WO2014091780A1

WO2014091780A1 - Grab bucket hoisting control device, unloader provided with grab bucket hoisting control device, and grab bucket hoisting control method

Info

Publication number: WO2014091780A1
Application number: PCT/JP2013/066984
Authority: WO
Inventors: 伸郎吉岡
Original assignee: 三菱重工マシナリーテクノロジー株式会社
Priority date: 2012-12-12
Filing date: 2013-06-20
Publication date: 2014-06-19
Also published as: JP5978525B2; CN104105654A; IN2014DN06525A; JP2014114159A; CN104105654B

Abstract

A hoisting device (20) for a grab bucket (2) is provided with an information acquiring unit (241) for acquiring the feed length and tension of a suspending rope (11) or the like. The hoisting control device (20) is provided with a closing rope control unit (246) for causing winding or the like on the basis of the feed length of a closing rope (12). The hoisting control device (20) is provided with a first winding control unit (247) for causing winding or the like on the basis of the feed length of the suspending rope (11) and a second winding control unit (248) for causing winding or the like on the basis of the tension of the suspending rope (11). The hoisting control device (20) is provided with a switching control unit (245) for switching control according to the tension of the suspending rope (11).

Description

Grab bucket lift control device, grab bucket lift control device, and grab bucket lift control method

The present invention relates to a grab bucket lift control device, an unloader including a grab bucket lift control device, and a grab bucket lift control method.
This application claims priority in Japanese Patent Application No. 2012-271794 for which it applied on December 12, 2012, and uses the content here.

A grab bucket unloader, which is a crane having a grab bucket, is used for handling bulk cargo such as coal and minerals. Grab bucket unloaders are used when loading bulk cargoes loaded on bulk carriers such as harbors, or when transporting iron ore at steelworks. For example, a bulk load transported by a bulk carrier is grabbed by a grab bucket of a grab bucket unloader, dropped on a hopper on the land side, and the load is conveyed to a destination via a belt conveyor or a vehicle.

Such a grab bucket unloader includes a hanging rope that controls the vertical position of the grab bucket and an opening and closing rope that controls the opening and closing of the grab bucket. When grabbing a bulk load with a grab bucket, a grab bucket is placed on the bulk load and submerged in the bulk load by its own weight, and the grab bucket is closed by winding an open / close rope to grab the bulk load.
When the grab bucket is landed, the operation of extending the suspension rope is stopped. However, there is a possibility that a time difference occurs when the operation is stopped, and an excessive extension that the suspension rope is loosened may occur. In particular, in dark-colored bulk loads such as black coal, it is difficult to visually recognize the difference in height of the bulk loads, so there is a large time difference from the landing to the suspension rope unwinding operation, resulting in excessive over-feeding. Cheap. When excessive over-extension occurs, when the suspension rope changes from a slack state due to over-extension to a tension state, an excessive impact force may act on the suspension rope and damage may occur. It may cause a decrease in the life of the rope.

In order to suppress over-feeding in the grab bucket unloader, for example, Patent Document 1 detects the electric power of a motor that controls a hanging rope or an opening / closing rope, and based on the detected electric power, the grab bucket on the bulk load is detected. A method is disclosed in which landing can be detected accurately by detecting landing.

Japanese Patent Laid-Open No. 2-117588

In the grab bucket unloader using such a method, it is possible to control the feeding of the hanging rope by detecting the current acting on the drum that moves the hanging rope and the opening / closing rope for confirmation when landing. However, there is no change in that there is a time difference from the detection until the feeding is stopped, and the slack occurs. As a result, after grabbing the bulk load with the grab bucket, the suspension rope is taken up and the grab bucket is raised, so that an excessive impact force acts on the suspension rope and the life of the suspension rope is reduced.

The present invention relates to a grab bucket lifting / lowering control device and an unloader equipped with a grab bucket lifting / lowering control device capable of repeatedly carrying an object by a grab bucket without damaging a hanging rope for hanging the grab bucket. And a grab bucket lifting / lowering control method.

(1) According to the first aspect of the present invention, the raising / lowering control device for the grab bucket is suspended so that it can be raised and lowered by the hanging rope and can be opened and closed by the opening / closing rope. Device. This grab bucket lifting control device includes an information acquisition unit, an opening / closing rope control unit, a first winding control unit, a second winding control unit, and a switching control unit. The information acquisition unit acquires a feeding length of the suspension rope and the opening / closing rope and a tension of the suspension rope. The opening / closing rope control unit controls the feeding speed or feeding length of the opening / closing rope based on the feeding length of the opening / closing rope acquired from the information acquisition unit, and causes the opening / closing rope to be wound or fed out. . The first winding control unit controls the feeding speed or the feeding length of the hanging rope based on the feeding length of the hanging rope acquired from the information acquisition unit, and winds or feeds the hanging rope. To do. The second winding control unit controls the tension of the suspension rope based on the tension of the suspension rope acquired from the information acquisition unit to cause the suspension rope to be wound or fed out. The switching control unit monitors the tension of the suspension rope acquired by the information acquisition unit in a state where the winding and feeding of the opening / closing rope is controlled by the first winding control unit, and the tension decreases. Then, the control of the suspension rope is switched from the first winding control unit to the second winding control unit.

According to the above-described configuration, the descending speed of the grab bucket can be controlled by controlling the speed at which the hanging rope is fed out based on the feeding length of the hanging rope by the first winding control unit. Then, it is possible to detect that the grab bucket has landed by monitoring the tension of the suspension rope and detecting the decrease in tension. After landing the grab bucket, by switching with the switching control unit to the second winding control unit that controls the suspension rope based on its tension, the tension is applied to the suspension rope even after landing, When raising the grab bucket, it is possible to prevent an excessive impact force from acting on the hanging rope. Thereby, the conveyance operation | work of the target object by a grab bucket can be performed repeatedly, without damaging the suspension rope which suspends a grab bucket.

(2) In the grab bucket lifting / lowering control device according to (1), the second winding control unit controls the suspension rope so that the tension of the suspension rope becomes a predetermined tension, and the opening / closing rope control unit However, the grab bucket may be closed by controlling the winding and unwinding of the opening and closing rope.

According to the configuration described above, the lifting control device for the grab bucket controls the opening / closing rope while the second winding control unit applies a predetermined tension to the hanging rope and controls it after the grab bucket is landed. Then, the grab bucket is closed to grasp an object such as a bulk load. Therefore, an object such as a bulk load can be grasped by controlling the open / close rope without slackening the suspension rope. Thereby, after grabbing an object with the grab bucket, the suspension rope can be quickly wound and the grab bucket can be raised without excessive impact force acting on the suspension rope.

(3) The grab bucket lifting / lowering control device according to the above (1) or (2) may include a storage unit that stores a feeding length of the hanging rope when switched by the switching control unit. In this grab bucket elevating control device, when the first winding control unit extends the suspension rope, at least a predetermined speed is obtained when the extension length of the suspension rope stored in the storage unit is reached. You may slow down.

According to the configuration described above, the length of the hanging rope when the switching unit is switched from the first winding control unit to the second winding control unit by the storage unit, that is, the position of the hanging rope to the position where the tension is reduced. The extended length can be stored. Here, since the tension decreases when the grab bucket is landed, the lifting control device for the grab bucket can store the position where the grab bucket is landed. And when it becomes the feeding length of the hanging rope memorized in the storage unit, the hanging rope is fed out after landing while suppressing the impact when the grab bucket is landed next time at least at a predetermined speed. The amount can be reduced. And by suppressing the amount that the suspension rope is fed out, it is possible to suppress the amount of winding and unwinding of the suspension rope when the tension of the suspension rope is controlled by the second winding control unit, and to improve the cycle time. .

(4) According to the second aspect of the present invention, the unloader includes the grab bucket lifting control device according to any one of (1) to (3), and a grab bucket that can be opened and closed. A hanging rope that suspends the grab bucket, and an opening and closing rope that opens and closes the grab bucket.

