WO2020075664A1 - Grab bucket control device - Google Patents

Grab bucket control device Download PDF

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Publication number
WO2020075664A1
WO2020075664A1 PCT/JP2019/039451 JP2019039451W WO2020075664A1 WO 2020075664 A1 WO2020075664 A1 WO 2020075664A1 JP 2019039451 W JP2019039451 W JP 2019039451W WO 2020075664 A1 WO2020075664 A1 WO 2020075664A1
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WIPO (PCT)
Prior art keywords
grab bucket
closing
motion
winding
load
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PCT/JP2019/039451
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French (fr)
Japanese (ja)
Inventor
健 甲斐
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住友重機械搬送システム株式会社
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Publication of WO2020075664A1 publication Critical patent/WO2020075664A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives
    • B66C13/32—Control systems or devices for electric drives for operating grab bucket hoists by means of one or more electric motors used both for hosting and lowering the loads and for opening and closing the bucket jaws
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control

Definitions

  • the present invention relates to a grab bucket control device.
  • a grab bucket that can be opened and closed and moved up and down is installed in a cargo handling device such as an unloader for landing cargo such as bulk cargo.
  • the grab bucket closes the bucket portion in the hold and holds the load, and ascends and traverses while holding the load, and carries the load to a load collection unit such as a hopper.
  • a grab bucket is configured to be raised by winding a support wire, and to close the bucket portion by winding the opening / closing wire while fixing or unwinding the support wire.
  • Patent Document 1 discloses a control method of driving a hoisting electric motor that raises and lowers a grab bucket in a descending direction at a low speed when the grab bucket is closed to grip a load (see paragraph 0010).
  • the grab bucket moves back and forth many times during loading and unloading, so if the grab bucket takes a long time to pick up the load, the total work time required for loading and unloading will increase accordingly.
  • the operation suitable for the grab bucket to pick up a load differs depending on the type of load.
  • An object of the present invention is to provide a grab bucket control device that can shorten the total work time required for cargo handling depending on the type of cargo.
  • the present invention is a grab bucket control device that controls a grab bucket that moves up and down by winding and unwinding a support wire and opens and closes in accordance with the relative amount of winding or unwinding of the support wire and the opening / closing wire.
  • the control unit is configured to change the length of the overlapping period of the end side period of the closing motion and the rising start side period according to the pattern selected by the selection unit.
  • FIG. 1A and 1B are views showing a grab bucket according to an embodiment of the present invention.
  • FIG. 1A shows a state in which a bucket portion is open
  • FIG. 1B shows a state in which the bucket portion is closed.
  • FIG. 2 is a diagram showing a grab bucket control device according to an embodiment of the present invention.
  • the grab bucket 10 and the control device 60 according to the present embodiment are provided, for example, in an unloader that unloads bulk cargo from a cargo ship at a port facility.
  • the grab bucket 10 is connected to the support wires 11a and 11b connected to the support wires Wa and Wb, the bucket part 13 supported by the support part 11 so as to be able to open and close, and the open / close wires Wc and Wd to open and close the bucket part 13. And a drive mechanism 19 that operates.
  • the support unit 11 supports each element of the grab bucket 10, and the support unit 11 moves up and down, so that the entire glove bucket 10 moves up and down.
  • the support portion 11 moves up and down as the support wires Wa and Wb are wound or unwound.
  • the drive mechanism 19 includes a frame 12 connected to the bucket portion 13 and a plurality of pulleys 15 and 16 rotatably supported by the support portion 11 and the frame 12.
  • An opening / closing wire Wc is hung on the plurality of pulleys 15 and 16.
  • the support portion 11 and the frame 12 are brought close to or separated from each other by a length which is a fraction of the winding amount of the opening / closing wire Wc, whereby the bucket portion 13 is opened / closed.
  • two pulleys 15 and 16 are shown in FIG.
  • 15 and 16 are provided in the direction perpendicular to the paper surface of FIG. Further, the number of pulleys 15 and 16 in each set is not limited to two and may be three or more.
  • the control device 60 includes an arithmetic device 71, an operation unit 62 for an operator to input various operation commands, and an I / O 67 for inputting and outputting various signals.
  • the drive circuit 52 is connected to the I / O 67, and the drive circuit 52 can be operated based on a control signal from the control device 60.
  • the drive circuit 52 supplies a current to the motors Ma to Md to drive the motors Ma to Md.
  • the I / O 67 receives a signal indicating the driving amount and the driving direction from the driving circuit 52, and the control device 60 can determine the driving amounts of the motors Ma to Md based on these signals.
  • the support wires Wa and Wb and the opening / closing wires Wc and Wd are wound around drums 51a to 51d which are rotationally driven by motors Ma to Md.
  • the control device 60 drives the motors Ma to Md via the drive circuit 52 and rotates the drums 51a to 51d, so that the support wires Wa, Wb and the opening / closing wires Wc, Wd can be wound or unwound. As a result, the lifting and opening / closing of the grab bucket 10 are realized.
  • control device 60 winds the support wires Wa and Wb around the drums 51a and 51b, so that the grab bucket 10 rises, and the control device 60 feeds the support wires Wa and Wb out of the drums 51a and 51b. As a result, the grab bucket 10 descends.
  • control device 60 changes the relative amount of winding or unwinding of the opening / closing wires Wc, Wd with respect to the supporting wires Wa, Wb, thereby opening / closing the grab bucket 10. Specifically, if the winding amount is represented by a positive winding amount and the unwinding is represented by a negative winding amount, and if the winding amount obtained by subtracting the winding amounts of the supporting wires Wa and Wb from the winding amounts of the opening / closing wires Wc and Wd is positive. , The bucket portion 13 of the grab bucket 10 moves in the closing direction, and if negative, the bucket portion 13 of the grab bucket 10 moves in the opening direction.
  • the grab bucket 10 grabs a load by closing the bucket portion 13 and moving it upward from the state where the bucket portion 13 is opened and landed in the hold.
  • the movement including the closing movement and the rising movement at this time is called a gripping movement.
  • the operation unit 62 For the operation unit 62, at least an operation lever 63 capable of lifting and lowering the grab bucket 10, a gripping motion operation, and an operation of opening the bucket unit 13, and a type of the gripping motion of the grab bucket 10 are selected.
  • a grab operation selection switch 64 and a load type input unit 65 capable of inputting a load type are included.
  • the grab operation selection switch 64 and the load type input unit 65 may include, for example, a display on a display panel and a touch panel provided on the display panel.
  • the cargo type input unit 65 may include a first input unit capable of inputting the brand of the cargo and a second input unit capable of inputting the viscosity of the cargo.
  • the arithmetic unit 71 includes a CPU (Central Processing Unit), a storage device that stores a control program and control data, and a memory in which the CPU expands data.
  • the arithmetic unit 71 realizes a plurality of functional modules by the CPU executing the control program.
  • the plurality of functional modules include a drum control unit 72 that drives the plurality of drums 51a to 51d according to the operation of the driving lever 63, and a selection processing unit that selects a pattern of the gripping movement of the grab bucket 10 from a plurality of types. 73, and a load type-grab motion correspondence data storage unit 74 that stores data indicating a correspondence relationship between a plurality of load types and an appropriate lifting motion for each load type.
  • the selection processing unit 73 and the grab operation selection switch 64, or the selection processing unit 73 and the load type input unit 65 correspond to an example of the selection unit according to the present invention.
  • the drum control unit 72 controls the plurality of drums 51a to 51d so that when the operation lever 63 receives a command to traverse or lift the grab bucket 10 based on an operation from the operation unit 62, these operations are performed. Further, when the drum control unit 72 receives a command for the lifting motion of the grab bucket 10 based on the operation of the driving lever 63, the drum control unit 72 controls the plurality of drums 51a to 51d in the pattern selected by the selection processing unit 73, The grab bucket 10 is caused to perform a lifting motion including a closing motion and a lifting motion.
