JP2002234618A - Operation method of unloader - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To correct the cargo trajectory of a bucket based on the height position of a ship so as to prevent the bucket from interfering with the ship. SOLUTION: A height detector 21 provided on a boom 4 of an unloader 8 detects a height position of the boat 13 and, in accordance with the detected value, from the inside of the hold of the bucket 10 during loading / unloading to a position above the hopper 15. Is determined, and the bucket 10 is moved by automatic operation according to the determined cargo trajectory.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for operating an unloader.

[0002]

2. Description of the Related Art Conventionally, a grab trolley type unloader has been used for loading and unloading in a harbor, an example of which is shown in FIG. In the figure, 1 is a seaside leg, 2 is a land leg, 3 is a seaside leg 1
A girder 4 provided at a predetermined position in the height direction of the land side leg 2 from the land side to the sea side is pivotally supported at the sea end of the girder 3 so as to be able to undulate and protrudes toward the sea when horizontal. The boom 5 and the trolley 5 are provided so as to be able to traverse rails laid on the girder 3 and the boom 4 via wheels 7 by a traversing motor 6 mounted thereon.
Can run along the rail 9 laid on the quay.

[0003] 10 is a hoisting motor 1 mounted on a trolley 5
1, a bucket suspended so as to be able to move up and down and open and close via a wire rope 12, 13 is a ship, 14 is an unloader 8
Conveyor below the sea-side leg 1 and the land-side leg 2
Reference numeral 5 denotes a hopper for supplying loose materials to the conveyor 14.

[0004] Next, the bucket 1 holding the bulk material in the hold
A procedure for moving the zeros and putting the loose objects into the hopper 15 will be described.

When the hoist motor 11 is driven while the bucket 10 is on the bulk in the hold in the open state, the bucket 10 is closed and the bulk 10 is gripped by the bucket 10. When the trolley 5 is stopped, the bucket 10 is gripped by the hoist motor 11 and is raised almost vertically to a predetermined position. When the bucket 10 is raised to the predetermined position, the traverse motor 6 is driven to drive the trolley. 5 runs across the boom 4 from the sea side to the land side. For this reason, the bucket 10 is skewed with a rising gradient from the sea side to the land side.

When the bucket 10 moves up to the upper limit position,
The hoisting motor 11 stops, and thereafter only the traversing motor 6 is driven, and the trolley 5 further traverses over the boom 4 and the girder 3 from the sea side to the land side to the hopper 15. Therefore, the bucket 10 moves horizontally along the boom 4 and the girder 3.

When the bucket 10 is positioned above the hopper 15 and the trolley 5 stops, the hoisting motor 1
1 is driven to lower the bucket 10 to a position immediately above the hopper 15, and the bucket 10 is opened to throw loose materials into the hopper 15.

In the above cargo handling operation, when the trolley 5 traverses to the hopper 15 after grasping loose objects in the hold, hoisting the bucket 10 and preventing the bucket 10 from swaying, the bucket 10 is indicated by a broken line. Vertical moving part a,
It moves while drawing a cargo trajectory F having a skewed section B and a horizontal moving section C.

The cargo trajectory F is input to the control device in advance, and the movement of the bucket 10 until the bulk material grasped by the bucket 10 is put into the hopper 15 is automatically operated along the cargo trajectory F. The other operation is performed by manual operation, and an operation method of performing both automatic operation and manual operation in this way is called semi-automatic operation.

As described above, the semi-automatic operation mode is introduced because the unloading operation of the unloader 8 causes the loading and unloading trajectory F of the bucket 10 to be the same every time from the grasp of the bulk material in the hold to the loading of the bulk material into the hopper 15. This is because it is more efficient to determine the cargo trajectory F and drive the vehicle.

[0011]

In the conventional operation method, assuming that the height of the ship 13 is constant, the cargo trajectory F is determined under the conditions, and the bucket 10 is moved along the cargo trajectory F.
Is moved, and the trolley 5 is traversed to the hopper 15 after the bucket 10 is lifted, the bucket 10 is swung, and the bulk is thrown in, as described above. .

However, in practice, the height of the ship 13 is constantly changing due to the ebb and flow of the tide, the ballast adjustment of the ship 13, and the like, and if the cargo handling trajectory F is constant, as shown by a virtual line in FIG. There is a problem that the bucket 10 interferes with the vessel 13 when the height of the vessel 13 is increased.

The present invention has been made in view of the above-mentioned circumstances, and has been used for grasping loose objects in a hold, hoisting a bucket, swaying a bucket, and then traversing a trolley up to a hopper and throwing loose objects. It is an object of the present invention to correct the cargo trajectory of the bucket based on the height position of the ship so as to prevent the bucket from interfering with the ship.

[0014]

According to the method of operating the unloader of the present invention, a loose object in a hold is gripped by a bucket suspended from a trolley, and the trolley suspended from the bucket is traversed to a hopper provided on the land side. At the time of loading and unloading work, the height position of the ship is detected by a height detector provided on the boom on which the trolley traverses, and a predetermined position in the hold and the hopper are moved in accordance with the detected value. The cargo handling trajectory of the intermediate bucket is determined, and the bucket is automatically moved along the determined cargo handling trajectory.

