WO2013136381A1

WO2013136381A1 - Anchor casting and weighing device

Info

Publication number: WO2013136381A1
Application number: PCT/JP2012/005322
Authority: WO
Inventors: 雅行小竹; 陽平森
Original assignee: 川崎重工業株式会社
Priority date: 2012-03-15
Filing date: 2012-08-24
Publication date: 2013-09-19
Also published as: KR20140006998A; KR101561145B1; JP5576981B2; CN103732488A; JPWO2013136381A1

Abstract

This anchor casting and weighing device (1) includes: a chain wheel (21), around which an anchor chain (3) is wound; a brake mechanism (30) which brakes the rotation of the chain wheel; a rotational speed measurement means (22) which measures the actual rotational speed of the chain wheel; a setting means (100) which sets the target anchor casting speed of the chain wheel; a braking force adjustment mechanism (30) which includes a hydraulic actuator for driving the brake mechanism and adjusting the braking force of the brake mechanism according to the pressure of pressurized oil supplied to the hydraulic actuator; and a control means (100) which, in order that the actual rotational speed of the chain wheel measured by the rotational speed measurement means follows the target anchor casting speed set by the setting means, outputs a command voltage to the braking force adjustment mechanism so as to control the pressure of the pressurized oil supplied to the hydraulic actuator.

Description

Rafting device

TECHNICAL FIELD The present invention relates to a ship anchoring device, and in particular, anchoring capable of anchoring at a anchoring speed that follows the target anchoring speed until the anchor chain feed length (throwing length) reaches the target anchoring length. It relates to dredging equipment.

Ships are generally equipped with a lifting dredger that performs lifting dredging. The anchorage device is intended to enable mooring even when the vessel is anchored in offshore waters, or when the vessel berths at a berthing facility such as a pier or quay, even under environmental external forces such as wind waves or tides. in use. The anchoring device includes anchors (anchors), anchor chains (anchor chains), lifting machines (windlass), anchor holes (Hawse pipes) that bring the anchor chains out of the anchors, and the supply of anchor chains. Chain controllers (chain compressors), chain lockers (chain lockers) that store the chain, chain pipes (chain pipes) that guide the chain from the chain of the lifting machine to the chain ) And the like. As a lifting machine, throwing with a manual brake has been mainly performed, but since the anchoring is not smooth unless the crew is skilled in brake operation, it is possible to automate the throwing work with the lifting machine. It has been demanded.

For example, Patent Document 1 discloses that a brake is provided in a hydraulic motor that drives a chain wheel (chain wheel) around which a chain is wound, and a control valve is provided in the hydraulic motor so that the rotation speed of the chain wheel (that is, In addition, a lifting machine is disclosed that brakes the brake or automatically controls the throwing speed of the control valve based on the result of counting the feed length of the chain. As specific contents of this automatic throwing speed control, the shaft rotational speed of the carriage is measured by a rotary encoder, and comparison calculation is performed until the measured rotational speed reaches a predetermined set value. ing.

JP-A-9-249391

The lifting machine disclosed in Patent Document 1 performs automatic throwing speed control of braking of a chain by a brake based on the feed length of the chain obtained by counting the rotation speed of the chain. That is, the lifting machine of Patent Document 1 merely determines the process of dropping (throwing) until the dredger reaches the seabed based only on the anchor chain feed length parameter. When the anchor reaches the predetermined target throwing length, it is possible to discriminate when the hoisting of the chain is finished or when the throwing is finished, and only simple control for applying a brake to stop the rotation of the hydraulic motor can be performed.

In view of the mechanical impact received by the lifting machine, it is preferable to drop the eaves and the chain according to a predetermined target throwing speed. In the lifting machine of Patent Document 1, it is caused to fall according to the target throwing speed in this way. There was a problem of difficulty. In addition, the chain feed length is likely to vary under the influence of mechanical response such as brakes (time delay), and this causes the problem that the braking of the chain wheel by the brake tends to become unstable. .

The present invention has been made in order to solve such a problem, and the purpose thereof is a throwing speed that follows the target throwing speed until the feed length (throwing length) of the chain during throwing reaches the target throwing length. An object of the present invention is to provide a lifting anchor device that can be anchored at a distance.

In order to solve the above-described problems, a lifting dredge device according to an embodiment of the present invention includes a gear wheel around which the gear chain is wound, a brake mechanism that brakes rotation of the gear wheel, and actual rotation of the gear wheel. A rotation speed measuring means for measuring a speed; a setting means for setting a target throwing speed of the chain; and a hydraulic actuator for driving the brake mechanism, and the brake according to pressure of pressure oil supplied to the hydraulic actuator A braking force adjusting mechanism for adjusting a braking force of the mechanism, and the hydraulic actuator so that an actual rotational speed of the wheel measured by the rotational speed measuring unit follows the target throwing speed set by the setting unit. Control means for outputting a command voltage to the braking force adjusting mechanism so as to control the pressure of the pressure oil supplied to the brake.

