WO2014157634A1

WO2014157634A1 - Method for controlling swinging of grab bucket of rope trolley crane

Info

Publication number: WO2014157634A1
Application number: PCT/JP2014/059182
Authority: WO
Inventors: 秀和原田; 渡邉　智; 昌博松浦
Original assignee: 三井造船株式会社
Priority date: 2013-03-28
Filing date: 2014-03-28
Publication date: 2014-10-02
Also published as: CN105050932A; JP5986030B2; CN105050932B; JP2014189388A

Abstract

In a rope trolley crane provided with a crane body (4) that includes sea leg (2) and a land leg (3), a girder (5) and a boom (6) that are disposed to the crane main body (4), a trolley (7) that traverses above the girder (5) and the boom (6), a bucket (12) that is positioned downward of the trolley (7), first and second hoist drums (20, 22) and left and right hoist ropes (9a, 9c) that raise and lower the bucket (12), and first and second opening and closing drums (21, 23) and left and right opening and closing ropes (9b, 9d) that open and close the bucket (12), the present invention includes, when the bucket (12) is swinging in the travelling direction, lowering the hoist rope (9a or 9c) on the front side in the travelling direction, and raising the hoist rope (9c or 9a) on the rear side in the travelling direction. It is by such a configuration that the present invention achieves the advantageous effect of smoothly reducing the swinging of the bucket (12) in the travelling direction.

Description

Grab bucket runout control method of rope trolley type crane

The present invention relates to a method of controlling runout in the traveling direction of a grab bucket in a rope trolley type crane.

When loading a loose object near the base of the hold by a rope trolley type crane (hereinafter referred to as "unloader") that unloads loose objects such as ore and coal loaded on a loose carrier, the direction of the unloader travel direction In some cases, a so-called bucket transfer operation may be performed by swinging down the grab bucket (hereinafter, referred to as "bucket").

However, when the bucket transfer operation is performed in the traveling direction of the unloader, the transfer point of the bucket is shifted in the traveling direction of the unloader with respect to the suspension point on the trolley. Swings in the direction of unloader travel. Because the swing does not stop easily, it takes extra time for unloading and the efficiency deteriorates.

Conventionally, when the bucket swings in the traveling direction of the unloader, the unloader is moved in the direction in which the bucket swings to shake the bucket, but the unloader is heavy (for example, 800 to 2000 tons), Since the traveling speed is low (for example, about 30 m / min), it is difficult to reciprocate the bucket in small increments in the swinging direction, the swing of the bucket does not stop easily, and it takes extra time to stop .

On the other hand, although a four-drum rope trolley type crane comprising two hoisting drums and two opening / closing drums is known (see, for example, Patent Document 1), the present invention relates to the swing of the bucket in the transverse direction. It is an invention for performing a stop, and it does not disclose about the stop of the run direction of a bucket.

Japanese Unexamined Patent Publication No. 2012-116593

An object of the present invention is to provide a bucket runout control method of a rope trolley type crane that can shorten the loading time by quickly damping the runout of the bucket in the traveling direction.

In the invention according to claim 1, the trolley traverses the girder and boom provided on the crane main body consisting of the sea leg and the land leg, and the left and right hoisting ropes drawn from the first and second hoisting drums lower the trolley In the rope trolley type crane which lifts and lowers the bucket and opens and closes the bucket under the trolley by the right and left opening and closing ropes drawn from the first and second opening and closing drums, the traveling direction when the bucket shakes in the traveling direction It is characterized in that the winding rope on the front side is lowered and the winding rope on the rear side in the traveling direction is wound to damp the swing of the bucket.

According to the second aspect of the present invention, the trolley traverses over the girder and boom provided on the crane main body consisting of the sea leg and the land leg, and the left and right hoisting ropes extended from the first and second hoisting drums. In the rope trolley type crane which lifts and lowers the bucket and opens and closes the bucket under the trolley by the right and left opening and closing ropes drawn from the first and second opening and closing drums, the traveling direction when the bucket shakes in the traveling direction The winding ropes on the front side and the winding ropes on the rear side in the traveling direction are simultaneously wound to damp the swing of the bucket.