  • the selection processing unit 73 selects the pattern of the lifting motion of the grab bucket 10 from a plurality of patterns based on the input of the grab operation selection switch 64 or the load type input unit 65. When there is an input from the load type input unit 65, the selection processing unit 73, based on the data in the load type-grab motion correspondence data storage unit 74, a pattern of the lifting motion suitable for the input load type. Select. When the grab operation selection switch 64 is operated, the selection processing unit 73 selects the pattern of the lifting motion according to this operation.
  • the data in the load type-grab motion correspondence data storage unit 74 associates the load brand with the parameter indicating the lifting motion pattern suitable for the standard load of each brand, as in the correspondence table A, for example.
  • the parameter indicating the pattern of the gripping exercise includes, for example, an amount related to the remaining opening degree of the bucket unit 13 at the time when the raising of the grab bucket 10 is started and an amount related to the shortened time of the lifting operation.
  • the selection processing unit 73 acquires, from the correspondence table A, a parameter of a lifting motion pattern suitable for a standard load of the inputted brand.
  • the cargo is, for example, iron ore, coal, industrial salt, chemical raw material, etc., and the brands may be classified according to their origin, particle size, and the like.
  • the selection processing unit 73 corrects the parameter acquired from the correspondence table A according to the viscosity, and the parameter of the gripping motion used in the actual control. May be determined as The appropriate remaining opening becomes smaller as the viscosity becomes lower.
  • the selection processing unit 73 is previously provided with a coefficient or function for calculating the correction amount of the remaining opening degree according to the viscosity, and the selection processing unit 73 assigns the coefficient or function to the parameter acquired from the correspondence table A. It can be applied to calculate the correction amount.
  • 3 to 5 are time charts for explaining the grasping movements of the first pattern to the third pattern.
  • the first to fourth stages of each time chart show the time of the raising / lowering speed of the grab bucket 10, the opening / closing speed of the bucket portion 13, the winding speed of the supporting wires Wa and Wb, and the winding speed of the opening / closing wires Wc and Wd. Changes are shown. 3 to 5, the period from the timing t0 to the timing t1 indicates the descent of the grab bucket, and at the timing t1 when the descent is completed, the bucket unit 13 is opened and the grab bucket 10 is landed on the load. It is assumed that Grasping motion of the grab bucket 10 is shown after the timing t1, and timings t4a to t4c in FIGS. 3 to 5 are timings when the grab bucket 10 is lifted to a predetermined height.
  • the first pattern gripping motion (FIG. 3) is a pattern in which the overlapping period in which the end side period T1e of the closing motion of the grab bucket 10 and the start side period T2f of the rising of the grab bucket 10 overlap each other is zero. That is, the glove bucket 10 completes the closing motion by the time the grab bucket 10 starts to rise, and the remaining opening degree of the glove bucket 10 at the start of the rise is 0%.
  • the first pattern of pick-up movement is suitable for picking up a small lump load or a low viscosity load.
  • the drum controller 72 sets the winding start timing t2 of the support wires Wa and Wb for raising the grab bucket 10 to the timing after the closing motion period Tc has elapsed. Further, the drum control unit 72 raises the period Td in which the winding speed of the opening / closing wires Wc and Wd is decelerated and then accelerated to the deceleration period of the closing motion in order to end the closing motion of the grab bucket 10 and start rising. It is set to a long period including the acceleration period of. By such control, the above-described first pattern gripping motion is realized.
  • the second pattern of the lifting motion (FIG. 4) has a long overlapping period Tj in which the closing-side period T1e of the closing motion of the grab bucket 10 and the rising-end side period T2f of the grab bucket 10 overlap.
  • Tj the deceleration period of the closing motion and the acceleration period of the ascending all overlap.
  • the second pattern of lifting motion is suitable for lifting a large lump or highly viscous load. Due to such characteristics of the load, the amount of load spilled from the grab bucket 10 does not increase even if the remaining opening is large during the rise of the grab bucket 10, while the timing t4b at which the glove bucket 10 completes the rise is set. , And can be significantly faster than the timing t4a at which the lifting movement of the first pattern is completed. That is, the time required for the lifting motion can be significantly reduced.
  • the drum controller 72 sets the winding start timing t2A of the support wires Wa and Wb for raising the grab bucket 10 to a timing earlier than the closing motion period Tc. Specifically, the winding start timing t2A is set to the start timing of the deceleration period of the closing motion. Further, the drum control unit 72 sets the period during which the winding speed of the opening / closing wires Wc and Wd is accelerated and then accelerated to zero in order to end the closing motion of the grab bucket 10 and start the rising. By such control, the above-described second pattern gripping movement is realized.
  • the overlapping period Tj in which the end side period T1e of the closing motion of the grab bucket 10 and the rising end side period T2f of the grab bucket 10 overlap each other is longer than that in the first pattern.
  • the pattern is shorter than the second pattern.
  • a part of the deceleration period of the closing motion and the acceleration period of the ascending overlap.
  • This pick-up motion is suitable for picking up a medium load or medium viscosity load. Due to such characteristics of the load, the amount of the load spilled from the grab bucket 10 does not increase even when the remaining opening is moderate while the grab bucket 10 is moving up. t4c can be made earlier than the timing t4a at which the lifting of the first pattern lifting motion is completed. That is, the time for the lifting motion can be shortened.
  • the drum control unit 72 sets the winding start timing t2B of the support wires Wa and Wb for raising the grab bucket 10 to a timing earlier than the closing motion period Tc. Specifically, the winding start timing t2B is set during the deceleration period of the closing movement. Further, the drum control unit 72 sets a short period Td in which the winding speed of the opening / closing wires Wc and Wd is decelerated and then accelerated in order to end the closing movement of the grab bucket 10 and start the rising. Specifically, the period Td is set to a period from the start of the deceleration period of the closing motion to the end of the rising acceleration period.
  • the operator inputs the type of load (for example, brand and viscosity) in advance via the load type input unit 65, and the selection processing unit 73 A pattern of the lifting motion of the grab bucket 10 suitable for the type of load is selected.
  • the selection processing unit 73 selects the pattern of the lifting motion of the grab bucket 10 according to the operation.
  • the operator operates the driving lever 63 to land the grab bucket 10 on the load, and further, the operator operates the driving lever 63 to perform a lifting motion.
  • the drum control unit 72 controls the drums 51a to 51d so that the gripping motion of the grab bucket 10 is realized in the selected pattern.
  • the operator can operate the operation lever 63 to move the grab bucket 10 to the destination of the load and open the bucket portion 13 to send the load to the destination.
  • the operator performs cargo handling by repeatedly performing such an operation.
  • the selection processing unit 73 that selects the grab bucket lifting motion from the plurality of patterns is provided. Further, the drum control unit 72 lengthens the overlap period Tj of the closing-side end period T1e of the gripping motion and the rising end-side period T2f of the gripping motion according to the pattern selected by the selection processing unit 73.
  • the gripping motion of the grab bucket 10 is controlled by changing the height. According to such control, by causing the selection processing unit 73 to select a pattern of the lifting motion suitable for the type of the load, while suppressing a decrease in the amount of lifting the load by the grab bucket 10 once, It is possible to reduce the time required for one grip. Therefore, it is possible to significantly reduce the total working time for transporting a certain amount of load.
  • the drum control unit 72 causes the drum controller 72 to start winding the support wires Wa and Wb in order to raise the grab bucket 10 as the overlapping period Tj increases. Advance t2A and t2B. Further, the drum controller 72 decelerates the winding speed of the opening / closing wires Wc and Wd in order to start the rising after finishing the closing motion of the grab bucket 10 in a pattern in which the overlapping period Tj is longer. shorten.
  • the operation of starting the rising motion during the closing motion of the grab bucket 10 and completing the closing motion during the rising motion can be realized in a short time and by switching the drive of the motors Ma to Md with a small amount. it can.
  • the drum control unit 72 has the operation lever 63 capable of inputting the operation command for picking up the load, and the drum control unit 72 operates the selection unit based on the operation command.
  • the gripping motion of the grab bucket 10 is controlled in a pattern according to the selection. Therefore, the operator does not need to perform a different operation for each pattern of the lifting motion, but can perform the lifting motion of the grab bucket 10 in a pattern according to the type of load only by performing a common lifting operation.