According to the above-described configuration, the rotation of the carriage is performed so that the actual rotation speed of the carriage follows the target throwing speed based on the rotation speed of the carriage instead of the rotation speed of the carriage (that is, the feed length of the chain). The brake can be braked, which makes it possible to drop the anchor chain at a desired throwing speed.

In the hoisting device, in order to determine the bias value of the command voltage to the braking force adjusting mechanism before starting the hoisting, the voltage value of the command voltage is set until the anchoring speed of the anchor chain reaches a predetermined initial speed. Command voltage bias determining means may be further provided that gradually increases and determines the voltage value of the command voltage as the bias value of the command voltage when the throwing speed of the chain becomes equal to or higher than the initial speed.

According to the above configuration, the bias value of the command voltage applied to the braking force adjusting mechanism is determined based on the command value at which the chain starts to move at a predetermined throwing speed, so that the external length such as throwing length and brake lining wear can be reduced. The influence of the factor can be reduced, and the adjustment of the brake mechanism by the braking force adjustment mechanism can be stabilized.

In the hoisting device, the command voltage includes a PWM signal component, and the amplitude of the PWM signal is larger than the hysteresis width of the hysteresis existing in the relationship between the braking force of the brake mechanism and the command voltage. The center voltage of the PWM signal may be set so that the amplitude completely crosses the hysteresis width.

According to the above configuration, the command voltage having an amplitude exceeding the hysteresis width of the hysteresis existing in the relationship between the braking force of the brake mechanism and the command voltage is input to the braking force adjustment mechanism. Hysteresis can be canceled.

In the anchoring device, the setting means can further set a target anchoring length, and anchoring time measuring means for measuring an elapsed time from the anchoring start; anchoring time measured by the anchoring time measuring means; Throwing length calculation means for calculating the actual throwing length of the spear chain sent out from the carriage based on the target throwing speed, the hail based on the target throwing speed, the target throwing length, and a preset deceleration. A deceleration start anchor length calculating means for calculating a deceleration start anchor length of the chain sent out from the vehicle, and the control means, when the actual anchor length reaches the deceleration start anchor length, the actual rotation A command voltage may be output to the braking force adjusting mechanism so as to control the pressure of the pressure oil supplied to the hydraulic actuator so that the speed is reduced according to the deceleration.

According to the above configuration, the actual throwing length (feed length) of the chain can be sequentially grasped in the speed control process based on the throwing time and the target throwing speed. Also, before the actual throwing length of the chain reaches the target throwing length (after the actual throwing length reaches the deceleration start throwing length), the actual speed of the carriage is decelerated according to the deceleration. The rotation can be braked, and thereby, it is possible to suppress the mechanical impact given to the ship when the dredger reaches the bottom.

In the anchoring device, the setting means may be capable of setting the target anchoring speed over time.

According to the above-described configuration, it becomes possible to perform throwing more finely.

According to the present invention, it is possible to provide a lifting rod device capable of anchoring at a anchoring speed that follows the target anchoring speed until the anchor chain feed length (throwing length) reaches the target anchoring length. it can.

FIG. 1 is a diagram showing an overall configuration example of a lifting rod device according to an embodiment of the present invention. FIG. 2 is a diagram showing an example of a braking force adjusting mechanism of the brake-equipped driving device according to the embodiment of the present invention. FIG. 3 is a diagram showing an example of a hydraulic system of the braking force adjusting mechanism in the embodiment of the present invention. FIG. 4 is a view showing a modification of the hydraulic system of the braking force adjusting mechanism in the embodiment of the present invention. FIG. 5 is a flowchart showing an operation example of automatic anchoring speed control of the anchoring device according to the embodiment of the present invention. FIG. 6 is a flowchart showing an operation example of automatic inching control for obtaining a bias value of a command voltage to the braking force adjusting mechanism before starting the throwing according to the embodiment of the present invention. FIG. 7a is a diagram showing hysteresis that exists in the relationship between the braking force of the brake mechanism and the command voltage to the braking force adjusting mechanism in the embodiment of the present invention. FIG. 7b is a diagram showing a PWM (pulse width modulation) signal in the embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the following description, the same or corresponding elements are denoted by the same reference symbols throughout the drawings, and redundant description thereof is omitted unless otherwise specified.

