| JP2013116779A (en) | 2013-06-13 |
| WO2013080574A1 (en) | 2013-06-06 |
| TWI486295B (en) | 2015-06-01 |
| JP5944148B2 (en) | 2016-07-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI486295B (en) | Continuous unloader | |
| EP2734466B1 (en) | System and method for determining location and skew of crane grappling member | |
| US11932517B2 (en) | Crane and device for controlling same | |
| JP5840565B2 (en) | Excavator | |
| CN109844834A (en) | Dumper and reverse aid | |
| ZA200507982B (en) | Method and apparatus for monitoring a load condition of a dragline or electric shovel | |
| JP2020513209A (en) | Offshore ship-to-ship hoisting with target tracking assistance | |
| AU2012252544B2 (en) | Method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator | |
| TWI719402B (en) | Unloading apparatus | |
| KR101461193B1 (en) | Crane with a collision prevention device | |
| JPH10258989A (en) | Automatic driving device for crane | |
| TWI719403B (en) | Unloading apparatus | |
| JP6106620B2 (en) | Crane run-out detection device | |
| JP6607799B2 (en) | Anti-collision device for continuous unloader | |
| JP5936516B2 (en) | Emergency unloader for continuous unloader | |
| JP2001080881A (en) | Tower crane device | |
| JP2573175Y2 (en) | Unloader and ship relative position detector | |
| JP2017026355A (en) | Method and device for detecting belt speed of belt conveyer | |
| CN109183896A (en) | Mine excavator crane arm apparatus for detecting position and posture and control method | |
| JP2012026190A (en) | Underwater work method near existing structure and device for underwater work | |
| US20230391588A1 (en) | Lifting gear, and method for determining slack rope on the lifting gear | |
| JP2013107762A (en) | Damage quantity display device of swivel working machine | |
| JP4023885B2 (en) | Evacuation method and evacuation control device for ship swinging in continuous unloader automatic operation | |
| US20220119228A1 (en) | Lidar loading system | |
| BR112021016746A2 (en) | CRANE AS WELL AS DEVICE FOR ITS CONTROL |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MM4A | Annulment or lapse of patent due to non-payment of fees |