  • the selection processing unit 73 selects the pattern of the lifting motion of the glove bucket 10 according to the type of load. Therefore, even if the operator does not know the optimum pattern of the lifting motion according to the type of the load, the operator can input the type of the load and the selection processing unit 73 causes the operator to pick up the optimum gripping type according to the type of the load. The exercise pattern can be selected.
  • the present invention is not limited to the above embodiment.
  • the grab bucket and its control unit mounted on the bridge-type cargo handling device have been described, but the glove bucket and its control device according to the present invention may be mounted on various cargo handling devices such as a jib crane.
  • the selection processing unit selects a suitable pattern of the lifting motion according to the type of load
  • the selection processing unit is suitable for the condition based on various conditions. It may be configured to select the pattern of the picked-up movement.
  • the selection processing unit may select the pattern of the gripping exercise by taking conditions such as weather and the amount of rainy weather into consideration.
  • the selection processing unit may select the pattern of the lifting motion by setting the amount of the load loaded in the hold as a condition.
  • the load When the load is fully loaded, there are many large lumps in the upper part, but when the load becomes smaller, the smaller lumps tend to remain. Therefore, by including the load amount in the selection condition, it is possible to deal with the change in the size of the load lump.
  • the details shown in the embodiments can be appropriately changed without departing from the spirit of the invention.
  • the present invention can be used for a grab bucket control device.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

Provided is a grab bucket control device that can reduce overall work time required for cargo handling depending on the load type. The grab bucket control device controls a grab bucket that is raised and lowered by winding up and feeding out a support wire and that is opened and closed according to the relative amount of winding or feeding of the support wire and an opening-closing wire. In addition, the device comprises a control unit that controls winding the support wire and winding the opening-closing wire and a selection unit that selects a pattern for a load gripping motion for the grab bucket, wherein the gripping motion includes a closing motion to close the grab bucket and lifting of the grab bucket. The control unit is configured to vary, in accordance with the pattern selected by the selection unit, the length of the overlap time period (Tj) between the time period (T1e) near the end of the closing motion and the time period (T2f) near the start of lifting.

Description

グラブバケット制御装置Grab bucket controller
　本発明は、グラブバケット制御装置に関する。 The present invention relates to a grab bucket control device.
　バラ積み貨物などの荷を陸揚げするアンローダなどの荷役装置には、開閉及び昇降されるグラブバケットが設けられる。グラブバケットは船倉においてバケット部を閉じて荷を掴み、荷を掴んだまま上昇及び横行して、ホッパなどの荷回収部まで荷を運ぶ。一般に、グラブバケットは、支持ワイヤの巻き取りにより上昇され、支持ワイヤを固定又は繰り出しながら開閉ワイヤを巻き取ることでバケット部を閉じるように構成される。 A grab bucket that can be opened and closed and moved up and down is installed in a cargo handling device such as an unloader for landing cargo such as bulk cargo. The grab bucket closes the bucket portion in the hold and holds the load, and ascends and traverses while holding the load, and carries the load to a load collection unit such as a hopper. Generally, a grab bucket is configured to be raised by winding a support wire, and to close the bucket portion by winding the opening / closing wire while fixing or unwinding the support wire.
　特許文献１には、グラブバケットを閉じて荷を掴ませるときに、グラブバケットを昇降させる巻上電動機を低速で下降の方向に駆動する制御方法が開示されている（段落００１０を参照）。 [Patent Document 1] discloses a control method of driving a hoisting electric motor that raises and lowers a grab bucket in a descending direction at a low speed when the grab bucket is closed to grip a load (see paragraph 0010).
特開平４－３５８６９５号公報JP-A-4-358695
　荷役の際、グラブバケットは何度も往復するため、１回のグラブバケットの荷の掴み上げ時間が長いと、その分、荷役に要する総合的な作業時間が長くなる。一方、荷の種類に応じてグラブバケットが荷を掴み上げるのに適した動作は異なる。 The grab bucket moves back and forth many times during loading and unloading, so if the grab bucket takes a long time to pick up the load, the total work time required for loading and unloading will increase accordingly. On the other hand, the operation suitable for the grab bucket to pick up a load differs depending on the type of load.
　本発明は、荷の種類に応じて荷役に要する総合的な作業時間を短くできるグラブバケットの制御装置を提供することを目的とする。 An object of the present invention is to provide a grab bucket control device that can shorten the total work time required for cargo handling depending on the type of cargo.
　本発明は、支持ワイヤの巻き取りと繰り出しによって昇降し、前記支持ワイヤと開閉ワイヤとの相対的な巻き取り量又は繰り出し量に応じて開閉するグラブバケットを制御する、グラブバケットの制御装置であって、
　前記支持ワイヤの巻き取り制御と前記開閉ワイヤの巻き取り制御とを行う制御部と、
　前記グラブバケットの荷の掴み上げ運動のパターンを選択する選択部と、
　を備え、
　前記掴み上げ運動には、前記グラブバケットを閉じる閉運動と、前記グラブバケットの上昇とが含まれ、
　前記制御部は、前記選択部により選択されたパターンに応じて、前記閉運動の終端側期間と前記上昇の始端側期間との重複期間の長さを変化させる構成とした。 The present invention is a grab bucket control device that controls a grab bucket that moves up and down by winding and unwinding a support wire and opens and closes in accordance with the relative amount of winding or unwinding of the support wire and the opening / closing wire. hand,
A control unit for performing winding control of the support wire and winding control of the opening / closing wire;
A selection unit for selecting a pattern of the lifting motion of the load of the grab bucket,
With
The gripping motion includes a closing motion to close the grab bucket and a lift of the grab bucket,
The control unit is configured to change the length of the overlapping period of the end side period of the closing motion and the rising start side period according to the pattern selected by the selection unit.
　本発明によれば、荷の種類に応じて荷役に要する総合的な作業時間を短くできるグラブバケットの制御装置を提供できる。 According to the present invention, it is possible to provide a grab bucket control device capable of shortening the overall work time required for cargo handling depending on the type of cargo.
本発明の実施形態に係るグラブバケットにおいてバケット部が開いている状態を示す図である。It is a figure which shows the state which the bucket part is open in the grab bucket which concerns on embodiment of this invention. 本発明の実施形態に係るグラブバケットにおいてバケット部が閉じている状態を示す図である。It is a figure which shows the state in which the bucket part is closed in the grab bucket which concerns on embodiment of this invention. 本発明の実施形態に係るグラブバケットの制御装置を示す図である。It is a figure which shows the control apparatus of the grab bucket which concerns on embodiment of this invention. 第１パターンの掴み上げ運動を説明するタイムチャートである。It is a time chart explaining the first pattern gripping exercise. 第２パターンの掴み上げ運動を説明するタイムチャートである。It is a time chart explaining a grasping exercise of the second pattern. 第３パターンの掴み上げ運動を説明するタイムチャートである。It is a time chart explaining a 3rd pattern gripping exercise.
　以下、本発明の実施形態について図面を参照して詳細に説明する。図１Ａ及び図１Ｂは、本発明の実施形態に係るグラブバケットを示す図であり、図１Ａはバケット部が開いている状態を示し、図１Ｂはバケット部が閉じている状態を示す。図２は、本発明の実施形態に係るグラブバケットの制御装置を示す図である。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. 1A and 1B are views showing a grab bucket according to an embodiment of the present invention. FIG. 1A shows a state in which a bucket portion is open, and FIG. 1B shows a state in which the bucket portion is closed. FIG. 2 is a diagram showing a grab bucket control device according to an embodiment of the present invention.
　本実施形態に係るグラブバケット１０及び制御装置６０は、例えば、港湾施設で貨物船からバラ積み貨物を荷揚げするアンローダに設けられる。 The grab bucket 10 and the control device 60 according to the present embodiment are provided, for example, in an unloader that unloads bulk cargo from a cargo ship at a port facility.
　グラブバケット１０は、支持ワイヤＷａ、Ｗｂに連結された支持部１１と、開閉運動可能に支持部１１に支持されたバケット部１３と、開閉ワイヤＷｃ、Ｗｄに接続されてバケット部１３を開閉駆動する駆動機構１９とを有する。 The grab bucket 10 is connected to the support wires 11a and 11b connected to the support wires Wa and Wb, the bucket part 13 supported by the support part 11 so as to be able to open and close, and the open / close wires Wc and Wd to open and close the bucket part 13. And a drive mechanism 19 that operates.