[Example of overall configuration of the anchoring device]
FIG. 1 is a diagram showing an overall configuration example of a lifting rod device according to an embodiment of the present invention. The anchoring device 1 shown in FIG. 1 includes a anchor 7, a anchor chain 3 that connects the anchor 7 to one end, a lifting machine 2 installed on the deck 5 of the ship 10, and the anchor chain 3 when anchoring. The anchor hole 12 for sending out to the outside, the chain guard 14 provided between the lifting machine 2 and the anchor chain hole 12 to prevent the anchor chain 3 from being sent out while the ship 10 is moored, and the bottom of the deck 5 A chain 16 for storing the chain 3 using the space and a chain pipe 18 for guiding the chain 3 from the chain 21 of the lifting machine 2 toward the chain 16 are provided. Further, the hoisting device 1 drives the chain wheel 21 of the lifting machine 2 and adjusts the braking force against the rotation of the chain wheel 21, and the rotation of the chain wheel 21 of the lifting machine 2. A rotational speed measuring device 22 that measures the speed (the number of revolutions per unit time), and a control device 100 that controls the braking force adjusting mechanism 30 based on the rotational speed of the chain wheel 21 measured by the rotational speed measuring device 22. I have.

The rotational speed measuring device 22 can obtain the rotational speed indirectly from measurement results obtained from a rotational speed sensor, a rotor position sensor, and the like as well as an instrument that can directly measure the rotational speed, such as a tachometer. It may be a possible instrument. The units measured by the rotational speed measuring device 22 are, for example, rotation per minute (rpm; rotation per minute), rotation per second (rps; rotation per second), and radians per second (rad / sec; radian per second). The rotational speed measuring device 22 is provided at the end of the rotational shaft of the chain wheel 21, but is not limited to this position. For example, the rotational speed measuring device 22 can measure the rotational speed of the chain wheel 21 (for example, a brake described later). As long as it is on the rotation shaft 51 of the drum 50).

The control device 100 includes a controller 101 (CPU, DSP, microcontroller, PLC (Programmable Logic Controller, logic circuit, etc.), a storage device 102 (ROM, RAM, etc.), and an input device (keyboard, mouse, touch panel, etc.). 103 and an information processing apparatus provided with an output device (such as a display) 104. The control device 100 includes only the controller 101 and the storage device 102. The control device 100 is communicably connected to a terminal device such as a personal computer, and an input device and an output device included in the terminal device are used. It may be realized to do. The control device 100 may include a plurality of controllers 101 that perform distributed control in cooperation with each other.

Further, the control device 100 further includes components such as a signal input interface and a signal converter in order to acquire the rotational speed of the chain wheel 21 of the lifting machine 2 measured by the rotational speed measuring device 22. Further, the control device 100 transmits the opening command value as an electrical signal (for example, command voltage) to an electromagnetic relief valve 36 or an electromagnetic pressure reducing valve 38 described later included in the hydraulic system of the braking force adjusting mechanism 30. In addition, components such as a signal converter and a signal output interface are further provided.

The control device 100 may use a software timer or a hardware timer provided in the controller 101 for the purpose of measuring a throwing time described later, or these timers are provided independently of the controller 101. You may do it.

The control device 100 may use an integrator or a multiplier included in the controller 101 for the purpose of calculating a throwing length, which will be described later, or these arithmetic units are provided independently of the controller 101. You may do it.

[Example structure of braking force adjustment mechanism]
FIG. 2 is a diagram showing an example of a braking force adjusting mechanism in the embodiment of the present invention. The concept of the direction used in the description of FIG. 2 is that the ship length direction is the front-rear direction, the width direction of the ship 10 is the left-right direction, and the height direction of the ship 10 is the up-down direction. Accordingly, FIG. 2 shows a left side view of the braking force adjusting mechanism 30.

As shown in FIG. 2, the braking force adjusting mechanism 30 includes a base 41 installed on the deck 5 of the ship 10, and extends upward from the base 41 in the front-rear direction (horizontal direction) at predetermined intervals. Bracket 41a and bracket 41b, an actuator support member 42 supported by the bracket 41a and bracket 41b so as to be parallel to the front-rear direction (horizontal direction), and a coupling portion (42a) of the bracket 41a and the actuator support member 42 The cylinder bottom portion 40a on the lower side (the pressure oil supply side of the hydraulic actuator 40) is the actuator so that the band support member 43 supported in the upward direction (vertical direction) from the top and the longitudinal direction is parallel to the vertical direction The hydraulic actuator 40 coupled to the central portion of the support member 42 and the upward direction of the hydraulic actuator 40 In conjunction with the vertical expansion and contraction of the cylinder head portion 40b (on the piston rod 401 side), the cylinder head portion 40b is configured to be rotatable together with a later-described hook member 48 and a later-described bracket 47 with a later-described connection point 45b as a fulcrum. A lever member 45, a brake drum 50 whose rotating shaft 51 is connected to the rotating shaft 21a of the chain wheel 21, a brake band 52 that surrounds the outer periphery of the brake drum 50 and has a gap that exposes the brake drum 50; A bracket 46 provided on one end side of the brake band 52 and coupled to one end of the band support member 43; a bracket 47 provided on the other end side of the brake band 52 and facing the bracket 46 through the gap; One end thereof is connected to the lever member 45, and a fixing portion 48a provided on the other end side is a bracket. And Saojo member 48 is coupled with 7, and a.