According to the above configuration, since the hanging rope does not loosen when the grab bucket is landed, the life of the hanging rope is improved and the reaction of the grab bucket controlled through the hanging rope is improved and the operability is improved. be able to.

(5) According to the third aspect of the present invention, the grab bucket lifting / lowering control method can be lifted and lowered by the hanging rope and can be opened and closed by the opening / closing rope. It is. The lifting control method of the grab bucket includes a first winding control step, a second winding control step, a switching control step, and an opening / closing rope control step. The first winding control step acquires the feeding length of the hanging rope, controls the feeding speed or feeding length of the hanging rope based on the feeding length, and feeds the hanging rope. Lower the grab bucket. In the second winding control step, the tension of the suspension rope is controlled based on the tension of the suspension rope to cause the suspension rope to be wound or fed out. The switching controller monitors the tension of the suspension rope in a state where the winding and unwinding of the opening and closing rope are controlled in the first winding control step, and controls the suspension rope when the tension decreases. Switch to the second winding control step. The open / close rope control step acquires the open length of the open / close rope in the state where the second winding control step is performed, and controls the open speed or the open length of the open / close rope based on the extended length. Then, the open / close rope is wound or unwound.

According to the grab bucket lifting / lowering control method described above, the lowering speed of the grab bucket can be controlled by controlling the speed of feeding the hanging rope based on the feeding length of the hanging rope in the first winding control step. . Then, it is possible to detect that the grab bucket has landed by monitoring the tension of the suspension rope and detecting the decrease in tension. After landing the grab bucket, by switching to the second winding control process that controls based on the tension of the hanging rope in the switching control process, the tension is applied to the hanging rope even after landing, When raising the grab bucket, it is possible to prevent an excessive impact force from acting on the hanging rope. Thereby, the conveyance operation | work of the target object by a grab bucket can be performed repeatedly, without damaging the suspension rope which suspends a grab bucket.

According to the grab bucket lifting / lowering control device, the unloader provided with the grab bucket lifting / lowering control device, and the grab bucket lifting / lowering control method, the tension is applied to the hanging rope even after landing, When raising the bucket, it is possible to prevent an excessive impact force from acting on the suspension rope. As a result, it is possible to repeatedly carry the object with the grab bucket without damaging the hanging rope that suspends the grab bucket.

It is a schematic diagram explaining an unloader provided with the raising / lowering control apparatus of the grab bucket which concerns on embodiment of this invention. It is a schematic diagram explaining the raising / lowering control apparatus of the grab bucket which concerns on embodiment of this invention. It is a block diagram explaining the control system which concerns on embodiment of this invention. It is a flowchart explaining the raising / lowering control method of the grab bucket which concerns on embodiment of this invention. It is a flowchart explaining the raising / lowering control method of the grab bucket which concerns on embodiment of this invention. It is a diagram showing the relationship between the speed at the time of the descent | fall of the grab bucket which concerns on embodiment of this invention, and height. It is a schematic diagram explaining the raising / lowering control apparatus of the grab bucket which concerns on the modification of this invention. It is a schematic diagram explaining the traversing device of an unloader provided with the raising / lowering control apparatus of the grab bucket which concerns on the modification of this invention. It is a schematic diagram explaining the traversing device of an unloader provided with the raising / lowering control apparatus of the grab bucket which concerns on the modification of this invention.

Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 3.
As shown in FIG. 1, the unloader 1 of this embodiment is a crane which conveys the bulk load C, such as coal and an ore, from the ship S as a landing object. Such an unloader 1 includes a crane boom / garter 3 that protrudes from the quay toward the ship S, a grab bucket 2 for grasping a bulk load C that is an object to be transported, and a crane boom / garter 3 An actuator 10 that raises and lowers the grab bucket 2 and opens and closes it, a hopper 4 that temporarily stores a bulk load C gripped by the grab bucket 2, and an elevator controller 20 that controls the actuator 10 Have That is, the unloader 1 in the present embodiment is a so-called single rope unloader 1. In the unloader 1, the horizontal movement of the main trolley 13 is also controlled by the operating device 10.

As shown in FIG. 2, the operating device 10 includes a pair of hanging ropes 11 that raise and lower the grab bucket 2, a pair of opening and closing ropes 12 that open and close the grab bucket 2, and the hanging rope 11 and the opening and closing rope 12. A main trolley 13 that moves the grab bucket 2 in the horizontal direction, a hanging drum 14 that feeds and winds the hanging rope 11, an opening and closing drum 15 that feeds and winds the opening and closing rope 12, and a main trolley 13 A plurality of guide rollers 17 disposed between the suspension drum 14 and the opening / closing drum 15 are provided.

The hanging rope 11 is a wire rope in this embodiment. The hanging ropes 11 are provided in pairs. These suspension ropes 11 are respectively fed out from the pair of suspension drums 14 in the left-right direction, and are connected to the grab bucket 2 through the main trolley 13 via the guide rollers 17 arranged separately on the left and right. The suspension rope 11 is connected to the grab bucket 2 at its tip, and suspends the grab bucket 2 so that it can be raised and lowered.
The opening / closing rope 12 is a wire rope in this embodiment. The open / close ropes 12 are provided in pairs. These open / close ropes 12 are respectively fed out from the pair of open / close drums 15 in the left-right direction, and are connected to the grab bucket 2 through the main trolley 13 via guide rollers 17 arranged separately on the left and right. The opening / closing rope 12 is connected to the grab bucket 2 so that the grab bucket 2 is opened by the drawing and the grab bucket 2 is closed by winding.

The main trolley 13 is a cart that moves horizontally on the crane boom / garter 3. The main trolley 13 connects the hanging rope 11 and the opening / closing rope 12 to the grab bucket 2 via rollers arranged inside. The main trolley 13 is rotated by the winding and unwinding of the suspension rope 11 and the opening / closing rope 12. The main trolley 13 rotates with the rotation of the roller so that the main trolley 13 itself can move together with the grab bucket 2.

The suspension drum 14 is a cylindrical drum that winds and unwinds the suspension rope 11 by rotating with a motor drive (not shown). A pair of suspension drums 14 are arranged to face each other, and each suspension rope 11 is connected to the suspension drum 14, and each suspension drum 11 extends in the other direction by rotating in the opposite direction. The hanging drum 14 is provided with a feeding sensor 16. The hanging drum 14 is controlled by controlling the rotation of the hanging drum 14 based on the value detected by the feeding sensor 16 to control the feeding length and the feeding speed.

The open / close drum 15 is a cylindrical drum that winds and unwinds the open / close rope 12 by being rotated by a motor drive (not shown). The opening / closing drum 15 is arranged in parallel with the pair of suspension drums 14, and one opening / closing rope 12 is connected to each of the opening / closing drums 14. Yes. The opening / closing drum 15 is provided with a feeding sensor 16. The open / close drum 15 controls the feed length and feed speed by controlling the rotation of the open / close drum 15 itself based on the measurement value detected by the feed sensor 16.
The feeding sensor 16 is built in the hanging drum 14 and the opening / closing drum 15. The feeding sensor 16 detects the feeding length and feeding speed of the rope that has been wound and fed by measuring the rotation speed and the rotation speed of the hanging drum 14 and the opening / closing drum 15.

The unloader 1 includes a first guide roller 171 disposed on the suspension drum 14 and the opening / closing drum 15 side and a second guide roller 172 disposed on the main trolley 13 side as the guide roller 17. One set of each of the first guide roller 171 and the second guide roller 172 is arranged on the crane boom / garter 3 for each hanging rope 11 and opening / closing rope 12. The first guide roller 171 and the second guide roller 172 guide the movement of the suspension rope 11 and the opening / closing rope 12 by rotating the suspension rope 11 and the opening / closing rope 12 in accordance with winding and feeding, The direction in which the opening / closing rope 12 is drawn is converted to the main trolley 13 side.