In the operation method of the unloader according to the present invention, the cargo trajectory of the bucket includes a vertical moving portion in the hold, a sloping portion connected to the vertical moving portion and having a gradient rising from the sea side to the land side, and It is formed by a horizontal moving part connected to the upper end of the skewing part.

In the operation method of the unloader according to the present invention, when the height position of the ship is low, the distance of the horizontal moving portion is reduced, and when the height position of the ship is high, the distance of the horizontal moving portion is reduced. It is better to make it longer.

In the present invention, even when the height position of the ship changes due to ebb and flow of the tide, ballast adjustment of the ship, etc., it is possible to determine the optimum cargo trajectory of the bucket and move the bucket. There is no possibility that the bucket will interfere with the ship during the cargo handling operation, and therefore, the efficiency of the cargo handling operation and the reliability of the cargo handling operation are improved.

[0018]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 3 show an example of an embodiment of the present invention, in which parts denoted by the same reference numerals as those in FIG. 4 represent the same parts, and the basic configuration of the unloader 8 is shown in FIG. This is the same as the conventional one shown.

The height detector 2 is mounted on the boom 4 of the unloader 8 so that the height of the boat 13 to the deck can be measured.
1 is provided so that the height signal H detected by the height detector 21 can be given to the control device 22.

For example, the cargo handling trajectories F1 to F5 shown in FIG. 3 are input to the control device 22 as a map or a table in advance, and when the operation lever 23 is operated, the height detected by the height detector 21 is detected. Height signal H based on height position Y
As a result, the optimum cargo handling trajectories F1 to F5 among the cargo handling trajectories F1 to F5 are output from the control device 22 as the signal V1,
Traversing drive device 24 and hoisting drive device 25
Can be given.

If, for example, the height position Y of the ship 13 from the height detector 21 is Y0 ≧ Y> Y1, the cargo handling trajectory F1 indicates that the height position Y of the ship 13 is Y1 ≧ Y>. In the case of Y2, the cargo handling trajectory F2 indicates that the height position Y of the ship 13 is Y2.
When ≧ Y> Y3, the cargo trajectory F3 is set, and when the height position Y of the ship 13 is Y3 ≧ Y> Y4, the cargo trajectory F4 is set.
However, when the height position Y of the boat 13 satisfies Y4 ≧ Y ≧ Y5, the cargo handling trajectory F5 is selected. Here, Y0>Y1>Y2>Y3>Y4> Y5.

In the traversing drive device 24, the control device 2
The traverse speed of the trolley 5 at each position in the longitudinal direction (horizontal position X) of the boom 4 and the girder 3 is obtained based on the signal V1 of the cargo handling trajectories F1 to F5 given from 2 and the obtained traverse speed is a command signal. V2 is given to the traversing motor 6, and the traversing motor 6 is driven.

A speed detector 26 and a position detector 27 are connected to the traverse motor 6, and the rotation speed of the traverse motor 6 detected by the speed detector 26 and the traverse speed signal VT of the trolley 5 are used for the traverse drive. Feedback can be provided to the device 24. Further, the X-direction position signal V of the trolley 5 detected by the position detector 27 based on the rotation speed of the traversing motor 6.
Y can be fed back to the control device 22.

In the hoisting drive device 25, the hoisting speed of the bucket 10 at each longitudinal position (horizontal position X) of the boom 4 or the girder 3 based on the signal V1 of the cargo handling trajectories F1 to F5 given from the control device 22. Is obtained, and the obtained hoisting speed is given to the hoisting motor 11 as a command signal V3, so that the hoisting motor 11 is driven.

The hoist motor 11 has a speed detector 28.
And the position detector 29 is connected, and the rotation speed of the hoist motor 11 detected by the speed detector 28 is extended.
The hoisting speed signal VB can be fed back to the hoisting drive device 25. Further, the height direction position signal VH of the bucket 10 detected by the position detector 29 based on the rotation speed of the hoist motor 11 can be fed back to the control device 22.

Next, the operation of the above-described illustrated example will be described.
Next, the procedure up to the input to No. 5 will be described.

When the hoist is started by driving the hoisting motor 11 on the bucket 10 which is open on the bulk in the hold, the bucket 10 is closed and the bulk is grasped by the bucket 10.

On the other hand, when unloading bulk materials in the hold, the height to the deck is obtained by the height detector 21, and the height signal H is given to the control device 22. For this reason, by operating the operation lever 23, the control device 22 selects an optimum cargo handling trajectory of the bucket 10 corresponding to the height signal H from the cargo handling trajectories F1 to F5 input in advance, and as the signal V1. It is provided to the traversing drive device 24 and the winding drive device 25.

Therefore, in the traversing drive device 24 and the hoisting drive device 25, the traversing motor 6 at the horizontal position X of the trolley 5 is moved so as to achieve the selected cargo trajectory.
And the rotational speed of the hoist motor 11 at the horizontal position X of the trolley 5 is determined.