The hydraulic actuator 40 includes a piston 400 and a piston rod 401 that are slidable in the vertical direction within the casing, a spiral spring 402 that biases the piston 400 and the piston rod 401 toward the pressure oil supply side of the hydraulic actuator 40, It has. That is, the hydraulic actuator 40 moves the piston 400 and the piston rod 401 in the vertical direction according to the relationship between the upward pressure due to the pressure oil supplied into the casing and the downward biasing force by the spring 402. It is configured to be telescopic. The housing of the hydraulic actuator 40 is partitioned into a rod side oil chamber 401 a that houses the piston rod 401 and a piston side oil chamber 400 a that does not contain the piston rod 401.

Since the brake drum 50 is coaxial with the chain wheel 21 of the lifting machine 2, the brake drum 50 rotates in synchronization with the chain wheel 21. The motor that rotates the brake drum 50 and the chain wheel 21 may be either a hydraulic motor or an electric motor (both not shown). A band-shaped friction material is stuck on the surface of the brake band 52 that surrounds the outer periphery of the brake drum 50 so that the rotation of the brake drum 50 can be braked. In addition, the brake band 52 may be installed so that the outer periphery of the rotor of the hydraulic motor and electric motor which drive the chain wheel 21 of the lifting machine 2 may be surrounded.

With the above-described structure, the braking force adjusting mechanism 30 performs the following operation. First, when pressure oil is not supplied into the casing of the hydraulic actuator 40 (normal case), the piston 400 and the piston rod 401 are urged toward the pressure oil supply side of the hydraulic actuator 40 by the elastic force of the spring 402. . Further, the brake band 52 is completely tightened with respect to the brake drum 50, and the rotation of the brake drum 50 and the chain wheel 21 is stopped.

On the other hand, when pressure oil is supplied into the casing (piston side oil chamber 400a) of the hydraulic actuator 40 (when pressurized), the piston 400 and the piston rod 401 are extended upward by the pressure oil pressure. As a result, the lever member 45 rotates clockwise with the connection point 45b of the band support member 43, the lever member 45, and the bracket 46 as a fulcrum. Along with this, the hook-shaped member 48 operates in a direction to release tightening by the brake band 52 with respect to the brake drum 50 (in the example of FIG. 2 diagonally downward to the right). At this time, the rotation speeds of the brake drum 50 and the chain wheel 21 start to increase. Moreover, the rotational speed of the brake drum 50 and the chain wheel 21 is adjusted by changing the tightening force by the brake band 52 according to the degree of extension of the piston 400 and the piston rod 401.

[Example of hydraulic system of braking force adjustment mechanism]
FIG. 3 is a diagram showing an example of a hydraulic system of the braking force adjusting mechanism in the embodiment of the present invention.

In the hydraulic system shown in FIG. 3, the inflow amount of pressure oil to the hydraulic actuator is indirectly determined by adjusting the surplus flow rate on the assumption that the inflow amount of pressure oil from the hydraulic pump to the hydraulic actuator overflows. A so-called bleed-off circuit is constructed. In order to realize a bleed-off circuit, an electric signal representing the measurement result (output of the rotation speed measuring device 22) of the rotation speed of the chain wheel 21 of the lifting machine 2 is provided on the pressure oil supply side to the hydraulic actuator 40. An electromagnetic relief valve 36 that opens and closes in proportion to the level is provided, and the pressure of the pressure oil supplied to the hydraulic actuator 40 is adjusted according to the degree of opening and closing of the electromagnetic relief valve 36. As described above, since the expansion and contraction of the piston rod 401 of the hydraulic actuator 40 is associated with the tightening degree of the brake band 52 surrounding the outer periphery of the brake drum 50, the pressure of the pressure oil supplied to the hydraulic actuator 40 is electromagnetic. By arbitrarily adjusting with the relief valve 36, the braking force by the brake band 52 is arbitrarily adjusted.

The configuration of the hydraulic system shown in FIG. 3 will be specifically described. The hydraulic system shown in FIG. 3 includes an oil tank 31 that stores hydraulic oil, a hydraulic actuator 40 that expands and contracts a piston rod 401 connected to the brake band 52, and a piston-side oil chamber 400 a of the hydraulic actuator 40 from the oil tank 31. An oil supply line 301 for supplying hydraulic oil to the pressure oil supply port, an oil discharge line 302 for discharging hydraulic oil from the pressure oil discharge port of the rod side oil chamber 401a of the hydraulic actuator 40 to the oil tank 31, It has.