In the invention according to claim 3, the trolley traverses the girder and boom provided on the crane body consisting of the sea leg and the land leg, and the left and right hoisting ropes drawn from the first and second hoisting drums lower the trolley In a rope trolley type crane that lifts and lowers the bucket and opens and closes the bucket below the trolley by the left and right open and close ropes drawn from the first and second open and close drums, when the bucket swings in the traveling direction, The swinging of the bucket is damped by simultaneously lowering the hoisting rope on the front side in the traveling direction and rolling up the hoisting rope on the rear side in the traveling direction in proportion to the swing angle θ.

In the present invention, when the bucket swings in the traveling direction, the winding rope on the front side in the traveling direction is pulled down and the winding rope on the rear side in the traveling direction is wound to damp the swing of the bucket. Shaking can be damped quickly and reliably, and cargo handling time can be shortened.

FIG. 1 is a side view of a rope trolley type crane according to the present invention. FIG. 2 is a cross-sectional view of the same crane. FIG. 3 is an enlarged front view of an essential part of FIG. FIG. 4 is an explanatory view of the traversing movement of the trolley. FIG. 5 is an explanatory view of lifting and closing motion of the bucket. FIG. 6 is a block diagram showing a swing control system of a bucket. FIG. 7 is an explanatory view for obtaining the swing angle of the bucket. FIGS. 8 (a) and 8 (b) are explanatory views showing the operation method of the hoisting rope of the bucket.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

As shown in FIG. 1, a rope trolley type crane (hereinafter referred to as "unloader") 1 according to the present invention is provided with a girder 5 on the land side of a crane main body 4 consisting of sea legs 2 and land legs 3. A boom 6 is provided on the sea side of the girder 5, and the trolley 7 traverses above the girder 5 and the boom 6.

Below the trolley 7, a grab bucket (hereinafter referred to as "bucket") 12 is suspended by a rope described later. In a machine room (not shown) provided above the girder 5, first and second two

winding drums

20 and 22, first and second two opening and closing

drums

21 and 23, and A controller 17 is provided. The first and second

winding drums

20 and 22 and the first and second opening and closing

drums

21 and 23 can be individually driven.

In the figure, the code | symbol S has shown the bulk carrier and 15 has shown the hopper. The unloader 1 travels in the direction of the double arrow E as shown in FIG.

As shown in FIG. 4, the first hoisting rope 9a drawn from the first hoisting drum 20 passes through the sheave 10a provided at the sea side end of the boom 6 and the sheave 11a on the trolley 7 and the left end of the bucket 12 ( See Figure 3).

In addition, the second winding rope 9c drawn from the second winding drum 22 passes through the sheave 10c provided at the land rear end of the girder 5 and the sheave 11c on the trolley 7 to the right end of the bucket 12 (see FIG. 3) ) Is worn.

On the other hand, the first opening and closing rope 9b pulled out from the first opening and closing drum 21 is guided to the sheave 10b attached to the land side rear end of the girder 5 and the sheave 11b on the trolley 7, as shown in FIG. A lower moving sheave 24 guided downward and provided at the connection portion of the bucket

main bodies

13 and 13 of the bucket 12 and an upper part attached to the upper frame 26 supporting the bucket

main bodies

13 and 13 by pin connection via tie rods 25 After being wound around the fixed sheave 27 a plurality of times, it is fixed to a required portion of the bucket 12.

The second opening and closing rope 9d drawn from the second opening and closing drum 23 is guided to the sheave 10d provided on the sea side end of the boom 6 and the sheave 11d on the trolley 7, as shown in FIG. It is fixed to a required place of the bucket 12 after being guided downward and put around between the lower moving sheave 24 and the upper fixed sheave 27 of the bucket 12 a plurality of times.

In the four-drum unloader shown in FIG. 4, the first and second

winding drums

20 and 22 and the first and second opening and closing

drums

21 and 23 are indicated by arrows A, B, C and D, respectively. When rotated in the direction, the trolley 7 traverses in the direction of the arrow F. Conversely, when the first and second winding

drums

20 and 22 and the first and second opening and closing

drums

21 and 23 are rotated in the counterclockwise direction, the trolley 7 traverses in the direction of the arrow F '.