As shown in FIG. 3, the lifting control device 20 controls the raising and lowering, opening, and closing of the grab bucket 2 by controlling the driving of each motor (not shown) of the hanging drum 14 and the opening / closing drum 15. is doing. The lifting control device 20 includes a load sensor 21 for measuring the load of the grab bucket 2 acting on the hanging rope 11 and the opening / closing rope 12, and the unwinding length of the hanging rope 11 and the opening / closing rope 12 when the grab bucket 2 is landed. , A control unit 24 for controlling the driving of the suspension drum 14 and the opening / closing drum 15, and an operation unit 23 for sending a signal for closing the grab bucket 2 to the control unit 24.

The load sensors 21 are respectively provided on the second guide rollers 172 on which the suspension rope 11 is hung, and measure and output the load received by the suspension rope 11 from the second guide roller 172. The load acting on the suspension rope 11 corresponds to the load detected by the load sensor 21 by acting on the second guide roller 172 on which the suspension rope 11 is hung, and the load detected by the load sensor 21. It can ask for.
The storage unit 22 is a rewritable element such as a RAM. As will be described later, the storage unit 22 stores the value of the feeding length of the hanging rope 11 and the opening / closing rope 12 detected from the feeding sensor 16 at the position where the grab bucket 2 has landed. In the storage unit 22, when the feeding length of each new rope is input, the stored feeding length value is updated.
The operation unit 23 is a member for performing an operation of manually inputting a signal for closing the grab bucket 2 to the control unit 24 from the outside, and is, for example, an operation lever. The operation unit 23 operates to close the grab bucket 2.

The control unit 24 includes an information acquisition unit 241, a calculation unit 242, a feeding length determination unit 243, and a tension determination unit 244. The information acquisition unit 241 repeatedly acquires the feeding length of the hanging rope 11 and the opening / closing rope 12 and the tension of the hanging rope 11 based on signals output from the feeding sensor 16 and the load sensor 21. The calculation unit 242 calculates the height at which the descending speed of the grab bucket 2 is changed based on the signal from the storage unit 22. The feeding length determination unit 243 determines the height of the grab bucket 2 based on signals from the information acquisition unit 241 and the calculation unit 242. The tension determination unit 244 determines the tension acting on the hanging rope 11 based on the signal from the information acquisition unit 241. Furthermore, the control unit 24 includes a switching control unit 245, an opening / closing rope control unit 246, a first winding control unit 247, and a second winding control unit 248. The switching control unit 245 switches the control method of the hanging rope 11 and the opening / closing rope 12 based on signals from the feeding length determination unit 243, the tension determination unit 244, and the operation unit 23. The open / close rope control unit 246 receives the signal from the switching control unit 245 and controls the open / close drum 15 based on the feeding length. The first winding control unit 247 receives the signal from the switching control unit 245 and controls the hanging drum 14 based on the feeding length. The second winding control unit 248 receives the signal from the switching control unit 245 and controls the hanging drum 14 based on the tension.

The information acquisition unit 241 includes a feed length information acquisition unit 2411 to which a feed length value detected by the feed sensor 16 is input, and a tension information acquisition unit 2412 to which a load value measured by the load sensor 21 is input. Have.
The feeding length information acquisition unit 2411 acquires information on the height of the grab bucket 2 that is the feeding length value of the hanging rope 11 and the opening / closing rope 12 detected by the feeding sensor 16 and outputs the information to the feeding length determination unit 243. is doing.
The tension information acquisition unit 2412 acquires information on the tension applied to the suspension rope 11 that is the value of the load received by the suspension rope 11 measured by the load sensor 21 and outputs the information to the tension determination unit 244 and the second winding control unit 248. is doing.

The calculation unit 242 includes a deceleration end height calculation unit 2421 and a deceleration start height calculation unit 2422. The deceleration end height calculation unit 2421 calculates the height at which the grab bucket 2 starts to descend at a predetermined low speed, which is a predetermined speed, based on the signal input from the storage unit 22. The deceleration start height calculation unit 2422 calculates the height at which deceleration starts according to a predetermined acceleration based on the height calculated by the deceleration end height calculation unit 2421.
The deceleration end height calculation unit 2421 is input with the value of the extended length of the hanging rope 11 and the opening / closing rope 12 at the position where the grab bucket 2 is stored stored in the storage unit 22 from the storage unit 22. The deceleration end height α is calculated by subtracting a predetermined length from the feed length value. The deceleration end height calculation unit 2421 outputs the calculated deceleration end height α to the deceleration start height calculation unit 2422 and the feed length determination unit 243.
The deceleration end height α is a position at which the grab bucket 2 starts to descend at a predetermined low speed that is a predetermined speed after completing the deceleration. The deceleration end height α is a position that is higher than the position where the grab bucket 2 is landed by a predetermined height.

The deceleration start height calculation unit 2422 decelerates based on a predetermined acceleration based on the deceleration end height α input from the deceleration end height calculation unit 2421 and the feed speed input from the feed sensor 16. In this case, the deceleration start height β is calculated and output to the feed length determination unit 243.
The deceleration start height β is a position where the grab bucket 2 starts to decelerate. As shown in FIG. 6, the position of the deceleration start height β changes from the deceleration end height α along a predetermined acceleration gradient according to the input feed speed. That is, the deceleration start height β increases as the input feeding speed increases, and decreases as it decreases.

The feeding length determination unit 243 includes the height of the grab bucket 2 based on the feeding length values of the hanging rope 11 and the opening / closing rope 12 input from the feeding length information acquisition unit 2411 and the deceleration end input from the calculation unit 242. The position of the grab bucket 2 is determined by comparing the height α and the deceleration start height β. As a result of the determination, the feeding length determination unit 243 outputs a signal corresponding to the case where the height of the grab bucket 2 reaches the deceleration start height β or the deceleration end height α to the switching control unit 245.
The tension determination unit 244 detects a case where the tension applied to the hanging rope 11 input from the tension information acquisition unit 2412 is reduced, and outputs a signal to the switching control unit 245.

The switching control unit 245 receives signals from the feeding length determination unit 243, the tension determination unit 244, and the operation unit 23, and opens / closes the rope control unit 246, the first winding control unit 247, and the second winding control unit for each received signal. The signal is switched to be output to a part of H.248.

The opening / closing rope control unit 246 receives the signal from the switching control unit 245 and based on the height information of the grab bucket 2 acquired from the feeding length information acquisition unit 2411, the opening / closing rope 15 is adjusted to a predetermined feeding speed. The rotation length of the opening / closing rope 12 and the feeding speed are adjusted.
The first winding control unit 247 receives the signal from the switching control unit 245 and suspends the drum so as to achieve a predetermined feeding speed based on the height information of the grab bucket 2 acquired from the feeding length information acquisition unit 2411. 14 is controlled to adjust the feeding length and feeding speed of the suspension rope 11.
The second winding control unit 248 receives a signal from the switching control unit 245, and based on the tension information applied to the hanging rope 11 acquired from the tension information acquisition unit 2412, the predetermined tension applied to the hanging rope 11 is determined. The rotation of the hanging drum 14 is controlled so as to be given, and the feeding length and feeding speed of the hanging rope 11 are adjusted.