Further, on the piping system of the oil supply pipeline 301, a hydraulic pump 32 that sucks up the hydraulic oil from the oil tank 31 and discharges the hydraulic oil into pressure oil, and a flow rate of the pressure oil discharged from the hydraulic pump 32. A flow rate adjusting valve (34, 35) that adjusts the flow rate to be constant, and a check valve (check) that is provided between the hydraulic pump 32 and the flow rate adjusting valve (34, 35) and restricts the flow of pressure oil in one direction. Valve) 33 and a bleed-off pipe branched from a pipe connecting the flow rate adjusting valves (34, 35) of the oil supply pipe line 301 and the piston-side oil chamber 400a of the hydraulic actuator 40 to the oil tank 31. An electromagnetic relay provided on the piping system of the passage 303 and the bleed-off conduit 303 to return all or a part of the pressure oil supplied to the hydraulic actuator 40 from the diversion regulating valves (34, 35) to the oil tank 31. A relief pipe 304 branched from a pipe connecting the hydraulic pump 32 and the check valve 33 in the oil supply pipe 301 and the oil supply pipe 301 to the oil tank 31; And a relief valve 37 for returning a part of the hydraulic oil discharged from the hydraulic pump 32 to the oil tank 31. The flow rate adjusting valves (34, 35) are constituted by a parallel connection of a check valve 34 and a variable throttle valve 35.

In the above configuration, the check valve 33, the flow rate adjusting valves (34, 35), and the relief valve 37 are provided to improve the reliability of the hydraulic system, but depending on the use of the hydraulic system. At least one of these valves (33, 34, 35, 37) may not be provided.

The operation of the hydraulic system shown in FIG. 3 and the accompanying throwing operation will be described. First, it is assumed that the operation of the hydraulic pump 32 is stopped and the electromagnetic relief valve 36 is open (a state where the input port and the output port are blocked). At this time, since the upward pressure is hardly applied to the piston 400 and the piston rod 401 of the hydraulic actuator 40, the tightening of the brake band 52 to the brake drum 50 is maintained. As a result, the chain of the lifting machine 2 The eaves chain 3 wound around 21 and the eaves 7 tied to one end thereof are stationary.

When the operation of the hydraulic pump 32 is started by starting the throwing operation, the pressure oil supplied from the hydraulic pump 32 to the piston-side oil chamber 400a of the hydraulic actuator 40 via the check valve 33 and the flow rate adjusting valve (34, 35) Since the bleed-off path to the oil tank 31 is blocked by the relief valve 36, all of that is supplied to the piston-side oil chamber 400 a of the hydraulic actuator 40. Then, the pressure in the piston-side oil chamber 400a of the hydraulic actuator 40 gradually increases, and accordingly, the piston 400 and the piston rod of the hydraulic actuator 40 against the elastic biasing force of the spring 402. 401 extends upward. Thereby, the tightening force of the brake band 52 against the brake drum 50 is relaxed, and the feeding of the eaves 3 wound around the chain wheel 21 of the lifting machine 2 and the eaves 7 linked to one end thereof is started. If the set pressure of the electromagnetic relief valve 36 is reached, part of the pressure oil supplied to the piston side oil chamber 400a of the hydraulic actuator 40 is bleed off (relieved) to the oil tank 31. As a result, the pressure in the piston-side oil chamber 400a of the hydraulic actuator 40 is maintained below the set pressure of the electromagnetic relief valve 36 while gradually stopping the upward expansion and contraction of the piston 400 and the piston rod 401.

Furthermore, when throwing is started, the rotational speed of the chain wheel 21 of the lifting machine 2 is measured by a rotational speed measuring device 22 provided on the rotational shaft of the chain wheel 21. The degree of opening and closing of the electromagnetic relief valve 36 (path cross-sectional area between the input port and the output port) changes so as to be proportional to the level of the electrical signal corresponding to the rotational speed measured by the rotational speed measuring device 22. At this time, the pressure oil pressure supplied from the flow rate adjusting valve (34, 35) to the piston side oil chamber 400a of the hydraulic actuator 40 increases or decreases, and as a result, the piston 400 and the piston rod 401 of the hydraulic actuator 40 move up and down. Stretch in the direction. As a result, the tightening force of the brake band 52 against the brake drum 50 is adjusted. As a result, the speed control of the eaves 3 wound around the chain wheel 21 of the lifting machine 2 and the eaves 7 connected to one end thereof is performed. Is called.