The rotation speed of the traverse motor 6 at the horizontal position X of the trolley 5 is given to the traverse motor 6 as a command signal V2, and the rotation speed of the hoist motor 11 at the horizontal position X of the trolley 5 is determined by the command signal. It is given to the hoist motor 11 as V3.

Therefore, first, the hoist motor 11 is driven, and the bucket 10 rises substantially vertically to a predetermined height. Thereafter, the traverse motor 6 is driven, and the trolley 5 moves the boom 4 from the sea side to the land side. To start. For this reason, the bucket 10 rises and slopes from the sea side to the land side, and when the trolley 5 traverses a predetermined distance to the land side, the bucket 10 reaches the upper limit position, the hoist motor 11 stops, and thereafter, ,
Only the traverse motor 6 is driven, and the trolley 5 traverses from the boom 4 to the girder 3 above the hopper 15 and stops above the hopper 15. At this time, the bucket 10 moves horizontally from the sea side to the land side.

When the trolley 5 is stopped with the bucket 10 positioned above the hopper 15, the hoist motor 11 is driven by manual operation to move the bucket 10 to the hopper 15.
, The bucket 10 is opened, and the loose objects are put into the hopper 15.

In the illustrated example, when the ship 13 is located below and the distance from the height detector 21 to the deck is large, the bucket 10 is, for example, shown in FIG. (E) When the ship 13 moves upward in accordance with the cargo handling trajectory F1 formed by the horizontal moving portion and the distance between the height detector 21 and the deck is small, the bucket 10 is, for example, a vertical one in FIG. Moving part G, skew part J,
It moves in accordance with the cargo handling trajectory F2 formed by the horizontal moving part R.

As described above, when the bucket 10 is automatically operated along the cargo trajectories F1 and F2, the speed detector 26
The traversing speed signal VT detected by the traversing drive device 2
4, the position signal VY of the horizontal position X detected by the position detector 27 is fed back to the control device 22, and the traversing motor 6 is controlled.

The hoist signal VB detected by the speed detector 28 is fed back to the hoisting drive device 25, and the height direction position signal VH detected by the position detector 29 is fed back to the control device 22 so that the hoist motor 11
Is controlled. Therefore, the bucket 10 can automatically move along a predetermined cargo trajectory.

As described above, the tide ebbs during loading and the ship 1
Even if the height position of the ship 13 changes due to the ballast adjustment of 3 or the like, it is possible to determine the optimum cargo trajectory of the bucket 10 and carry out the cargo handling work.
Does not interfere with the ship 13 and the efficiency and reliability of the cargo handling work by the semi-automatic operation are improved.

In the operation method of the unloader according to the present invention, a case has been described in which the cargo trajectory of the bucket is input to the control device as a map. It is also possible to move the bucket according to the cargo trajectory other than when transporting bulk materials, that is, when moving the bucket from the hopper to the ship's hold, and the like. Of course, various changes can be made without departing from the gist.

[0038]

As described above, the first aspect of the present invention is as described above.
According to the operation method of the unloader described in (3), even if the height position of the ship changes due to ebb and flow of the tide, ballast adjustment of the ship, and the like, the bucket can be optimally moved and the bucket can be moved. Therefore, there is no possibility that the bucket will interfere with the ship during the cargo handling operation, and therefore, various excellent effects such as improvement in efficiency and reliability of the cargo handling operation can be achieved.

[Brief description of the drawings]

FIG. 1 is a side view of an unloader for describing an example of an embodiment of a method of operating the unloader according to the present invention.

FIG. 2 is a control block diagram for implementing the method of operating an unloader according to the present invention.

FIG. 3 is an example of a map showing a cargo trajectory of a bucket which is input in advance to the control device shown in FIG. 2;

FIG. 4 is a side view of an unloader for explaining an example of a conventional operation method of the unloader.

[Explanation of symbols]

 Reference Signs List 4 boom 5 trolley 8 unloader 10 bucket 13 ship 15 hopper 21 height detector F1 loading trajectory F2 loading trajectory F3 loading trajectory F4 loading trajectory F5 loading trajectory d vertical moving part Row section Re Horizontal movement section H Height signal (detection value) Y Height position

Claims (3)

[Claims] When carrying out a cargo handling operation in which a bulk material in a hold is gripped by a bucket suspended from a trolley, and the trolley hanging the bucket is traversed and the bulk material is loaded into a hopper provided on the land side, The height position of the vessel is detected by a height detector provided on the boom on which the trolley traverses, and the cargo handling trajectory of the bucket between the predetermined position in the hold and the hopper is determined according to the detected value, and the determined cargo handling is determined. A method for operating an unloader, comprising automatically moving a bucket along a locus. 2. The loading and unloading trajectory of the bucket includes a vertical moving portion in the hold, a sloping portion connected to the vertical moving portion and having a rising gradient from the sea side to the land side, and a horizontal trajectory connected to an upper end of the sloping portion. The operating method of the unloader according to claim 1, wherein the unloader is formed by the moving part. 3. When the height position of the ship is low, the distance of the horizontal moving section is shortened. When the height position of the ship is high,
3. The method of operating an unloader according to claim 2, wherein the distance of the horizontal moving unit is increased.