　支持部１１は、グラブバケット１０の各要素を支持し、支持部１１が昇降することで、グラブバケット１０の全体が昇降する。支持部１１は、支持ワイヤＷａ、Ｗｂが巻き取り又は繰り出されることで昇降する。 The support unit 11 supports each element of the grab bucket 10, and the support unit 11 moves up and down, so that the entire glove bucket 10 moves up and down. The support portion 11 moves up and down as the support wires Wa and Wb are wound or unwound.
　駆動機構１９は、バケット部１３に接続されたフレーム１２と、支持部１１とフレーム１２とに回転自在に支持された複数の滑車１５、１６とを含む。複数の滑車１５、１６には、開閉ワイヤＷｃが掛けられている。開閉ワイヤＷｃが巻き取り又は繰り出されると、開閉ワイヤＷｃの巻き量の数分の一の長さで支持部１１とフレーム１２とが近接又は離間され、これによりバケット部１３が開閉する。なお、図１では、２つの滑車１５、１６が示されているが、開閉ワイヤＷｃが掛けられる一組目の滑車１５、１６と、もう一本の開閉ワイヤＷｄが掛けられる二組目の滑車１５、１６とが、図１の紙面の垂直方向に設けられている。また、各組の滑車１５、１６は、２個に限られず、３個以上設けられていてもよい。 The drive mechanism 19 includes a frame 12 connected to the bucket portion 13 and a plurality of pulleys 15 and 16 rotatably supported by the support portion 11 and the frame 12. An opening / closing wire Wc is hung on the plurality of pulleys 15 and 16. When the opening / closing wire Wc is wound or unwound, the support portion 11 and the frame 12 are brought close to or separated from each other by a length which is a fraction of the winding amount of the opening / closing wire Wc, whereby the bucket portion 13 is opened / closed. In addition, although two pulleys 15 and 16 are shown in FIG. 1, a first set of pulleys 15 and 16 to which the opening / closing wire Wc is applied and a second set of pulleys to which another opening / closing wire Wd is applied. 15 and 16 are provided in the direction perpendicular to the paper surface of FIG. Further, the number of pulleys 15 and 16 in each set is not limited to two and may be three or more.
　図２に示すように、制御装置６０は、演算装置７１と、オペレータが各種の運転指令を入力する操作部６２と、各種信号を入出力するＩ／Ｏ６７とを備える。 As shown in FIG. 2, the control device 60 includes an arithmetic device 71, an operation unit 62 for an operator to input various operation commands, and an I / O 67 for inputting and outputting various signals.
　Ｉ／Ｏ６７には、駆動回路５２が接続され、制御装置６０からの制御信号に基づいて駆動回路５２を動作させることができる。駆動回路５２は、モータＭａ～Ｍｄに電流を流して、モータＭａ～Ｍｄを駆動する。また、Ｉ／Ｏ６７には、駆動回路５２から駆動量及び駆動方向を示す信号が入力され、制御装置６０はこれらの信号に基づいてモータＭａ～Ｍｄの駆動量を求めることができる。 The drive circuit 52 is connected to the I / O 67, and the drive circuit 52 can be operated based on a control signal from the control device 60. The drive circuit 52 supplies a current to the motors Ma to Md to drive the motors Ma to Md. Further, the I / O 67 receives a signal indicating the driving amount and the driving direction from the driving circuit 52, and the control device 60 can determine the driving amounts of the motors Ma to Md based on these signals.
　支持ワイヤＷａ、Ｗｂと開閉ワイヤＷｃ、Ｗｄとは、モータＭａ～Ｍｄにより回転駆動されるドラム５１ａ～５１ｄに巻回されている。制御装置６０は、駆動回路５２を介してモータＭａ～Ｍｄを駆動し、ドラム５１ａ～５１ｄを回転させることで、支持ワイヤＷａ、Ｗｂと開閉ワイヤＷｃ、Ｗｄとを巻き取り又は繰り出すことかできる。これにより、グラブバケット１０の昇降と開閉とが実現される。 The support wires Wa and Wb and the opening / closing wires Wc and Wd are wound around drums 51a to 51d which are rotationally driven by motors Ma to Md. The control device 60 drives the motors Ma to Md via the drive circuit 52 and rotates the drums 51a to 51d, so that the support wires Wa, Wb and the opening / closing wires Wc, Wd can be wound or unwound. As a result, the lifting and opening / closing of the grab bucket 10 are realized.
　具体的には、制御装置６０が、支持ワイヤＷａ、Ｗｂをドラム５１ａ、５１ｂに巻き取ることで、グラブバケット１０が上昇し、制御装置６０が、支持ワイヤＷａ、Ｗｂをドラム５１ａ、５１ｂから繰り出すことで、グラブバケット１０が下降する。 Specifically, the control device 60 winds the support wires Wa and Wb around the drums 51a and 51b, so that the grab bucket 10 rises, and the control device 60 feeds the support wires Wa and Wb out of the drums 51a and 51b. As a result, the grab bucket 10 descends.
　さらには、制御装置６０が、支持ワイヤＷａ、Ｗｂに対する開閉ワイヤＷｃ、Ｗｄの相対的な巻き取り量又は繰り出し量を変えることで、グラブバケット１０が開閉する。詳細には、巻き取りを正の巻き量、繰り出しを負の巻き量で表わせば、開閉ワイヤＷｃ、Ｗｄの巻き量から、支持ワイヤＷａ、Ｗｂの巻き量を減じた巻き量が正であれば、グラブバケット１０のバケット部１３が閉じる方向に運動し、負であれば、グラブバケット１０のバケット部１３が開く方向に運動する。 Further, the control device 60 changes the relative amount of winding or unwinding of the opening / closing wires Wc, Wd with respect to the supporting wires Wa, Wb, thereby opening / closing the grab bucket 10. Specifically, if the winding amount is represented by a positive winding amount and the unwinding is represented by a negative winding amount, and if the winding amount obtained by subtracting the winding amounts of the supporting wires Wa and Wb from the winding amounts of the opening / closing wires Wc and Wd is positive. , The bucket portion 13 of the grab bucket 10 moves in the closing direction, and if negative, the bucket portion 13 of the grab bucket 10 moves in the opening direction.
　グラブバケット１０は、バケット部１３を開いて船倉に着床した状態から、バケット部１３を閉じかつ上昇することで、荷を掴み上げる。このときの閉運動と上昇とが含まれる運動を掴み上げ運動と呼ぶ。 The grab bucket 10 grabs a load by closing the bucket portion 13 and moving it upward from the state where the bucket portion 13 is opened and landed in the hold. The movement including the closing movement and the rising movement at this time is called a gripping movement.
　操作部６２には、少なくともグラブバケット１０の昇降の操作と、掴み上げ運動の操作と、バケット部１３を開く操作とが可能な運転レバー６３と、グラブバケット１０の掴み上げ運動の種類を選択するグラブ動作選択スイッチ６４と、荷の種類を入力可能な荷種入力部６５とが含まれる。グラブ動作選択スイッチ６４と、荷種入力部６５とは、例えば、表示パネルの表示と、表示パネル上に設けられたタッチパネルとから構成されてもよい。また、荷種入力部６５には、荷の銘柄を入力可能な第１入力部と、荷の粘度とを入力可能な第２入力部とが含まれていてもよい。 For the operation unit 62, at least an operation lever 63 capable of lifting and lowering the grab bucket 10, a gripping motion operation, and an operation of opening the bucket unit 13, and a type of the gripping motion of the grab bucket 10 are selected. A grab operation selection switch 64 and a load type input unit 65 capable of inputting a load type are included. The grab operation selection switch 64 and the load type input unit 65 may include, for example, a display on a display panel and a touch panel provided on the display panel. Further, the cargo type input unit 65 may include a first input unit capable of inputting the brand of the cargo and a second input unit capable of inputting the viscosity of the cargo.