FIG. 4 is a view showing a modification of the hydraulic system of the braking force adjusting mechanism in the embodiment of the present invention. Specifically, as compared with the configuration of the hydraulic system shown in FIG. 3, instead of providing the electromagnetic relief valve 36, the flow rate adjusting valves (34, 35) in the oil supply pipe 301 and the piston side oil of the hydraulic actuator 40 are used. An electromagnetic pressure reducing valve 38 is provided in a pipe connecting the chamber 400a. The electromagnetic pressure reducing valve 38 is a control valve that changes its opening / closing degree according to an electrical signal corresponding to the rotational speed measured by the rotational speed measuring device 22 and adjusts the discharge pressure accordingly. The tightening force of the brake band 52 similar to that of the hydraulic system shown in FIG. 3 can also be adjusted by the hydraulic system shown in FIG.

[Example of automatic anchoring speed control of the anchoring device]
FIG. 5 is a flowchart showing an operation example of automatic anchoring speed control of the lifting anchor device according to the embodiment of the present invention.

First, the operation of the hydraulic pump 32 is stopped, and the piston 400 and the piston rod 401 of the hydraulic actuator 40 are not in a state where hydraulic pressure is applied. That is, the brake drum 50 is completely tightened by the brake band 52, and the eaves chain 3 wound around the chain wheel 21 of the lifting machine 2 and the eaves 7 tied to one end thereof are stationary.

The crew of the ship 10 operates the input device of the control device 100 when the ship 10 is anchored in an offshore area, or when the ship berths at a berthing facility such as a pier or a quay. The control program for the automatic anchoring speed control of the lifting rod device 1 stored in the storage device 102 of the controller 100 is started. Then, an initial setting message for prompting input of the target throwing speed V1 and the target throwing length L1 is displayed on the output device of the control device 100, and the crew operates the input device of the control device 100 to operate the target throwing speed V1, The target throwing length L1 is input (step S500). Note that the target throwing speed V1 is less than the dead weight dropping speed. Thereby, the input target throwing speed V1 and the target throwing length L1 are stored (set) as parameters of the control program in the storage device 102 of the control device 100.

Further, the target throwing speed V1 can be set to have a constant acceleration (for example, 0.1 (m / s ^ 2)) before a predetermined time has elapsed from the start of the throwing, and the predetermined time has passed. After that, the speed can be set to be constant (for example, 2.0 (m / s)). That is, the target throwing speed V1 can be set with time.

Next, when a predetermined start operation displayed on the output device of the control device 100 is performed, a throwing start flag F1 indicating start of throwing by the control program is generated, and the throwing start flag F1 is set to the control program. Are stored in the memory 102 as parameters (step S501). Then, the measurement of the actual rotational speed RV of the chain wheel 21 is started by the rotational speed measuring device 22 attached to the rotational shaft of the chain wheel 21 of the lifting machine 2, and the controller 101 of the control device 100 measures the rotational speed. Acquisition (detection) of information on the measurement result of the actual rotational speed RV of the chain wheel 21 from the container 22 is started (step S502). Furthermore, the controller 101 starts integrating the throwing time when the throwing start flag F1 is generated.

Next, the controller 101, based on the actual rotational speed RV of the chain wheel 21 acquired from the rotational speed measuring device 22, the chain 3 that has been sent out from the chain hole 12 since the throwing start flag F1 is generated. (Hereinafter referred to as actual throwing length RL) is calculated (step S503). Specifically, as described above, the controller 101 accumulates the elapsed time (throwing time) T from the start of throwing, and multiplies the throwing time T obtained by this accumulation by the target throwing speed V1. The actual throwing length RL is calculated.

Next, the vehicle is sent out from the carriage 21 based on the target throwing speed V1 and the target throwing length L1 input in step S500 and a preset deceleration (for example, 0.1 (m / s ^ 2)). The deceleration start throwing length L2 of the chain 3 is calculated (step 504). Specifically, the deceleration start throwing length L2 is determined in consideration of the timing at which deceleration should be started before throwing is stopped in the case of the above deceleration. The deceleration is a fixed value set in advance and is stored in the storage device 102 of the controller 101.

Next, the controller 101 opens the electromagnetic relief valve 36 shown in FIG. 3 or the electromagnetic pressure reducing valve 38 shown in FIG. 4 so that the actual rotational speed RV acquired from the rotational speed measuring device 22 follows the target throwing speed V1. A degree command value (electric signal) is calculated (step S505). Then, the controller 101 outputs the calculated opening degree command value toward the electromagnetic relief valve 36 or the electromagnetic pressure reducing valve 38 (step S506).