Here, the path | route which the suspension rope 11 and the opening-and-closing rope 12 are drawn out is demonstrated concretely.
The suspension rope 11 fed out from the first suspension drum 14 is fed out from the first suspension drum 14 in the horizontal direction (right side in FIG. 2). The extended rope 11 is guided to a second guide roller 172 having a load sensor 21 in which the direction of extension is changed via the first guide roller 171. Then, the direction in which the hanging rope 11 is fed out to the inner side in the horizontal direction (the center side in FIG. 2) is converted via the second guide roller 172. The hanging rope 11 whose direction of feeding is converted is guided to the main trolley 13 side and is connected to the grab bucket 2 that is suspended downward in the vertical direction via a roller in the main trolley 13.
The suspension rope 11 fed out from the second suspension drum 14 is fed out in the horizontal direction on the opposite side to the first suspension drum 14 (left side in FIG. 2). The extending direction of the suspended rope 11 is converted through the first guide roller 171 and is guided to the second guide roller 172. Then, the direction in which the hanging rope 11 is fed out to the inner side in the horizontal direction (the center side in FIG. 2) is converted via the second guide roller 172. The hanging rope 11 whose direction of feeding is converted is guided to the main trolley 13 side and is connected to the grab bucket 2 that is suspended downward in the vertical direction via a roller in the main trolley 13.

Similarly, the first opening / closing drum 15 is arranged in parallel with the first suspension drum 14. Therefore, the opening / closing rope 12 drawn out from the first opening / closing drum 15 is converted in the direction of drawing out via the first guide roller 171 along the hanging rope 11 drawn out from the first hanging drum 14. Guided to guide roller 172. Then, the opening / closing rope 12 drawn out from the first opening / closing drum 15 is converted in the horizontal drawing direction (the center side in FIG. 2) via the second guide roller 172 and guided to the main trolley 13 side. The grab bucket 2 is suspended through a roller in the main trolley 13 in the vertical direction.
The second opening / closing drum 15 is arranged in parallel with the second suspension drum 14. Therefore, the opening / closing rope 12 drawn out from the second opening / closing drum 15 is changed in the direction of drawing out via the first guide roller 171 along the hanging rope 11 drawn out from the second hanging drum 14. Guided to guide roller 172. Then, the opening / closing rope 12 drawn out from the second opening / closing drum 15 is converted in the horizontal drawing direction (the center side in FIG. 2) via the second guide roller 172 and guided to the main trolley 13 side. The grab bucket 2 is suspended through a roller in the main trolley 13 in the vertical direction.
As described above, the suspension rope 11 and the opening / closing rope 12 are hung from the suspension drum 14 and the opening / closing drum 15 to the grab bucket 2, thereby configuring the single rope unloader 1 in this embodiment.

Next, the raising / lowering control method in this embodiment is demonstrated.
As shown in FIGS. 4 and 5, in the elevation control method of the present embodiment, a storage step S <b> 1 for storing the feeding length at the position where the grab bucket 2 has landed is performed. After carrying out the storage step S1, a deceleration height calculation step S2 for calculating the deceleration end height α and the deceleration start height β from the value of the feed length stored in the storage step S1 is executed. After executing the deceleration height calculation step S2, a high-speed feeding step S41 for lowering the grab bucket 2 at a high speed is executed. After performing the high-speed feeding process S41, an information acquisition process S3 is performed to acquire and monitor the values of the feeding length and tension of the hanging rope 11 and the opening / closing rope 12. In the information acquisition step S3, the information on the height of the grab bucket 2 is monitored from the value of the feeding length, and the deceleration start height determination step for determining whether the height of the grab bucket 2 has reached the deceleration start height β. S6 is performed. If it is determined in the deceleration start height determination step S6 that the deceleration start height β has been reached, a deceleration feed step S42 is performed in which the speed of the grab bucket 2 that descends at a high speed is reduced at a predetermined acceleration. After executing the deceleration feeding step S42, the information acquisition step S3 is performed again to monitor the height information of the grab bucket 2 from the value of the feeding length, and the height of the grab bucket 2 reaches the deceleration end height α. A deceleration end height determining step S7 is performed to determine whether or not If it is determined in the deceleration end height determining step S7 that the deceleration end height α has been reached, a low speed feeding step S43 for lowering the grab bucket 2 at a low speed is performed. After performing the low-speed feeding process S43, the information acquisition process S3 is performed again to monitor the tension value applied to the hanging rope 11 and detect that the tension has decreased and the grab bucket 2 has landed on the bulk load C. Floor confirmation process S8 is implemented. After landing, a landing step S40 for controlling the hanging rope 11 on the bulk load C by tension is performed. After performing the landing process S40, a signal is input from the outside by the operation unit 23 in the closing process S9, and the grab bucket 2 is gripped and closed. When a signal is input from the operation unit 23, the storage step S1 for winding the grab bucket 2 in the winding step S44 and storing the feeding length at the position where the grab bucket 2 has landed is performed again.

Hereinafter, each step will be described in detail.
In the storing step S <b> 1, the feeding length of the hanging rope 11 at the position where the grab bucket 2 has landed before the grab bucket 2 grasps the bulk load C and rises is detected by the feeding sensor 16 and stored in the storage unit 22.
In the deceleration height calculation step S2, the deceleration end height α is calculated by the deceleration end height calculation unit 2421 which is the calculation unit 242 based on the feed length stored in the storage unit 22 after the storage step S1 is performed. To do. Based on the calculated deceleration end height α and the feed speed input from the feed sensor 16, the deceleration start height calculation unit 2422 which is the calculation unit 242 calculates the deceleration start height β.

The high-speed feeding step S41 is a step of rotating the hanging drum 14 and the open / close drum 15 at a high speed and lowering the grab bucket 2 at a high speed. In the high-speed feeding process S41, the signal is switched by the switching high-speed control process S51 so that the hanging drum 14 and the opening / closing drum 15 are rotated at a high speed. Thereafter, the high-speed feeding step S41 synchronizes the first winding control step S20 for controlling the rotation of the suspension drum 14 and the opening / closing rope control step S10 for controlling the rotation of the opening / closing drum 15. Then, the high-speed feeding process S41 is performed by rotating the suspension drum 14 and the open / close drum 15 in the feeding direction at the same high speed.

The switching high-speed control step S51 is based on the signals from the feeding length determination unit 243 and the tension determination unit 244, unless it is confirmed that the grab bucket 2 has reached the deceleration start height β. The switching control unit 245 outputs a signal for rotating the suspension drum 14 and the opening / closing drum 15 at a high speed to the opening / closing rope control unit 246.
The first winding control step S20 receives a signal from the switching control unit 245, and based on the height information of the grab bucket 2 acquired from the feeding length information acquisition unit 2411, the first winding control unit 247 performs a predetermined process. The rotation of the suspension drum 14 is controlled so that the feeding speed becomes the same, and the feeding length and the feeding speed are adjusted. When the first winding control unit 247 in the first winding control step S20 after the switching high speed control step S51 receives a signal from the switching control unit 245 to rotate the hanging drum 14 at a high speed, the first winding control unit 247 moves the hanging drum 14 at a high speed. The rotation speed of the suspension rope 11 is increased.

The opening / closing rope control step S10 receives a signal from the switching control unit 245 and performs predetermined feeding by the opening / closing rope control unit 246 based on the height information of the grab bucket 2 acquired from the feeding length information acquisition unit 2411. The rotation of the open / close drum 15 is controlled so as to achieve a speed, and the feeding length and feeding speed are adjusted. The opening / closing rope control unit 246 in the opening / closing rope control step S10 after the switching high-speed control step S51 rotates the opening / closing drum 15 at high speed when a signal is input from the switching control unit 245 to rotate the opening / closing drum 15 at high speed. The feeding speed of the opening / closing rope 12 is set high.

The information acquisition step S3 monitors the height of the grab bucket 2 by acquiring the value of the extension length of the hanging rope 11 and the opening / closing rope 12 by the extension length information acquisition unit 2411 which is the information acquisition unit 241. ing. Information acquisition process S3 monitors the tension concerning suspension rope 11 by acquiring the value of load which suspension rope 11 receives in tension information acquisition section 2412 which is information acquisition section 241. In addition, the information acquisition step S3 detects that the grab bucket 2 has landed and the tension has decreased.