　演算装置７１は、ＣＰＵ（Central Processing Unit）、制御プログラム及び制御データを格納した記憶装置、及び、ＣＰＵがデータを展開するメモリを備える。演算装置７１は、ＣＰＵが制御プログラムを実行することで、複数の機能モジュールを実現する。複数の機能モジュールには、運転レバー６３の操作に応じて複数のドラム５１ａ～５１ｄを駆動するドラム制御部７２と、グラブバケット１０の掴み上げ運動のパターンを複数種類の中から選択する選択処理部７３と、複数の荷種と各荷種に適切な掴み上げ運動との対応関係が示されたデータを記憶した荷種－グラブ動作対応データ記憶部７４とが含まれる。選択処理部７３及びグラブ動作選択スイッチ６４、あるいは、選択処理部７３及び荷種入力部６５が、本発明に係る選択部の一例に相当する。 The arithmetic unit 71 includes a CPU (Central Processing Unit), a storage device that stores a control program and control data, and a memory in which the CPU expands data. The arithmetic unit 71 realizes a plurality of functional modules by the CPU executing the control program. The plurality of functional modules include a drum control unit 72 that drives the plurality of drums 51a to 51d according to the operation of the driving lever 63, and a selection processing unit that selects a pattern of the gripping movement of the grab bucket 10 from a plurality of types. 73, and a load type-grab motion correspondence data storage unit 74 that stores data indicating a correspondence relationship between a plurality of load types and an appropriate lifting motion for each load type. The selection processing unit 73 and the grab operation selection switch 64, or the selection processing unit 73 and the load type input unit 65 correspond to an example of the selection unit according to the present invention.
　ドラム制御部７２は、運転レバー６３が操作に基づくグラブバケット１０の横行又は昇降の指令を操作部６２から受けると、これらの動作がなされるように、複数のドラム５１ａ～５１ｄを制御する。さらに、ドラム制御部７２は、運転レバー６３の操作に基づくグラブバケット１０の掴み上げ運動の指令を受けると、選択処理部７３により選択されたパターンで、複数のドラム５１ａ～５１ｄを制御して、グラブバケット１０に閉運動と上昇とを含む掴み上げ運動を実行させる。 The drum control unit 72 controls the plurality of drums 51a to 51d so that when the operation lever 63 receives a command to traverse or lift the grab bucket 10 based on an operation from the operation unit 62, these operations are performed. Further, when the drum control unit 72 receives a command for the lifting motion of the grab bucket 10 based on the operation of the driving lever 63, the drum control unit 72 controls the plurality of drums 51a to 51d in the pattern selected by the selection processing unit 73, The grab bucket 10 is caused to perform a lifting motion including a closing motion and a lifting motion.
　選択処理部７３は、グラブ動作選択スイッチ６４又は荷種入力部６５の入力に基づいて、グラブバケット１０の掴み上げ運動のパターンを、複数パターンの中から選択する。荷種入力部６５からの入力があった場合には、選択処理部７３は、荷種－グラブ動作対応データ記憶部７４のデータに基づいて、入力された荷種に適した掴み上げ運動のパターンを選択する。また、グラブ動作選択スイッチ６４の操作があった場合には、選択処理部７３は、この操作に応じた掴み上げ運動のパターンを選択する。 The selection processing unit 73 selects the pattern of the lifting motion of the grab bucket 10 from a plurality of patterns based on the input of the grab operation selection switch 64 or the load type input unit 65. When there is an input from the load type input unit 65, the selection processing unit 73, based on the data in the load type-grab motion correspondence data storage unit 74, a pattern of the lifting motion suitable for the input load type. Select. When the grab operation selection switch 64 is operated, the selection processing unit 73 selects the pattern of the lifting motion according to this operation.
　荷種－グラブ動作対応データ記憶部７４のデータは、例えば対応表Ａのように、荷の銘柄と、各銘柄の標準的な荷に適した掴み上げの運動のパターンを示すパラメータとを対応づけたデータである。掴み上げ運動のパターンを示すパラメータには、例えば、グラブバケット１０の上昇が開始されるときのバケット部１３の残り開度に関する量と、掴み上げの運動の短縮時間に関する量とが含まれる。
Figure JPOXMLDOC01-appb-T000001
   The data in the load type-grab motion correspondence data storage unit 74 associates the load brand with the parameter indicating the lifting motion pattern suitable for the standard load of each brand, as in the correspondence table A, for example. Data. The parameter indicating the pattern of the gripping exercise includes, for example, an amount related to the remaining opening degree of the bucket unit 13 at the time when the raising of the grab bucket 10 is started and an amount related to the shortened time of the lifting operation.
Figure JPOXMLDOC01-appb-T000001
　荷役装置のオペレータが荷種入力部６５で銘柄を入力すると、選択処理部７３は、対応表Ａから、入力された銘柄の標準的な荷に適した、掴み上げ運動のパターンのパラメータを取得する。荷は、例えば鉄鉱石、石炭、工業塩、化学原料などであり、銘柄はその産地や粒径などにより分類されてもよい。また、オペレータが荷種入力部６５で荷の粘度を入力すると、選択処理部７３は、対応表Ａから取得したパラメータを、粘度に応じて補正し、実際の制御で使用する掴み上げ運動のパラメータとして決定してもよい。粘度が低くなるに従って、適切な残り開度は小さくなる。選択処理部７３には、予め、粘度に応じて残り開度の補正量を計算する係数又は関数が与えられており、選択処理部７３は、対応表Ａから取得したパラメータに、係数又は関数を適用して、その補正量を計算することができる。 When the operator of the cargo handling apparatus inputs a brand with the cargo type input unit 65, the selection processing unit 73 acquires, from the correspondence table A, a parameter of a lifting motion pattern suitable for a standard load of the inputted brand. . The cargo is, for example, iron ore, coal, industrial salt, chemical raw material, etc., and the brands may be classified according to their origin, particle size, and the like. When the operator inputs the viscosity of the load with the load type input unit 65, the selection processing unit 73 corrects the parameter acquired from the correspondence table A according to the viscosity, and the parameter of the gripping motion used in the actual control. May be determined as The appropriate remaining opening becomes smaller as the viscosity becomes lower. The selection processing unit 73 is previously provided with a coefficient or function for calculating the correction amount of the remaining opening degree according to the viscosity, and the selection processing unit 73 assigns the coefficient or function to the parameter acquired from the correspondence table A. It can be applied to calculate the correction amount.
　＜複数パターンの掴み上げ運動＞
　図３～図５には、第１パターン～第３パターンの掴み上げ運動を説明するタイムチャートを示す。各タイムチャートの１段目から４段目には、グラブバケット１０の昇降速度、バケット部１３の開閉速度、支持ワイヤＷａ、Ｗｂの巻き速度、及び、開閉ワイヤＷｃ、Ｗｄの巻き速度の各時間変化が示される。図３～図５において、タイミングｔ０からタイミングｔ１の期間は、グラブバケットの下降を示しており、下降完了のタイミングｔ１では、バケット部１３が開いてグラブバケット１０が荷の上に着床した状態にあるものとする。タイミングｔ１以降には、グラブバケット１０の掴み上げ運動が示され、図３から図５のタイミングｔ４ａ～ｔ４ｃ、は、グラブバケット１０が既定の高さまで上昇したタイミングを示す。 <Several patterns of lifting exercises>
3 to 5 are time charts for explaining the grasping movements of the first pattern to the third pattern. The first to fourth stages of each time chart show the time of the raising / lowering speed of the grab bucket 10, the opening / closing speed of the bucket portion 13, the winding speed of the supporting wires Wa and Wb, and the winding speed of the opening / closing wires Wc and Wd. Changes are shown. 3 to 5, the period from the timing t0 to the timing t1 indicates the descent of the grab bucket, and at the timing t1 when the descent is completed, the bucket unit 13 is opened and the grab bucket 10 is landed on the load. It is assumed that Grasping motion of the grab bucket 10 is shown after the timing t1, and timings t4a to t4c in FIGS. 3 to 5 are timings when the grab bucket 10 is lifted to a predetermined height.