On the other hand, as shown in FIG. 5, the first winding drum 20 and the second opening / closing drum 23 are rotated counterclockwise as shown by arrows A 'and D', and the first opening / closing drum 21 and the second winding drum When the gear 22 is rotated clockwise as shown by arrows B and C, the bucket 12 is wound in the direction of the arrow U. Conversely, when the first winding drum 20 and the second opening and closing drum 23 are rotated clockwise and the first opening and closing drum 21 and the second winding drum 22 are rotated counterclockwise, the bucket 12 is pulled down. Be

Furthermore, in the four-drum unloader 1, when the

winding drums

20 and 22 are stopped, the buckets 12 are opened when the opening and closing

ropes

9b and 9d are simultaneously drawn by the opening and closing

drums

21 and 23. In addition, when the opening and

closing ropes

9b and 9d are simultaneously wound by the opening and closing

drums

21 and 23, the bucket 12 is closed.

In order to stop the running direction of the bucket 12, it is necessary to detect the swinging state of the running direction of the bucket 12. The following three methods can be used to detect the swinging state of the running direction of the bucket 12: Can be mentioned.

(1) A method in which a sensor (CCD camera, beacon, etc.) is provided on the trolley to directly detect the runout of the bucket in the traveling direction.

(2) A method of continuously detecting the state of the inverter torque of the traveling motor of the unloader to detect and calculate the swing of the bucket in the traveling direction.

(3) A method of visually confirming the swing state of the bucket (a shake switch is provided in the operation room of the unloader, and shake is performed manually by the operator).

In this embodiment, the case where the method of (1) above is applied will be described.

As shown in FIG. 1, the trolley 7 is provided with a CCD camera 16, and the CCD camera 16 picks up a swing in the traveling direction of the bucket 12 and wirelessly transmits it to the control device 17. After image processing of the signal input from the CCD camera 16 to detect the swing angle θ of the bucket 12, the control device 17 controls the first winding drum 20 and the second winding drum 22 to prevent the bucket 12 from shaking. It is supposed to be.

FIG. 6 is a block diagram showing a swing control system for a bucket, and the control device 17 is provided with a signal of the CCD camera 16, a signal of the first encoder 31 provided on the first winding drum 20, and a signal of the second winding drum 22. The signal of the second encoder 32 is input. Further, control signals are output from the control device 17 to the first controller 33 of the first winding drum 20 and the second controller 34 of the second winding drum 22, respectively.

In order to stop the bucket 12 based on the swing angle θ of the bucket 12, it is necessary to obtain the winding position (height) H of the bucket 12 and a half length W ′ of the amplitude of the bucket 12. The winding position H of the bucket 12 is obtained from the equation (1).
That is,
_{H = ((L 0 -L)} + (L '0 -L')) / 2 + H 0 ··· (1)
here,
L ₀ : The first winding rope winding length L of the first winding drum 20 in the initial state L: The first winding rope winding length L 'of the first winding drum 20 in the present situation ₀ : The second winding drum 22 in the initial condition The second winding rope winding length L ′ of the second winding rope winding length H ₀ of the second winding drum 22 at present: the winding position in the initial state.

Note that L ₀ , L ′ ₀ and H ₀ are stored in the control device 17 in advance. Moreover, L and L 'make a winding direction + (plus).

FIG. 7 is an explanatory view for obtaining the swing angle θ of the bucket 12, and the swing angle θ of the bucket 12 is obtained from the equation (2).
That is,
sin θ = W ′ / H (2)
here,
W 'is a half of the amplitude width of the traveling direction of the bucket 12 on the projection plane.

Note that the traverse position X of the bucket 12 can be obtained from the equation (3).
X = X ₀ -((L ₀ -L ' ₀ ) + (L-L')) / 2 (3)
here,
X ₀ is the traverse position in the initial state.

Then, when the bucket 12 swings in the traveling direction, an imaging signal of the bucket 12 captured by the CCD camera 16 and a first winding rope winding length L of the first winding drum 20 at present are input to the control device 17 .