The deceleration start height determination step S6 determines whether the height of the descending grab bucket 2 monitored in the information acquisition step S3 has reached the deceleration start height β. In the deceleration start height determination step S <b> 6, the value of the deceleration start height β calculated by the deceleration start height calculation unit 2422 is output to the feed length determination unit 243. Thereafter, in the deceleration start height determination step S6, the feeding length determination unit 243 determines the grab bucket 2 based on the feeding length values of the hanging rope 11 and the opening / closing rope 12 input from the feeding length information acquisition unit 2411. It is determined whether the height has reached the deceleration start height β.

The deceleration feeding step S42 is a step in which the rotational speeds of the hanging drum 14 and the opening / closing drum 15 are decelerated at a predetermined acceleration, and the descending speed of the grab bucket 2 is decelerated at a predetermined acceleration. In the deceleration feeding step S42, the signal is switched by the switching deceleration control step S52 so as to decelerate the rotational speeds of the hanging drum 14 and the opening / closing drum 15. Thereafter, the deceleration feeding step S42 synchronizes the first winding control step S20 for controlling the rotation of the suspension drum 14 and the opening / closing rope control step S10 for controlling the rotation of the opening / closing drum 15. Then, the speed reduction feeding step S42 is performed by rotating the suspension drum 14 and the opening / closing drum 15 in the feeding direction while decelerating at the same rotational speed.

In the switching deceleration control step S52, it is confirmed in the deceleration start height determination step S6 that the grab bucket 2 has reached the deceleration start height β based on signals from the feed length determination unit 243 and the tension determination unit 244. After the confirmation, a signal for decelerating the rotation speed of the hanging drum 14 and the opening / closing drum 15 is output from the switching control unit 245 to the first winding control unit 247 and the opening / closing rope control unit 246.
When the first winding control unit 247 in the first winding control step S20 after the switching deceleration control step S52 receives a signal from the switching control unit 245 to decelerate the rotation speed of the hanging drum 14, the rotation of the hanging drum 14 is performed. The speed is decelerated according to a predetermined acceleration, and the feeding speed of the hanging rope 11 is decelerated.
The opening / closing rope control unit 246 in the opening / closing rope control step S10 after the switching deceleration control step S52 receives the signal from the switching control unit 245 to decelerate the rotation speed of the opening / closing drum 15, and then the rotation speed of the opening / closing drum 15 is increased. Deceleration is performed according to a predetermined acceleration, and the feeding speed of the opening / closing rope 12 is reduced.

The deceleration end height determination step S7 determines whether the height of the grab bucket 2 being decelerated and being monitored, which is monitored in the information acquisition step S3, has reached the deceleration end height α. In the deceleration end height determination step S <b> 7, the value of the deceleration end height α calculated by the deceleration end height calculation unit 2421 is output to the feed length determination unit 243. Thereafter, in the deceleration end height determination step S7, the feed length determination unit 243 determines the grab bucket 2 based on the feed length values of the hanging rope 11 and the open / close rope 12 input from the feed length information acquisition unit 2411. It is determined whether the height has reached the deceleration end height α.

The low-speed feeding step S43 ends the deceleration of the rotation speed of the suspension drum 14 and the opening / closing drum 15 and rotates it at a low speed so that the predetermined grab bucket 2 does not give a large impact when landing. This is a step of lowering the grab bucket 2 at a low speed. The low-speed feeding process S43 is switched by the switching low-speed control process S53 so that the suspension drum 14 and the opening / closing drum 15 are rotated at a low speed. Thereafter, the low speed feeding step S43 synchronizes the first winding control step S20 for controlling the rotation of the suspension drum 14 and the opening / closing rope control step S10 for controlling the rotation of the opening / closing drum 15. Then, the low-speed feeding step S432 is performed by rotating the suspension drum 14 and the open / close drum 15 in the feeding direction at the same low rotation speed.

In the switching low speed control step S53, based on the signals from the feeding length determination unit 243 and the tension determination unit 244, it is confirmed in the deceleration end height determination step S7 that the grab bucket 2 has reached the deceleration end height α. Thereafter, in the switching low speed control step S53, a signal for rotating the suspension drum 14 and the opening / closing drum 15 at a predetermined low speed is output from the switching control section 245 to the first winding control section 247 and the opening / closing rope control section 246.
When the first winding control unit 247 in the first winding control step S20 after the switching low speed control step S53 receives a signal from the switching control unit 245 to rotate the hanging drum 14 at a low speed, the first winding control unit 247 moves the hanging drum 14 at a low speed. The rotation speed of the suspension rope 11 is set to a predetermined low speed.
The opening / closing rope control unit 246 in the opening / closing rope control step S10 after the switching low-speed control step S53 rotates the opening / closing drum 15 at a low speed when a signal is input from the switching control unit 245 to rotate the opening / closing drum 15 at a low speed. The feeding speed of the opening / closing rope 12 is set to a predetermined low speed.

The landing confirmation step S8 detects that the grab bucket 2 has landed on the bulk load C based on the tension of the grab bucket 2 monitored in the information acquisition step S3. In the landing confirmation step S8, information on the tension applied to the hanging rope 11 is acquired from the tension information acquiring unit 2412, and the case where the tension applied to the hanging rope 11 is decreased by the tension determining unit 244 is detected. That is, the landing confirmation step S8 detects that when the grab bucket 2 is landed, the load acting on the suspension rope 11 that suspends the grab bucket 2 is decreased, and the tension applied to the suspension rope 11 is decreased.

The landing step S40 is a step of controlling the rotation of the suspension drum 14 based on the tension applied to the suspension rope 11 and applying a constant tension to the suspension rope 11 of the grab bucket 2 that is landing. The landing process S40 is switched by the switching control process S50 so as to switch from the first winding control process S20 to the second winding control process S30. Thereafter, the landing step S40 separately performs a second winding control step S30 for controlling the rotation of the suspension drum 14 and an opening / closing rope control step S10 for controlling the rotation of the opening / closing drum 15.

In the switching control step S50, it is confirmed in the landing confirmation step S8 that the grab bucket 2 is landing on the bulk load C based on signals from the feeding length determination unit 243 and the tension determination unit 244. Thereafter, in the switching control step S50, a signal for switching the control of the hanging drum 14 from the first winding control unit 247 to the second winding control unit 248 is output from the switching control unit 245.
The second winding control step S30 receives the signal from the switching control unit 245, and based on the tension information applied to the hanging rope 11 acquired from the tension information acquisition unit 2412, the second winding control unit 248 causes the hanging rope 11 to move. The rotation of the suspension drum 14 is controlled so that a certain tension is applied to the tension, and the feeding length and feeding speed are adjusted.
The opening / closing rope control unit 246 in the opening / closing rope control step S10 in the landing step S40 is fed out in a state where the opening / closing rope 12 is slightly looser than when the first winding control unit 247 is switched to the second winding control unit 248. Stop. This is because the grab bucket 2 cannot be closed when the opening / closing rope control unit 246 applies a constant tension to the opening / closing rope 12 as well as the second winding control unit 248. .

In the closing step S9, the operating unit 23 is manually operated from the outside, and the opening / closing rope 12 is controlled by the opening / closing rope control unit 246 via the switching control unit 245 so that the grab bucket 2 grips the bulk load C. It is a process to make.
The winding step S44 is a step of raising the closed grab bucket 2 by winding the hanging rope 11 with the hanging drum 14 and winding the opening / closing rope 12 with the opening / closing drum 15. The winding step S44 is switched by the switching winding control step S54 so as to rotate the suspension drum 14 and the opening / closing drum 15 in the winding direction opposite to the feeding direction. Thereafter, the winding step S44 synchronizes the first winding control step S20 for controlling the rotation of the suspension drum 14 and the opening / closing rope control step S10 for controlling the rotation of the opening / closing drum 15. And winding process S44 is implemented by rotating the hanging drum 14 and the opening-and-closing drum 15 in the winding direction at the same rotational speed.