　第１パターンの掴み上げ運動（図３）は、グラブバケット１０の閉運動の終端側期間Ｔ１ｅと、グラブバケット１０の上昇の始端側期間Ｔ２ｆとが重なる重複期間がゼロのパターンである。すなわち、グラブバケット１０が上昇を開始するまでに、グラブバケット１０が閉運動を完了し、上昇開始時のグラブバケット１０の残り開度は０％である。第１パターンの掴み上げ運動は、塊が小さい荷又は粘度が低い荷を掴み上げるのに適する。 The first pattern gripping motion (FIG. 3) is a pattern in which the overlapping period in which the end side period T1e of the closing motion of the grab bucket 10 and the start side period T2f of the rising of the grab bucket 10 overlap each other is zero. That is, the glove bucket 10 completes the closing motion by the time the grab bucket 10 starts to rise, and the remaining opening degree of the glove bucket 10 at the start of the rise is 0%. The first pattern of pick-up movement is suitable for picking up a small lump load or a low viscosity load.
　第１パターンにおいて、ドラム制御部７２は、グラブバケット１０を上昇させるための支持ワイヤＷａ、Ｗｂの巻き取り開始タイミングｔ２を、閉運動期間Ｔｃを経過したタイミングに設定する。さらに、ドラム制御部７２は、グラブバケット１０の閉運動を終了し上昇を開始するために、開閉ワイヤＷｃ、Ｗｄの巻き取り速度を減速した後に加速する期間Ｔｄを、閉運動の減速期間と上昇の加速期間とを合わせた長い期間に設定する。このような制御により、上述した第１パターンの掴み上げ運動が実現される。 In the first pattern, the drum controller 72 sets the winding start timing t2 of the support wires Wa and Wb for raising the grab bucket 10 to the timing after the closing motion period Tc has elapsed. Further, the drum control unit 72 raises the period Td in which the winding speed of the opening / closing wires Wc and Wd is decelerated and then accelerated to the deceleration period of the closing motion in order to end the closing motion of the grab bucket 10 and start rising. It is set to a long period including the acceleration period of. By such control, the above-described first pattern gripping motion is realized.
　第２パターンの掴み上げ運動（図４）は、グラブバケット１０の閉運動の終端側期間Ｔ１ｅと、グラブバケット１０の上昇の始端側期間Ｔ２ｆとが重なる重複期間Ｔｊが、長いパターンである。図４の例では、閉運動の減速期間と上昇の加速期間とが全て重なっている。これにより、グラブバケット１０が閉運動を完了する前、残りの開度が大きい（例えば３３％）ときに、グラブバケット１０が上昇を開始し、上昇の開始後も閉運動が継続されて、上昇中に閉運動が完了（開度０％）する。そして、グラブバケット１０が完全に閉じた状態で規定の高さまで上昇する。 The second pattern of the lifting motion (FIG. 4) has a long overlapping period Tj in which the closing-side period T1e of the closing motion of the grab bucket 10 and the rising-end side period T2f of the grab bucket 10 overlap. In the example of FIG. 4, the deceleration period of the closing motion and the acceleration period of the ascending all overlap. As a result, before the glove bucket 10 completes the closing motion, when the remaining opening is large (for example, 33%), the glove bucket 10 starts to rise, and the closing motion is continued even after the start of the ascent to raise the glove bucket 10. The closing movement is completed (opening degree 0%). Then, the glove bucket 10 is raised to a specified height in a completely closed state.
　第２パターンの掴み上げ運動は、塊が大きい荷又は粘度が高い荷を掴み上げるのに適する。このような荷の特性から、グラブバケット１０の上昇中に残り開度が大きくても、グラブバケット１０から荷がこぼれる量は多くならず、一方で、グラブバケット１０が上昇を完了するタイミングｔ４ｂを、第１パターンの掴み上げ運動の上昇完了のタイミングｔ４ａよりも大幅に速くできる。すなわち、掴み上げ運動の大幅な時間短縮が図られる。 The second pattern of lifting motion is suitable for lifting a large lump or highly viscous load. Due to such characteristics of the load, the amount of load spilled from the grab bucket 10 does not increase even if the remaining opening is large during the rise of the grab bucket 10, while the timing t4b at which the glove bucket 10 completes the rise is set. , And can be significantly faster than the timing t4a at which the lifting movement of the first pattern is completed. That is, the time required for the lifting motion can be significantly reduced.
　第２パターンにおいて、ドラム制御部７２は、グラブバケット１０を上昇させるための支持ワイヤＷａ、Ｗｂの巻き取り開始タイミングｔ２Ａを、閉運動期間Ｔｃが経過するよりも早いタイミングに設定する。具体的には、巻き取り開始タイミングｔ２Ａが、閉運動の減速期間の開始タイミングに設定される。さらに、ドラム制御部７２は、グラブバケット１０の閉運動を終了し上昇を開始するために、開閉ワイヤＷｃ、Ｗｄの巻き取り速度を減速した後に加速する期間を、ゼロに設定する。このような制御により、上述した第２パターンの掴み上げ運動が実現される。 In the second pattern, the drum controller 72 sets the winding start timing t2A of the support wires Wa and Wb for raising the grab bucket 10 to a timing earlier than the closing motion period Tc. Specifically, the winding start timing t2A is set to the start timing of the deceleration period of the closing motion. Further, the drum control unit 72 sets the period during which the winding speed of the opening / closing wires Wc and Wd is accelerated and then accelerated to zero in order to end the closing motion of the grab bucket 10 and start the rising. By such control, the above-described second pattern gripping movement is realized.
　第３パターンの掴み上げ運動（図５）は、グラブバケット１０の閉運動の終端側期間Ｔ１ｅと、グラブバケット１０の上昇の始端側期間Ｔ２ｆとが重なる重複期間Ｔｊが、第１パターンよりも長く、第２パターンよりも短いパターンである。図５の例では、閉運動の減速期間と上昇の加速期間との一部が重なっている。これにより、グラブバケット１０が閉運動を完了する前、残りの開度が中程度のときに、グラブバケット１０が上昇を開始し、上昇の開始後も閉運動が継続されて、上昇中に閉運動が完了（開度０％）する。そして、グラブバケット１０が完全に閉じた状態で規定の高さまで上昇する。 In the gripping motion of the third pattern (FIG. 5), the overlapping period Tj in which the end side period T1e of the closing motion of the grab bucket 10 and the rising end side period T2f of the grab bucket 10 overlap each other is longer than that in the first pattern. , The pattern is shorter than the second pattern. In the example of FIG. 5, a part of the deceleration period of the closing motion and the acceleration period of the ascending overlap. As a result, before the glove bucket 10 completes the closing motion, when the remaining opening is medium, the glove bucket 10 starts to rise, and the closing motion is continued even after the start of the rising, and the glove bucket 10 closes during the rising. Exercise is completed (opening 0%). Then, the glove bucket 10 is raised to a specified height in a completely closed state.
　この掴み上げ運動は、塊が中程度の荷又は粘度が中程度の荷を掴み上げるのに適する。このような荷の特性から、グラブバケット１０の上昇中に残り開度が中程度あっても、グラブバケット１０から荷がこぼれる量は多くならず、一方で、グラブバケット１０が上昇を完了するタイミングｔ４ｃを、第１パターンの掴み上げ運動の上昇完了のタイミングｔ４ａよりも速くできる。すなわち、掴み上げ運動の時間短縮が図られる。 This pick-up motion is suitable for picking up a medium load or medium viscosity load. Due to such characteristics of the load, the amount of the load spilled from the grab bucket 10 does not increase even when the remaining opening is moderate while the grab bucket 10 is moving up. t4c can be made earlier than the timing t4a at which the lifting of the first pattern lifting motion is completed. That is, the time for the lifting motion can be shortened.