At the same time as finding the winding position (height) H of the bucket 12 from the above equation (1), the control device 17 performs image processing on the image pickup signal of the bucket 12 input from the CCD camera 16 to reduce 1/1 of the amplitude width of the bucket 12 After the length W ′ of 2 is obtained, the swing angle θ of the bucket 12 is obtained from the above equation (2). At the same time, the swing direction of the bucket 12 is input by the CCD camera 16.

Then, as shown in FIG. 8A, when the bucket 12 swings to the left (for example, in the stern direction), the first winding rope 9a of the first winding drum 20 is proportional to the swing angle θ of the bucket 12 Simultaneously with unwinding the first winding rope 9a on the front side in the traveling direction and at the same time unwinding the second winding rope 9c of the second winding drum 22 to wind the second winding rope 9c on the rear side in the traveling direction Face the center of the trolley. At that time, it is desirable to limit and control the winding

ropes

9a and 9c so that the winding and lowering are not performed rapidly.

On the contrary, as shown in FIG. 8B, when the bucket 12 swings to the right (for example, in the bow direction), the second winding drum 22 is rotated in proportion to the swing angle θ of the bucket 12 While unwinding the second winding rope 9c in the traveling direction front side by unwinding the two winding ropes 9c, simultaneously unwind the first winding rope 9a of the first winding drum 20 and wind up the first winding rope 9a on the rear side in the traveling direction The center of gravity of the bucket 12 is directed to the center of the trolley.

Then, by repeatedly performing the damping operations of FIG. 8A and FIG. 8B, the runout of the bucket 12 in the traveling direction (ship success direction) is rapidly attenuated.

The relationship between the swing angle θ of the bucket 12 and the winding and lowering lengths of the first and second winding

ropes

9a and 9c is subjected to trial calculations and tests, and is input to the control device 17 in advance. The winding and lowering lengths of the first and second winding

ropes

9a and 9c are preferably such that the bucket 12 is horizontal.

Reference Signs List 2 sea landing gear 3 landing gear 4 crane main body 5 girder 6 boom 7

trolley

9a,

9c winding rope

9b, 9d opening and closing rope 12 bucket 20 first winding drum 21 first opening and closing drum 22 second winding drum 23 second opening and closing drum

Claims

The trolley traverses over the girder and boom provided on the crane main body consisting of sea legs and land legs, and raises and lowers the bucket under the trolley by the left and right hoisting ropes which are fed from the first and second hoist drums. 1. In a rope trolley type crane that opens and closes a bucket below the trolley by left and right open and close ropes drawn from a second open and close drum, when the bucket swings in the running direction, the hoisting rope on the front side in the running direction A method for controlling a bucket runout of a rope trolley type crane, comprising: rolling up a hoisting rope on a rear side in a traveling direction to damp a runout of a bucket.
The trolley traverses over the girder and boom provided on the crane main body consisting of sea legs and land legs, and raises and lowers the bucket under the trolley by the left and right hoisting ropes which are fed from the first and second hoist drums. 1. In a rope trolley type crane that opens and closes a bucket below the trolley by left and right open and close ropes drawn from a second open and close drum, when the bucket swings in the running direction, the hoisting rope on the front side in the running direction 2. A method according to claim 1, further comprising the step of simultaneously hoisting the rear side hoisting rope to damp the swing of the bucket.
The trolley traverses over the girder and boom provided on the crane main body consisting of sea legs and land legs, and raises and lowers the bucket under the trolley by the left and right hoisting ropes which are fed from the first and second hoist drums. 1. In a rope trolley type crane that opens and closes a bucket below the trolley by left and right open and close ropes drawn from a second open and close drum, when the bucket swings in the running direction, the running travels in proportion to the swing angle θ of the bucket The method for controlling the runout of a rope trolley type crane according to claim 1 or 2, characterized in that the runout of the hoisting rope on the front side in the direction and the hoisting of the hoisting rope on the rear side in the traveling direction are simultaneously performed to damp the swing of the bucket. .