Next, the controller 101 determines whether or not the actual throwing length RL calculated in step S503 has reached the deceleration start throwing length L2 calculated in step S504 (RL ≧ L2) (step S507). When it is determined that the actual anchoring length RL has not reached the deceleration start anchoring length L2 (step S507: NO), the process returns to step S502. When it is determined that the actual anchoring length RL has reached the deceleration start anchoring length L2 (step S507: YES), the controller 101 next determines whether the actual anchoring length RL has reached the target anchoring length L1 (RL = L1) It is determined whether or not (step S508). When it is determined that the actual throwing length RL has not reached the target throwing length L1 (step S508: NO), the controller 101 decelerates the actual rotational speed RV of the carriage according to a preset deceleration. In this manner, the target throwing speed V2 for deceleration is set (step S509). Thus, after the target throwing speed V1 is switched to the deceleration target throwing speed V2, the controller 101 causes the actual rotational speed RV acquired from the rotational speed measuring instrument 22 to follow the deceleration target throwing speed V2. Next, the opening command value of the electromagnetic relief valve 36 shown in FIG. 3 or the electromagnetic pressure reducing valve 38 shown in FIG. 4 is calculated (step S505). Then, the controller 101 outputs the calculated opening degree command value toward the electromagnetic relief valve 36 or the electromagnetic pressure reducing valve 38 (step S506).

If it is determined that the actual throwing length RL has reached the target throwing length L1 (step S508: YES), the controller 101 generates a throwing end flag F2 indicating the end of throwing by the control program, The throwing end flag F2 is stored in the storage device 102 as a parameter of the control program (step S510). Thus, the loop control that repeats steps S502 to S509 is completed.

According to the above-described automatic throwing speed control, the actual rotation speed RV of the dredger 21 is set to the target throwing speed V1 based on the rotation speed of the droop 21 rather than the rotation speed of the dredger 21 (that is, the feed length of the dredge 3). It is possible to brake the rotation of the carriage 21 so as to follow the above, and thereby it is possible to drop the eaves chain 3 at a desired throwing speed. Further, based on the throwing time T from the start of throwing and the target throwing speed V1, the actual throwing length (feed length) RL of the chain 3 can be sequentially grasped in the speed control process. Further, before the actual throwing length RL of the chain 3 reaches the target throwing length L1 (after the actual throwing length RL reaches the deceleration start throwing length L2), the actual rotation speed RV of the carriage is set to a predetermined deceleration. The rotation of the wheel 21 can be braked so that the actual rotation speed RV of the vehicle 21 follows the deceleration target throwing speed V2 set according to the deceleration. Thus, it is possible to suppress a mechanical impact given to the ship 10 at the time of throwing.

[Example of automatic inching control]
FIG. 6 is a flowchart showing an operation example of automatic inching control for obtaining a bias value of a command voltage to the braking force adjusting mechanism before starting the throwing according to the embodiment of the present invention.

First, the controller 101 includes a variable t representing discrete time, a voltage value E (t) of a command voltage applied to an electromagnetic valve (such as the electromagnetic relief valve 36 or the electromagnetic pressure reducing valve 38) of the braking force adjusting mechanism 30, and Is initially set (step S600). Then, the controller 101 gradually increases the voltage value of the command voltage (step S601, step S602: NO, step S603) until the throwing speed V of the chain 3 reaches a predetermined initial speed Vt (step S602: YES). .

When the controller 101 determines that the throwing speed V of the anchor chain 3 is equal to or higher than the initial speed Vt (step S602: YES), the controller 101 uses the command voltage value E (t) at that time as the command voltage bias. The value Eb is determined (step S604).

The operation example described with reference to FIG. 6 is executed as an inching operation of the chain 3 for obtaining the bias value Eb of the command voltage to be applied to the braking force adjusting mechanism 30 before the actual throwing operation is started. .

According to the above, the bias value Eb of the command voltage applied to the braking force adjusting mechanism 30 is determined based on the command value at which the chain 3 starts to move at a predetermined throwing speed. The influence of the factor can be reduced, and the adjustment of the brake mechanism by the braking force adjusting mechanism 30 can be stabilized.

[PWM control example]
FIG. 7a is a diagram showing hysteresis existing in the relationship between the braking force of the brake mechanism and the command voltage to the braking force adjusting mechanism 30 in the embodiment of the present invention, and FIG. 7b is the PWM in the embodiment of the present invention. It is the figure which showed the (pulse width modulation) signal.

As shown in FIG. 7a, there is hysteresis in the relationship between the braking force of the brake mechanism and the command voltage to the braking force adjusting mechanism 30. Furthermore, the friction coefficient is different between when the drum is stopped and when the drum is rotating, and a greater hysteresis is generated in the braking force. That is, even if the command voltage is the same, a difference occurs in the braking force of the brake mechanism when the command voltage is increasing and when the command voltage is decreasing. This makes it difficult to delicately control the braking force.