　第３パターンにおいて、ドラム制御部７２は、グラブバケット１０を上昇させるための支持ワイヤＷａ、Ｗｂの巻き取り開始タイミングｔ２Ｂを、閉運動期間Ｔｃが経過するよりも早いタイミングに設定する。具体的には、巻き取り開始タイミングｔ２Ｂが、閉運動の減速期間中に設定される。さらに、ドラム制御部７２は、グラブバケット１０の閉運動を終了し上昇を開始するために、開閉ワイヤＷｃ、Ｗｄの巻き取り速度を減速した後に加速する期間Ｔｄを短く設定する。具体的には、期間Ｔｄは、閉運動の減速期間の開始から、上昇の加速期間の終了までの期間に設定される。このような制御により、上述した第３パターンの掴み上げ運動が実現される。 In the third pattern, the drum control unit 72 sets the winding start timing t2B of the support wires Wa and Wb for raising the grab bucket 10 to a timing earlier than the closing motion period Tc. Specifically, the winding start timing t2B is set during the deceleration period of the closing movement. Further, the drum control unit 72 sets a short period Td in which the winding speed of the opening / closing wires Wc and Wd is decelerated and then accelerated in order to end the closing movement of the grab bucket 10 and start the rising. Specifically, the period Td is set to a period from the start of the deceleration period of the closing motion to the end of the rising acceleration period. By such control, the above-described third pattern grasping motion is realized.
　なお、期間Ｔｅ１、Ｔ２ｆの重複期間Ｔｊの長さをより多段に分けて設定することで、多数の掴み上げ動作のパターンを作成可能である。そして、各掴み上げ動作のパターンについて、上昇開始時のグラブバケット１０の残り開度あるいは短縮時間を計算し、計算された残り開度又は短縮時間と各パターンとを対応づけておくことで、残り開度又は短縮時間をパラメータとして、掴み上げ動作のパターンを多数のパターンの中から指定することが可能となる。 Note that by setting the length of the overlapping period Tj of the periods Te1 and T2f in more stages, it is possible to create a large number of gripping operation patterns. Then, for each pattern of the gripping operation, the remaining opening degree or the shortening time of the grab bucket 10 at the start of rising is calculated, and the calculated remaining opening degree or the shortening time is associated with each pattern, so that the remaining With the opening degree or the shortened time as a parameter, it is possible to specify the pattern of the gripping operation from a large number of patterns.
　＜動作説明＞
　上記のように構成されたグラブバケット１０の制御装置によれば、オペレータが、荷種入力部６５を介して荷の種類（例えば銘柄及び粘性）を予め入力することで、選択処理部７３は、荷の種類に適したグラブバケット１０の掴み上げ運動のパターンを選択する。あるいは、オペレータが、荷種に応じてグラブ動作選択スイッチ６４を操作することで、選択処理部７３は、操作に応じたグラブバケット１０の掴み上げ運動のパターンを選択する。 <Operation description>
According to the control device for the grab bucket 10 configured as described above, the operator inputs the type of load (for example, brand and viscosity) in advance via the load type input unit 65, and the selection processing unit 73 A pattern of the lifting motion of the grab bucket 10 suitable for the type of load is selected. Alternatively, when the operator operates the grab operation selection switch 64 according to the type of load, the selection processing unit 73 selects the pattern of the lifting motion of the grab bucket 10 according to the operation.
　そして、選択処理部７３の選択が行われた状態で、オペレータが運転レバー６３を操作して、グラブバケット１０を荷の上に着床させ、さらに、オペレータが運転レバー６３で掴み上げ運動の操作を行うと、ドラム制御部７２が、選択されたパターンでグラブバケット１０の掴み上げ運動が実現されるようにドラム５１ａ～５１ｄを制御する。その後、オペレータが運転レバー６３を操作して、グラブバケット１０を荷の搬送先へ移動させ、バケット部１３を開くことで荷を搬送先へ送ることができる。オペレータは、このような運転を繰り返し行うことで、荷役が遂行される。 Then, in the state where the selection processing unit 73 is selected, the operator operates the driving lever 63 to land the grab bucket 10 on the load, and further, the operator operates the driving lever 63 to perform a lifting motion. Then, the drum control unit 72 controls the drums 51a to 51d so that the gripping motion of the grab bucket 10 is realized in the selected pattern. After that, the operator can operate the operation lever 63 to move the grab bucket 10 to the destination of the load and open the bucket portion 13 to send the load to the destination. The operator performs cargo handling by repeatedly performing such an operation.
　＜実施形態効果＞
　以上のように、本実施形態のグラブバケット１０の制御装置６０によれば、グラブバケットの掴み上げ運動を、複数のパターンの中から選択する選択処理部７３を有する。さらに、ドラム制御部７２は、選択処理部７３が選択したパターンに応じて、掴み上げ運動の閉運動の終端側期間Ｔ１ｅと、掴み上げ運動の上昇の始端側期間Ｔ２ｆとの重複期間Ｔｊの長さを変化させて、グラブバケット１０の掴み上げ運動を制御する。このような制御によれば、選択処理部７３に、荷の種類に適した掴み上げ運動のパターンを選択させることで、グラブバケット１０による１回の荷の掴み上げ量の低下を抑制しつつ、１回の掴み上げの時間の短縮を図ることができる。したがって、一定量の荷を搬送するのに、総合の作業時間を大幅に低減することができる。 <Effect of Embodiment>
As described above, according to the control device 60 of the grab bucket 10 of the present embodiment, the selection processing unit 73 that selects the grab bucket lifting motion from the plurality of patterns is provided. Further, the drum control unit 72 lengthens the overlap period Tj of the closing-side end period T1e of the gripping motion and the rising end-side period T2f of the gripping motion according to the pattern selected by the selection processing unit 73. The gripping motion of the grab bucket 10 is controlled by changing the height. According to such control, by causing the selection processing unit 73 to select a pattern of the lifting motion suitable for the type of the load, while suppressing a decrease in the amount of lifting the load by the grab bucket 10 once, It is possible to reduce the time required for one grip. Therefore, it is possible to significantly reduce the total working time for transporting a certain amount of load.
　さらに、本実施形態のグラブバケット１０の制御装置６０によれば、ドラム制御部７２は、重複期間Ｔｊが長いパターンほど、グラブバケット１０を上昇させるために支持ワイヤＷａ、Ｗｂを巻き取る開始のタイミングｔ２Ａ、ｔ２Ｂを早める。さらに、ドラム制御部７２は、重複期間Ｔｊが長いパターンほど、グラブバケット１０の閉運動を終え上昇を開始するために、開閉ワイヤＷｃ、Ｗｄの巻き取り速度を減速しその後に加速する期間Ｔｄを短くする。このような制御によって、グラブバケット１０の閉運動中に上昇を開始し、上昇中に閉運動が完了する動作を、短時間に、かつ、モータＭａ～Ｍｄの少ない駆動の切替えで実現することができる。 Furthermore, according to the control device 60 of the grab bucket 10 of the present embodiment, the drum control unit 72 causes the drum controller 72 to start winding the support wires Wa and Wb in order to raise the grab bucket 10 as the overlapping period Tj increases. Advance t2A and t2B. Further, the drum controller 72 decelerates the winding speed of the opening / closing wires Wc and Wd in order to start the rising after finishing the closing motion of the grab bucket 10 in a pattern in which the overlapping period Tj is longer. shorten. By such control, the operation of starting the rising motion during the closing motion of the grab bucket 10 and completing the closing motion during the rising motion can be realized in a short time and by switching the drive of the motors Ma to Md with a small amount. it can.
　さらに、本実施形態のグラブバケット１０の制御装置６０によれば、荷を掴み上げる操作指令を入力可能な運転レバー６３を有し、ドラム制御部７２は、この操作指令に基づいて、選択部の選択に応じたパターンでグラブバケット１０の掴み上げ運動の制御を実施する。したがって、オペレータは、掴み上げ運動のパターンごとに異なる操作を行う必要なく、共通の掴み上げの操作を行うだけで、荷の種類に応じたパターンでグラブバケット１０の掴み上げ運動を実現できる。 Further, according to the control device 60 of the grab bucket 10 of the present embodiment, the drum control unit 72 has the operation lever 63 capable of inputting the operation command for picking up the load, and the drum control unit 72 operates the selection unit based on the operation command. The gripping motion of the grab bucket 10 is controlled in a pattern according to the selection. Therefore, the operator does not need to perform a different operation for each pattern of the lifting motion, but can perform the lifting motion of the grab bucket 10 in a pattern according to the type of load only by performing a common lifting operation.
　さらに、本実施形態のグラブバケット１０の制御装置６０によれば、選択処理部７３は、荷の種類に応じて、グラブバケット１０の掴み上げ運動のパターンを選択する。したがって、オペレータは荷の種類に応じた最適な掴み上げ運動のパターンが不明であっても、荷の種類を入力することで、選択処理部７３により、荷の種類に対応させて最適な掴み上げ運動のパターンを選択させることができる。 Further, according to the control device 60 of the grab bucket 10 of the present embodiment, the selection processing unit 73 selects the pattern of the lifting motion of the glove bucket 10 according to the type of load. Therefore, even if the operator does not know the optimum pattern of the lifting motion according to the type of the load, the operator can input the type of the load and the selection processing unit 73 causes the operator to pick up the optimum gripping type according to the type of the load. The exercise pattern can be selected.
　以上、本発明の実施形態について説明した。しかし、本発明は上記の実施形態に限られない。例えば、上記実施形態では、橋形荷役装置に搭載されるグラブバケット及びその制御部について説明したが、本発明に係るグラブバケット及びその制御装置は、ジブクレーンなど各種の荷役装置に搭載されてもよい。また、上記実施形態では、選択処理部が、荷の種類に応じて、適した掴み上げ運動のパターンを選択する例を示したが、選択処理部は、様々な条件に基づいて、条件に適した掴み上げ運動のパターンを選択するように構成されてもよい。例えば、選択処理部は、天気及び雨天時の雨量を条件に入れて、掴み上げ運動のパターンを選択してもよい。また、選択処理部は、船倉に積載された荷の量を条件に入れて、掴み上げ運動のパターンを選択してもよい。満杯に荷が積載されているとき、その上部には塊りの大きい荷が多く存在するが、荷が少なくなってくると、塊の小さい荷が残る傾向にある。したがって、荷の量を選択条件に含めることで、荷の塊りの大きさの変化に対応することができる。その他、実施の形態で示した細部は、発明の趣旨を逸脱しない範囲で適宜変更可能である。 The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiment. For example, in the above embodiment, the grab bucket and its control unit mounted on the bridge-type cargo handling device have been described, but the glove bucket and its control device according to the present invention may be mounted on various cargo handling devices such as a jib crane. . Further, in the above embodiment, the example in which the selection processing unit selects a suitable pattern of the lifting motion according to the type of load has been described, but the selection processing unit is suitable for the condition based on various conditions. It may be configured to select the pattern of the picked-up movement. For example, the selection processing unit may select the pattern of the gripping exercise by taking conditions such as weather and the amount of rainy weather into consideration. In addition, the selection processing unit may select the pattern of the lifting motion by setting the amount of the load loaded in the hold as a condition. When the load is fully loaded, there are many large lumps in the upper part, but when the load becomes smaller, the smaller lumps tend to remain. Therefore, by including the load amount in the selection condition, it is possible to deal with the change in the size of the load lump. In addition, the details shown in the embodiments can be appropriately changed without departing from the spirit of the invention.
　本発明は、グラブバケット制御装置に利用できる。 The present invention can be used for a grab bucket control device.
　１０　グラブバケット
　１３　バケット部
　６０　制御装置
　６２　操作部
　６３　運転レバー
　６４　グラブ動作選択スイッチ
　６５　荷種入力部
　７１　演算装置
　７２　ドラム制御部
　７３　選択処理部
　７４　荷種－グラブ動作対応データ記憶部
　５１ａ～５１ｄ　ドラム
　Ｍａ～Ｍｄ　モータ
　Ｗａ、Ｗｂ　支持ワイヤ
　Ｗｃ、Ｗｄ　開閉ワイヤ
　Ｔ１ｅ　閉運動の終端側期間
　Ｔ２ｆ　上昇の始端側期間
　Ｔｊ　重複期間
　ｔ２、ｔ２Ａ、ｔ２Ｂ　支持ワイヤの巻き取り開始タイミング
　Ｔｄ　開閉ワイヤの巻き取り速度を減速及び加速する期間 10 grab bucket 13 bucket part 60 control device 62 operation part 63 operating lever 64 grab operation selection switch 65 load type input part 71 arithmetic device 72 drum control part 73 selection processing part 74 load type-grab motion correspondence data storage part 51a to 51d drum Ma to Md Motor Wa, Wb Support wire Wc, Wd Open / close wire T1e Closing motion end side period T2f Rise start end side period Tj Overlap period t2, t2A, t2B Support wire winding start timing Td Open / close wire winding speed Period of deceleration and acceleration

Claims (4)

  1. 　支持ワイヤの巻き取りと繰り出しによって昇降し、前記支持ワイヤと開閉ワイヤとの相対的な巻き取り量又は繰り出し量に応じて開閉するグラブバケットを制御する、グラブバケットの制御装置であって、
    　前記支持ワイヤの巻き取り制御と前記開閉ワイヤの巻き取り制御とを行う制御部と、
    　前記グラブバケットの荷の掴み上げ運動のパターンを選択する選択部と、
    　を備え、
    　前記掴み上げ運動には、前記グラブバケットを閉じる閉運動と、前記グラブバケットの上昇とが含まれ、
    　前記制御部は、前記選択部により選択されたパターンに応じて、前記閉運動の終端側期間と前記上昇の始端側期間との重複期間の長さを変化させる、
    　グラブバケットの制御装置。     A control device for a grab bucket, which moves up and down by winding and unwinding a support wire, and controls a grab bucket that opens and closes in accordance with a relative amount of winding or an amount of unwinding of the support wire and an opening / closing wire.
    A control unit for performing winding control of the support wire and winding control of the opening / closing wire;
    A selection unit for selecting a pattern of the lifting motion of the load of the grab bucket,
    With
    The gripping motion includes a closing motion to close the grab bucket and a lift of the grab bucket,
    The control unit changes the length of the overlapping period of the end side period of the closing motion and the rising end side period according to the pattern selected by the selection unit,
    Control device for grab bucket.
  2. 　前記制御部は、前記重複期間が長いほど、前記支持ワイヤの巻き取り開始タイミングを早め、かつ、前記閉運動の終了及び前記上昇の開始の際に前記開閉ワイヤの巻き取り速度を減速及び加速する期間を短くする、
    　請求項１記載のグラブバケットの制御装置。     The control unit advances the winding start timing of the support wire as the overlapping period is longer, and decelerates and accelerates the winding speed of the opening / closing wire at the end of the closing motion and the start of the rising. Shorten the period,
    The control device for the grab bucket according to claim 1.
  3. 　荷の掴み上げの操作指令を入力可能な操作部を更に備え、
    　前記制御部は、前記操作指令に基づき、前記グラブバケットが前記選択部により選択されたパターンの掴み上げ運動を行うように、前記支持ワイヤと前記開閉ワイヤとの巻き取り制御を実行する、
    　請求項１又は請求項２記載のグラブバケットの制御装置。     Further provided with an operation unit capable of inputting an operation command for picking up a load,
    Based on the operation command, the control unit performs a winding control of the support wire and the opening / closing wire such that the grab bucket performs a lifting motion of the pattern selected by the selection unit,
    The grab bucket control device according to claim 1 or 2.
  4. 　前記選択部は荷の種類に応じて前記パターンの選択を行う、
    　請求項１から請求項３のいずれか一項に記載のグラブバケットの制御装置。     The selection unit selects the pattern according to the type of load,
    The control device for the grab bucket according to any one of claims 1 to 3.
PCT/JP2019/039451 2018-10-10 2019-10-07 Grab bucket control device WO2020075664A1 (en)

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JPH04358696A (en) * 1991-06-04 1992-12-11 Sumitomo Heavy Ind Ltd Controller for crane
JPH05310394A (en) * 1992-05-08 1993-11-22 Hitachi Zosen Corp Crane grasping control method
JPH0753183A (en) * 1993-08-19 1995-02-28 Kobe Steel Ltd Crane driving device
JP2017065870A (en) * 2015-09-30 2017-04-06 三井造船株式会社 Quay crane

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