In the switching winding control step S54, the suspension drum 14 and the opening / closing drum 15 are rotated in the winding direction by the first winding control unit 247 and the opening / closing rope control unit 246 based on the input signal from the operation unit 23 in the closing step S9. The switching control unit 245 outputs a signal to be made.
When the first winding control unit 247 in the first winding control step S20 after the switching winding control step S54 receives a signal from the switching control unit 245 to rotate the hanging drum 14 in the winding direction, the hanging drum 14 Is rotated in the winding direction to wind up the suspension rope 11.
The opening / closing rope control unit 246 in the opening / closing rope control step S10 after the switching winding control step S54 winds the opening / closing drum 15 when a signal is input from the switching control unit 245 to rotate the opening / closing drum 15 in the winding direction. Rotate in the take-up direction and wind up the open / close rope 12.

Next, an operation of the unloader 1 including the lifting control device 20 having the above configuration will be described.
The unloader 1 rotates the suspension drum 14 and the opening / closing drum 15 in the feeding direction to feed the suspension rope 11 and the opening / closing rope 12, thereby rotating the roller of the main trolley 13 while starting the descent of the grab bucket 2. 13 is moved. Thereby, the position of the grab bucket 2 can be moved onto the bulk load C.
As shown in FIG. 6, the grab bucket 2 descends while decelerating the descending speed at a predetermined height.
Specifically, the grab bucket 2 moved onto the bulk load C is rotated at a high speed by rotating the hanging drum 14 and the opening / closing drum 15 in the feeding direction at a high speed and feeding the hanging rope 11 and the opening / closing rope 12 at a high speed. Descend. When the grab bucket 2 descending at high speed reaches the deceleration start height β, a signal is input from the first winding control unit 247 and the opening / closing rope control unit 246 of the control unit 24 to decelerate at a predetermined acceleration. As a result, the grab bucket 2 descends while being decelerated at a predetermined acceleration as the rotational speeds of the hanging drum 14 and the opening / closing drum 15 are reduced. When the grab bucket 2 descending while decelerating reaches the deceleration end height α, the grab bucket 2 ends the deceleration from the first winding control unit 247 and the opening / closing rope control unit 246 of the control unit 24 and becomes a predetermined low speed. A signal is input. Thereby, the grab bucket 2 is lowered at a low speed so as not to give a large impact when the grab bucket 2 is landed by the rotation speed of the suspension drum 14 and the opening / closing drum 15 being low. When the grab bucket 2 descending at a low speed reaches the bulk load C, the tension determination unit 244 detects that the tension applied to the hanging rope 11 that suspends the grab bucket 2 is reduced. Then, a signal is input from the second winding control unit 248 so that a predetermined tension is applied to the suspension rope 11, and the suspension drum 14 adjusts the rotation. When a signal is input from the operation unit 23 while a predetermined tension is applied to the hanging rope 11, the opening / closing rope 12 is controlled by the opening / closing rope control unit 246 via the switching control unit 245. As a result, the grab bucket 2 is closed and holds the bulk load C. The grab bucket 2 that has grabbed the bulk load C outputs the information on the landing position, which is the position at which the bulk load C has been grabbed, from the feed sensor 16 to the storage unit 22, while winding the hanging drum 14 and the opening / closing drum 15 Ascend by rotating to. Thereafter, the bulk C is dropped from the grab bucket 2 to the hopper 4 and conveyed to the destination.

In the lifting control device 20 as described above, the feeding length information acquisition unit 2411 that is the information acquisition unit 241 of the control unit 24 provides the feeding lengths of the hanging rope 11 and the opening / closing rope 12 to the hanging rope 11 and the opening / closing rope 12. The height of the grab bucket 2 can be monitored by obtaining from the fed-out sensor 16 that has been obtained. Therefore, the first winding control unit 247 and the opening / closing rope control unit 246 can change the rotation speeds of the hanging drum 14 and the opening / closing drum 15 based on the feeding length that is the height of the grab bucket 2. Thereby, the speed at which the suspension rope 11 and the opening / closing rope 12 are drawn out to lower the grab bucket 2 can be controlled based on the height of the grab bucket 2. Furthermore, the hanging rope 11 and the opening / closing rope 12 are drawn out based on the height of the grab bucket 2. Therefore, it is possible to prevent the suspension rope 11 and the opening / closing rope 12 from being loosened during the descent.

The tension applied to the hanging rope 11 is the value of the load that the load sensor 21 receives. The tension applied to the suspension rope 11 can be monitored by the tension information acquisition unit 2412 which is the information acquisition unit 241 of the control unit 24 acquiring the load value from the load sensor 21 provided on the second guide roller 172. . When the grab bucket 2 is landed, the load acting on the hanging rope 11 that suspends the grab bucket 2 decreases. Therefore, the tension of the hanging rope 11 is reduced. By detecting the decrease in the tension of the suspension rope 11 with the tension information acquisition unit 2412, the lifting control device 20 can detect the landing of the grab bucket 2.
After the grab bucket 2 has landed, the lifting control device 20 rotates the suspension drum 14 based on the tension information applied to the suspension rope 11 acquired from the tension information acquisition unit 2412 so that tension is applied to the suspension rope 11. The switching control unit 245 switches to the second winding control unit 248 to be controlled. As a result, the suspended rope 11 after landing is in a tensioned state due to a certain tension. Therefore, it is possible to prevent an excessive impact force from acting on the hanging rope 11 when raising the grab bucket 2. Thereby, the conveyance operation | work of the bulk load C which is the target object by the grab bucket 2 can be performed repeatedly, without damaging the suspension rope 11 which suspends the grab bucket 2. FIG.

After landing of the grab bucket 2, the lifting control device 20 controls the hanging rope 11 so that the second winding control unit 248 has a predetermined tension set in advance, and the opening / closing rope control unit 246 controls the opening / closing rope 12. Then, the grab bucket 2 is closed and the bulk C which is an object to be conveyed is grasped. Thereby, the object such as the bulk load C can be grasped by controlling the open / close rope 12 without slackening the hanging rope 11. After grabbing the bulk load C with the grab bucket 2, the hanging rope 11 can be quickly wound up and the grab bucket 2 can be raised without excessive impact force acting on the hanging rope 11.

By providing the storage unit 22, the tension information acquisition unit 2412 detects a decrease in the tension of the suspension rope 11, and the switching control unit 245 controls the suspension drum 14 from the first winding control unit 247 to the second winding control unit 248. When switching, the lifting control device 20 can store the extended length of the hanging rope 11, that is, the extended length of the hanging rope 11 up to the position where the tension is reduced. Here, the tension is decreased when the grab bucket 2 is landed. Therefore, the lifting control device 20 can store the position where the grab bucket 2 has landed. The elevation control device 20 calculates the deceleration end height α based on the feed length stored in the storage unit 22, and at a predetermined speed at the deceleration end height α which is a position higher than the stored feed length. The suspension rope 11 is fed out at a predetermined low speed. Thereby, the raising / lowering control apparatus 20 can suppress the quantity which pays out the suspension rope 11 after landing, suppressing the impact at the time of the grab bucket 2 landing. By suppressing the amount that the suspension rope 11 is fed, the second winding control unit 248 suppresses the amount of winding and feeding of the suspension rope 11 when the tension of the suspension rope 11 is controlled. Cycle time can be improved.

In the unloader 1 provided with the operating device 10 as described above, the hanging rope 11 does not loosen when the grab bucket 2 is landed. Therefore, while improving the lifetime of the hanging rope 11, the reaction of the grab bucket 2 controlled via the hanging rope 11 becomes good, and the operativity can be improved.