Therefore, as a countermeasure, as shown in FIG. 7b, the command voltage to be applied to the electromagnetic valve (such as the electromagnetic relief valve 36 or the electromagnetic pressure reducing valve 38) of the braking force adjusting mechanism 30 includes a PWM signal component, and the amplitude value of the PWM signal Was set to a value exceeding the hysteresis width, and the center voltage of the PWM signal was set so that the amplitude value completely crossed the hysteresis width. As a result, the braking force is controlled by the PWM signal by the ON time and the OFF time, and can be finely controlled as an average braking force, the hysteresis can be canceled, and the braking force can be adjusted by adjusting the duty ratio of the PWM signal. Subtle control is possible. Furthermore, stability can be improved by limiting the amplitude and duty ratio.

By using the command voltage as a PWM signal, the brake drum 50 and the chain wheel 21 microscopically repeat acceleration and deceleration, but the period of the PWM signal is about 100 (ms) units, which is a typical PWM control system. It is long compared to the system, but short compared to the responsiveness of the system, so it seems to rotate smoothly macroscopically.

From the above description, many modifications and other embodiments of the present invention are apparent to persons skilled in the art. Accordingly, the foregoing description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. The details of the structure and / or function may be substantially changed without departing from the spirit of the invention.

The present invention is useful for a ship anchoring device.

DESCRIPTION OF SYMBOLS 1 ... Lifting dredging device 2 ... Lifting machine 21 ... Chain wheel 22 ... Rotational speed measuring device 3 ... Chain 5 ... Deck 7 ... Anchor 10 ... Ship 12 ... Anchor chain hole 14 ... Chain controller 16 ... Anchor chain 18 ... Anchor chain pipe 30 ... Braking force adjustment mechanism 301 ... Oil supply line 302 ... Oil discharge line 303 ... Bleed-off line 304 ... Relief line 31 ... Oil tank 32 ... Hydraulic pump 33 ... Check valve 34 ... Check valve 35 ... Variable throttle valve 36 ... Electromagnetic relief valve 37 ... Relief valve 38 ... Electromagnetic pressure reducing valve 40 ... Hydraulic actuator 400 ... Piston 401 ... Piston rod 402 ... Spring 41 ... Base 41a ... Bracket 41b ... Support member 42 ... Actuator support member 43 ... Band support member 45 ... Lever member 46 ... Bracket 47 ... Bracket 48 ... Piston member 50 ... Brake drum 51 ... Rotating shaft 52 ... Brake band 100 ... Control Location 101 ... controller 102 ... storage device 103 ... input device 104 ... output device V1 ... target anchor speed L1 ... target anchor length V2 ... decelerating target anchor speed L2 ... deceleration start anchor length

Claims

A wheelbarrow around which a chain is wound,
A brake mechanism for braking the rotation of the carriage,
A rotational speed measuring means for measuring the actual rotational speed of the carriage,
Setting means for setting a target throwing speed of the chain;
A braking force adjustment mechanism that includes a hydraulic actuator that drives the brake mechanism, and that adjusts the braking force of the brake mechanism according to the pressure of pressure oil supplied to the hydraulic actuator;
The pressure oil supplied to the hydraulic actuator is controlled so that the actual rotational speed of the wheel measured by the rotational speed measuring means follows the target throwing speed set by the setting means. Control means for outputting a command voltage to the braking force adjusting mechanism;
Lifting dredger device equipped with.
In order to determine the bias value of the command voltage to the braking force adjusting mechanism before the start of throwing, the voltage value of the command voltage is gradually increased until the throwing speed of the anchor chain reaches a predetermined initial speed. The hoisting device according to claim 1, further comprising command voltage bias determining means for determining a voltage value of the command voltage when the anchoring speed is equal to or higher than the initial speed as a bias value of the command voltage.
The command voltage includes a PWM signal component,
The amplitude of the PWM signal is greater than the hysteresis width of the hysteresis present in the relationship between the braking force of the brake mechanism and the command voltage;
The lifting rod device according to claim 1 or 2, wherein a center voltage of the PWM signal is set so that the amplitude completely crosses the hysteresis width.
The setting means can further set a target throwing length,
Throwing time measuring means for measuring the elapsed time from the start of throwing,
Throwing length calculation means for calculating the actual throwing length of the anchor chain sent out from the cart based on the throwing time measured by the throwing time measuring means and the target throwing speed;
A deceleration start throwing length calculating means for calculating a deceleration start throwing length of the chain sent from the vehicle based on the target throwing speed, the target throwing length, and a deceleration set in advance;
The control means controls the pressure of the pressure oil supplied to the hydraulic actuator so that the actual rotational speed is decelerated according to the deceleration when the actual throwing length reaches the deceleration start throwing length. A command voltage is output to the braking force adjusting mechanism.
The lifting dredger device according to any one of claims 1 to 3.
5. The lifting dredge apparatus according to any one of claims 1 to 4, wherein the setting means can set the target throwing speed over time.