In the lifting control method as described above, the first winding control step S20 and the open / close rope control step S10 receive the signals in the switching high speed control step S51, the switching deceleration control step S52, and the switching low speed control step S53, and the grab bucket 2 The rotation speeds of the hanging drum 14 and the opening / closing drum 15 can be changed based on the feeding length which is the height. Thereby, the speed at which the hanging rope 11 and the opening / closing rope 12 are unwound and the grab bucket 2 is lowered can be controlled based on the height of the grab bucket 2. Since the suspension rope 11 and the opening / closing rope 12 are drawn out based on the height of the grab bucket 2, the suspension rope 11 and the opening / closing rope 12 can be prevented from slacking during the lowering.

When the grab bucket 2 is landed, the load acting on the hanging rope 11 that suspends the grab bucket 2 decreases. Therefore, the tension of the hanging rope 11 is reduced. By detecting the decrease in the tension of the hanging rope 11 in the information acquisition step S3, the landing of the grab bucket 2 can be detected.
Second winding control for controlling the rotation of the suspension drum 14 so that a predetermined tension is applied to the suspension rope 11 based on the tension information applied to the suspension rope 11 acquired in the information acquisition step S3 after the grab bucket 2 is landed. It switches to process S30 by switching control process S50. As a result, the suspended rope 11 after landing is in a tensioned state due to the tension. Therefore, it is possible to prevent an excessive impact force from acting on the hanging rope 11 when raising the grab bucket 2. Thereby, the conveyance work of the bulk load C by the grab bucket 2 can be performed repeatedly, without damaging the suspension rope 11 which suspends the grab bucket 2.

Next, the unloader 1 provided with the operation device 10 according to the modification will be described with reference to FIGS.
In the modification, the same reference numerals are given to the same components as those in the embodiment, and the detailed description is omitted. The unloader 1 provided with the operation device 10 of this modification is different from the embodiment in that it is divided into a device for raising and lowering the grab bucket 2 and a device for horizontally moving the grab bucket 2.

That is, the unloader 1 in the modification is a rope trolley type unloader 1. The unloader 1 includes an actuating device 10a that controls raising and lowering of the grab bucket 2 and a traversing device 30 that controls movement of the grab bucket 2 in the horizontal direction.
As shown in FIG. 7, the operating device 10a includes a pair of suspension ropes 11a for raising and lowering the grab bucket 2, a pair of opening and closing ropes 12a for opening and closing the grab bucket 2, and moving the grab bucket 2 in the horizontal direction. The main trolley 13a to be moved, the auxiliary trolley 18 for assisting the movement of the main trolley 13a, the hanging drum 14a for feeding and winding the hanging rope 11a, the opening and closing drum 15a for feeding and winding the opening and closing rope 12a, A plurality of parallel guide rollers 17a disposed between the trolley 18, the hanging drum 14a, and the opening / closing drum 15a, and a lifting control device 20 for controlling the hanging drum 14a and the opening / closing drum 15a are provided.

The hanging rope 11a is a wire rope in this modification. The suspension rope 11a is provided in pairs. These hanging ropes 11a are fed out in the same direction from the hanging drum 14a, and are connected to the grab bucket 2 through the auxiliary trolley 18 and the main trolley 13a via the parallel guide roller 17a. The suspension rope 11a has its tip connected to the grab bucket 2 respectively. The suspension rope 11a is connected by hanging the grab bucket 2 so that it can be raised and lowered.
The open / close rope 12a is a wire rope in this modification. The open / close ropes 12a are provided in pairs. These open / close ropes 12a are fed out in the same direction from the open / close drum 15a, and are connected to the grab bucket 2 through the auxiliary trolley 18 and the main trolley 13a via the parallel guide roller 17a. The opening / closing rope 12a opens the grab bucket 2 by its feeding. On the other hand, the open / close rope 12a is connected to the grab bucket 2 so as to close the grab bucket 2 by winding.

The main trolley 13a is a carriage that moves on the crane boom / garter 3 together with the grab bucket 2 in the horizontal direction. The main trolley 13a connects the hanging rope 11a and the opening / closing rope 12a to the grab bucket 2 via rollers arranged inside.
The auxiliary trolley 18 is a cart that moves in the horizontal direction while assisting when the main trolley 13a moves along the grab bucket 2 on the crane boom / garter 3 in the horizontal direction. The auxiliary trolley 18 has rollers on which the hanging rope 11a and the opening / closing rope 12a are respectively attached.

The suspension drum 14a is a cylindrical drum that winds and unwinds the suspension rope 11a by rotating with a motor drive (not shown). The suspension drum 14a has different suspension ropes 11a at both ends. The suspension drum 14a is fed out in the same direction by synchronizing the two suspension ropes 11a. The hanging drum 14a is provided with a feeding sensor 16 similar to the embodiment. The hanging drum 14a is driven while controlling the rotation of the hanging drum 14a itself based on the value detected by the feeding sensor 16, thereby controlling the feeding length and the feeding speed.

The open / close drum 15a is a cylindrical drum that winds and unwinds the open / close rope 12a by being rotated by a motor drive (not shown). The open / close drum 15a has different open / close ropes 12a at both ends. The open / close drum 15a is fed out in the same direction by synchronizing the two open / close ropes 12a. A similar feeding sensor 16 is also provided in the open / close drum 15a. The opening / closing drum 15a is driven while controlling the rotation of the opening / closing drum 15 based on the measured value detected by the feeding sensor 16, thereby controlling the feeding length and the feeding speed.

The parallel guide roller 17a includes a first parallel guide roller 171a disposed on the suspension drum 14 and the opening / closing drum 15 side, and a second parallel guide roller 172a disposed on the auxiliary trolley 18 side. The first parallel guide roller 171a and the second parallel guide roller 172a have four rollers arranged in parallel to guide one suspension rope 11a and the open / close rope 12a. The first parallel guide roller 171a and the second parallel guide roller 172a rotate in accordance with the winding and feeding of the suspension rope 11a and the opening / closing rope 12a. Accordingly, the first parallel guide roller 171a and the second parallel guide roller 172a guide the movement of the suspension rope 11a and the opening / closing rope 12a, and convert the direction in which the suspension rope 11a and the opening / closing rope 12a are drawn out to the auxiliary trolley 18 side. ing.

The lifting control device 20 is different only in that the load sensor 21 is provided on the roller to which the suspension rope 11a of the first parallel guide roller 171a is applied. Since other configurations are the same as those in the embodiment, description thereof is omitted.

Here, the path | route which the suspension rope 11a and the opening-and-closing rope 12a are drawn out is demonstrated concretely.
The direction in which the suspension rope 11a fed out from the suspension drum 14a is fed out through the outer rollers of the four parallel rollers of the first parallel guide roller 171a having the load sensor 21 is converted. Thereafter, the suspension rope 11a is guided to a roller outside the second parallel guide roller 172a. The suspension rope 11a is guided to a roller in the auxiliary trolley 18 via the second parallel guide roller 172a. The suspension rope 11a, which is changed in the direction fed by the rollers in the auxiliary trolley 18 and is guided to the main trolley 13a side, is connected to the grab bucket 2 suspended downward in the vertical direction via the rollers in the main trolley 13a. .
Similarly, the opening / closing rope 12a fed out from the opening / closing drum 15a is converted in a direction in which the first parallel guide roller 171a is fed out through the inner roller among the four parallel rollers. Thereafter, the open / close rope 12a is guided to a roller inside the second parallel guide roller 172a. The opening / closing rope 12a is guided to a roller in the auxiliary trolley 18 via the second parallel guide roller 172a. The open / close rope 12a whose direction of feeding by the roller in the auxiliary trolley 18 is converted is guided to the main trolley 13a side and connected to the grab bucket 2 suspended downward in the vertical direction via the roller in the main trolley 13a. Yes.

As shown in FIG. 8, the traversing device 30 includes a traversing rope 31 that moves the main trolley 13a and the auxiliary trolley 18 in the horizontal direction, and a traversing drum 32 that winds and feeds the traversing rope 31. The traversing device 30 includes a main trolley 13 a that is also used in the operating device 10 a, an auxiliary trolley 18, and an auxiliary rope 34 that connects the main trolley 13 a and the auxiliary trolley 18. The traverse device 30 includes a traverse guide roller 33 disposed between the traverse drum 32 and the deformation trolley and the auxiliary trolley 18.

The traversing rope 31 is a wire rope in this modification. The traversing ropes 31 are provided in pairs. The traverse rope 31 is wound around the traverse drum 32 at the center. The traversing rope 31 has a first end on the end of the main trolley 13a on the side where the auxiliary trolley 18 is not disposed and a second end on the end on the side where the main trolley 13a of the auxiliary trolley 18 is not disposed. Each is connected.
The transverse drum 32 is a cylindrical drum that winds and feeds the transverse rope 31 by rotating the transverse drum 32 itself. A traversing rope 31 is wound around the traversing drum 32 and feeds both ends left and right. When the traverse rope 31 rotates, the traverse drum 32 unwinds the first side of the traverse rope 31 and winds the second side opposite to the first side.
The auxiliary rope 34 is a wire rope that connects the main trolley 13 a and the auxiliary trolley 18. The auxiliary rope 34 restricts the amount of movement so that the main trolley 13a and the auxiliary trolley 18 move together, and is fixed to a point on the crane boom / garter 3 (not shown). Thereby, the auxiliary rope 34 prevents the main trolley 13a and the auxiliary trolley 18 from falling off.
The traverse guide roller 33 changes the feeding direction of the traversing rope 31 that is fed from the traverse drum 32.

Next, an operation of the unloader 1 including the lifting control device 20 having the above configuration will be described.
As shown in FIG. 9, the actuating device 10 a and the traversing device 30 integrally control the grab bucket 2. That is, the descent of the grab bucket 2 can be started by rotating the hanging drum 14a and the opening / closing drum 15a in the feeding direction and feeding the hanging rope 11a and the opening / closing rope 12a. The descending speed of the grab bucket 2 and the like can be changed using the lift control device 20 similar to the embodiment.
The main trolley 13a can be moved by controlling the traversing rope 31 by rotating the traversing drum 32 of the traversing device 30 in the feeding or winding direction. Thereby, the position of the grab bucket 2 is controlled and moved onto the bulk load C, and the bulk load C can be gripped.

The elevating control device 20 as described above moves the grab bucket 2 in the horizontal direction with the traversing device 30. Therefore, the raising / lowering control apparatus 20 can control the raising / lowering of the grab bucket 2 independently, and can operate the grab bucket 2 easily.

In addition, paths, such as the suspension rope 11 of the unloader 1 provided with the raising / lowering control apparatus 20 which concerns on this embodiment, and the opening / closing rope 12, are not limited to the said structure, You may change suitably as needed. For example, by increasing the number of guide rollers 17, it is possible to more smoothly convert the extending direction of the suspension rope 11 and the opening / closing rope 12.
The method for determining the deceleration end height α and the deceleration start height β is not limited to the method of this embodiment. For example, the deceleration end height α may be determined automatically by determining the deceleration start height β.
The unloader 1 provided with the raising / lowering control apparatus 20 which concerns on this invention is not limited to this embodiment and a modification. For example, it can be used for a known crane such as an unloader 1 such as a club trolley type or a hoist type, or a portal crane.

S Ship C Bulk load 1 Unloader 2 Grab bucket 3 Crane boom / garter 4 Hopper 10 Actuator 11 Hanging rope 12 Opening / closing rope 13 Main trolley 14 Hanging drum 15 Opening / closing drum 16 Feeding sensor 17 Guide roller 171 First guide roller 172 Second guide Roller 20 Lift control device 21 Load sensor 22 Storage unit 23 Operation unit 24 Control unit 241 Information acquisition unit 2411 Feeding length information acquisition unit 2412 Tension information acquisition unit 242 Calculation unit 2421 Deceleration end height calculation unit α Deceleration end height 2422 Deceleration Start height calculation unit β Deceleration start height 243 Feeding length determination unit 2 4 Tension determination unit 245 Switching control unit 246 Opening / closing rope control unit 247 First winding control unit 248 Second winding control unit S1 Storage step S2 Deceleration height calculation step S3 Information acquisition step S41 High-speed feed-out step S51 Switching high-speed control step S20 First Winding control step S10 Opening / closing rope control step S6 Deceleration start height determination step S42 Deceleration feed step S52 Switching deceleration control step S7 Deceleration end height determination step S43 Low speed feed step S53 Switching low speed control step S8 Landing confirmation step S40 Landing step S50 Switching control step S30 Second winding control step S9 Closing step S44 Winding step S54 Switching winding control step 10a Deformation lift control device 11a Deformation hanging rope 12a Deformation opening / closing rope 13a Deformation main trolley 18 Supplementary trolley 14a Deformation suspension drum 15a Deformation opening / closing drum 17a Parallel guide roller 171a First deformation guide roller 172a Second deformation guide roller 30 Traversing device 31 Traversing rope 32 Traversing drum 33 Traversing guide Roller 34 auxiliary rope

Claims

In a lifting control device for a grab bucket that can be lifted and lowered by a hanging rope and that can be opened and closed by an opening and closing rope,
An information acquisition unit for acquiring the suspension rope and the unfolding length of the opening and closing rope, and the tension of the suspension rope;
An opening / closing rope control unit for controlling the feeding speed or feeding length of the opening / closing rope based on the feeding length of the opening / closing rope acquired from the information acquisition unit;
First winding control for controlling the feeding speed or the feeding length of the hanging rope based on the feeding length of the hanging rope acquired from the information acquisition unit so as to wind or feed the hanging rope. And
Based on the tension of the suspension rope acquired from the information acquisition unit, the second winding control unit that controls the tension of the suspension rope to wind or feed the suspension rope;
The tension of the suspension rope acquired by the information acquisition section is monitored in a state where the winding and unwinding of the opening and closing rope is controlled by the first winding control section, and when the tension decreases, the suspension rope A switching control unit that switches the control from the first winding control unit to the second winding control unit,
Grab bucket lift control device comprising:
While the second winding control unit controls the suspension rope so that the tension of the suspension rope becomes a predetermined tension,
The grab bucket lifting / lowering control device according to claim 1, wherein the opening / closing rope control unit closes the grab bucket by controlling winding and feeding of the opening / closing rope.
A storage unit for storing the extended length of the hanging rope when switched by the switching control unit;
3. The first winding control unit according to claim 1 or 2, wherein when the suspension rope is fed out, the first winding control unit decelerates the suspension rope so that at least a predetermined speed is reached when the suspension rope is stored in the storage unit. The raising / lowering control apparatus of the grab bucket of description.
The grab bucket lifting control device according to any one of claims 1 to 3,
A grab bucket that can be opened and closed;
A suspension rope that suspends the grab bucket;
An opening and closing rope for opening and closing the grab bucket;
An unloader comprising.
In the raising and lowering control method of the grab bucket that can be lifted and lowered by the hanging rope and that can be opened and closed by the opening and closing rope,
First, the length of the hanging rope is acquired, and on the basis of the length of the hanging rope, the feeding speed or the feeding length of the hanging rope is controlled to cause the hanging rope to be drawn to lower the grab bucket. Winding control process;
Based on the tension of the suspension rope, the second winding control step of controlling the tension of the suspension rope to perform winding or feeding of the suspension rope;
The tension of the suspension rope is monitored in a state in which the winding and unwinding of the opening / closing rope is controlled in the first winding control step, and the control of the suspension rope is controlled by the second winding control when the tension decreases. A switching control process for switching to a process;
In the state where the second winding control step is performed, the unwinding length of the opening / closing rope is acquired, and based on the unwinding length, the unwinding speed or unwinding length of the opening / closing rope is controlled to wind the opening / closing rope. Opening and closing rope control process to take out or pay out,
Grab bucket lift control method comprising: