JP2018047866A - Flight cargo handling transportation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flight cargo handling transportation device that can eliminate a need of reinforcement for a quay and properly conduct capability management without a large-scale renovation work.SOLUTION: A flight cargo handling transportation device 20 includes: a flight object 22 with a plurality of propellers 21; and a grab bucket 23 serving as a grasper that is attached to the flight object 22 and freely grasping and releasing bulk object that is a shipment.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a flying cargo handling and conveying apparatus.

  In general, in order to unload loose objects such as coal and iron ore loaded on a ship such as a bulk carrier, a continuous unloader or a grab bucket unloader as a cargo handling machine is provided on the quay of a harbor.

  For example, as shown in FIG. 6, the continuous unloader as the cargo handling and transporting machine is provided with a revolving frame 5 having a tiltable boom 4 on a traveling frame 3 that can travel on a rail 2 laid on a quay 1. The bucket 4 has a configuration in which the bucket elevator 7 that scrapes the bulk material B as a load loaded inside the hold 6 of the ship S and carries it out of the hold 6 is suspended from the tip of the boom 4. Inside the boom 4 is disposed a boom conveyor 9 that transports the loose article B scraped by the bucket 7a of the bucket elevator 7 and dropped onto the table feeder 8 to the base end side of the boom 4. Further, the traveling frame 3 is provided with a carry-out conveyor 10 for carrying the bulk material B fed from the boom conveyor 9 through the chute 11 to the outside of the traveling frame 3.

  In the continuous unloader, the loose article B inside the hold 6 is scraped off by the bucket 7a of the bucket elevator 7 and loaded outside the hold 6, and is sent from the table feeder 8 to the base end side of the boom 4 by the boom conveyor 9. It is conveyed, falls on the carry-out conveyor 10 via the chute 11, and is carried out of the traveling frame 3 by the carry-out conveyor 10.

  For example, Patent Document 1 shows a general technical level related to the continuous unloader as the cargo handling and transporting machine. Moreover, as a general technical level related to a grab bucket unloader as a cargo handling machine, there is, for example, Patent Document 2.

Japanese Patent Laid-Open No. 2015-209308 Japanese Patent Laid-Open No. 2006-60598

  However, as described above, in order to deploy a dedicated cargo handling machine in a harbor, it is necessary to provide a quay 1 that has been reinforced to withstand its weight.

  In addition, it is not easy to change the capacity of the cargo handling equipment deployed on the quay 1 later, and equipment such as various electric motors and hydraulic cylinders must be changed. .

  The present invention has been made in view of the above-described conventional problems, and an attempt is made to provide a flying cargo handling and transporting apparatus that can eliminate the need for reinforcement of a quay and can perform appropriate capacity management without a large-scale repair work. To do.

In order to achieve the above object, a flying cargo handling apparatus of the present invention includes a flying object having a plurality of propellers,
And a gripper attached to the flying body and capable of gripping and releasing a load.

In the flying cargo handling and conveying apparatus, the flying object is:
An electric motor for driving the propeller to rotate;
A gripping motor for opening and closing the gripper;
And a controller that outputs a control signal to the flying motor and the gripping motor based on a command from the base station.

In the flying cargo handling and transporting apparatus, the gripper includes a weight detector that measures the weight of the load gripped by the gripper.
The controller includes an overload monitoring unit that outputs a control signal for opening the gripper to the gripping motor when the weight of the load measured by the weight detector exceeds an allowable value. it can.

  Furthermore, in the flying cargo handling and conveying apparatus, the gripper can be a grab bucket for loose objects.

  According to the flying cargo handling and transporting apparatus of the present invention, it is possible to eliminate the need for reinforcement of a quay and to achieve an excellent effect that appropriate capacity management can be performed without performing a large-scale repair work.

It is a side view which shows the Example of the flight cargo handling conveying apparatus of this invention, Comprising: It is a figure which shows the state which closed the grab bucket and extended the supporting leg for landing. It is a side view which shows the Example of the flight cargo handling conveying apparatus of this invention, Comprising: It is a figure which shows the state which opened the grab bucket and contracted the landing support leg. It is a top view which shows the Example of the flight cargo handling conveying apparatus of this invention. It is a flowchart which shows the action | operation in the Example of the flight cargo handling conveying apparatus of this invention. It is a general | schematic block diagram which shows the operation example with two or more units in the Example of the flight cargo handling conveying apparatus of this invention. It is a schematic block diagram which shows the continuous unloader as a conventional cargo handling machine.

  Embodiments of the present invention will be described below with reference to the accompanying drawings.

  1 to 5 show an embodiment of the flying cargo handling and transporting apparatus of the present invention.

  The flying cargo handling and transporting apparatus 20 of the present embodiment includes a flying object 22 having a plurality of propellers 21 and a grab bucket 23 as a gripper that is attached to the flying object 22 and can hold and release a rose B as a load. And. In the example shown in FIGS. 1 to 3, the propeller 21 is of a type in which the outer periphery of the blade 21a is covered with a hood 21b, but the hood 21b may be omitted and the blade 21a may be exposed. . Further, although four propellers 21 are provided, four or more propellers may be provided.

  The flying object 22 is equipped with a flying motor 24 that rotates the propeller 21 and a gripping motor 25 that opens and closes the grab bucket 23 as the gripper, and a controller 26. Yes. The controller 26 outputs control signals to the flying motor 24 and the gripping motor 25 based on a command from the base station BS (see FIG. 5).

  The grab bucket 23 as the gripping device includes a weight detector 27 (see FIG. 3) such as a load cell that measures the weight of the rose B gripped by the grab bucket 23, and the controller 26 detects the weight detection. An overload monitoring unit 26a that outputs a control signal for opening the grab bucket 23 as a gripper to the gripping motor 25 when the weight of the rose B measured by the container 27 exceeds an allowable value. ing.

  Note that the flying object 22 detects a flight attitude, a battery 28, a wireless communication device 29 that transmits and receives to and from the base station BS, a GPS device 30 for measuring the current position on the earth, and the like. For this purpose, a gyro sensor 31 and a distance detector 32 such as a laser sensor for measuring the distance from surrounding obstacles are mounted. The flying body 22 is provided with a landing support leg 33 that is extendable and contractable. The landing support legs 33 may be unfoldable and foldable instead of being telescopic.

  As shown in FIGS. 1 and 2, the grab bucket 23 as the gripper has an upper block 34 fixed to the lower surface of the base plate 22 a of the flying body 22, and a plurality of upper sheaves 35 are pivoted inside the upper block 34. It is supported. A lower block 36 is disposed below the upper block 34, and a plurality of lower sheaves 37 are pivotally supported inside the lower block 36, and the gripping is performed between the upper sheave 35 and the lower sheave 37. A wire rope 38 that is unwound from the electric motor 25 so as to be freely wound and unwound is hung, whereby the lower block 36 is suspended from the upper block 34. The upper end of the upper block 34 is pivotally attached so that the upper end of the link member 39 is swingable by the upper pin 40, and the lower block 36 is symmetrical to grasp the loose object B. A pair of disposed bucket shells 41 are pivotally attached to a support shaft 42, and the lower end of the link member 39 is connected to the pair of bucket shells 41 by a lower pin 43.

  As shown in FIG. 5, the quay 1 is provided with a hopper H for receiving the rose B and a carry-out conveyor C for carrying out the rose B received by the hopper H.

  Next, the operation of the above embodiment will be described.

  When unloading the bulk material B inside the hold 6 of the ship S to the outside, the controller 26 first determines whether or not the wireless communication device 29 has received a loading work command from the base station BS. (See step S1 in FIG. 4).

  When the wireless communicator 29 receives the loading operation command from the base station BS, a control signal is output from the controller 26 to the flying motor 24, the propeller 21 is driven to rotate, and the flying object 22 is placed at the standby point of the quay 1. The aircraft then takes off and rises (see step S2 in FIG. 4) and starts to fly (see step S3 in FIG. 4). During the flight of the flying object 22, the flight attitude is detected by the gyro sensor 31, and the distance to the surrounding obstacles is measured by the distance detector 32, thereby avoiding contact with the obstacles. Further, during the flight of the flying body 22, the landing support leg 33 is held in a contracted state.

  The flying object 22 continues to fly, and the controller 26 determines whether or not the flying object 22 has reached the hatch opening of the hold 6 as the outbound destination based on the position information measured by the GPS device 30. Is performed (see step S4 in FIG. 4).

  When the flying object 22 reaches the sky above the hatch opening of the hold 6, the flying object 22 descends and the bucket shell 41 opened by the grab bucket 23 lands on the rose B in the hold 6 (FIG. 4). Step S5). 2, the bucket shell 41 is held in an open state by lowering the lower block 36 relative to the upper block 34 by lowering the wire rope 38 by the gripping motor 25. As shown in FIG.

  After the bucket shell 41 has landed on the loose object B in the hold 6, when the wire rope 38 is wound up by the gripping motor 25 and the lower block 36 is raised with respect to the upper block 34, the bucket shell 41 is closed. Grasping the loose object B (see step S6 in FIG. 4), the flying object 22 takes off and rises the bucket shell 41 of the grab bucket 23 (see step S7 in FIG. 4).

  Here, the overload monitoring unit 26a of the controller 26 determines whether or not the weight of the rose B measured by the weight detector 27 exceeds an allowable value (see step S8 in FIG. 4). When it is determined that there is no overload, the flying object 22 flies as it is (see step S9 in FIG. 4). However, when it is determined that the vehicle is overloaded, the flying object 22 does not fly as it is, and a control signal for opening the grab bucket 23 to the gripping motor 25 is output from the overload monitoring unit 26a. The bucket shell 41 is opened by lowering the lower block 36 with respect to the upper block 34 by lowering the wire rope 38 by the gripping motor 25 and dropping the rose B (see step S10 in FIG. 4). . The operations from step S5 to step S7 are repeated until it is determined in step S8 that there is no overload.

  As the flying object 22 continues to fly, the controller determines whether or not the flying object 22 has reached the opening of the hopper H as the return destination based on the position information measured by the GPS device 30. 26 (see step S11 in FIG. 4).

  When the flying object 22 reaches the sky above the opening of the hopper H, the bucket shell 41 is opened by lowering the lower block 36 with respect to the upper block 34 by lowering the wire rope 38 by the gripping motor 25 and releasing the loose object. B is dropped into the hopper H (see step S12 in FIG. 4).

  Thereafter, the controller 26 again determines whether or not a work command for loading is continuously output from the base station BS, that is, whether or not the wireless communication device 29 has received the work command ( (See step S13 in FIG. 4).

  When the loading operation command is continuously output from the base station BS and the wireless communication device 29 receives it, the operations from step S3 to step S12 are repeated.

  If the wireless communicator 29 has not received a loading operation command from the base station BS in the step S13, the flying object 22 flies over the opening of the hopper H (see step S14 in FIG. 4). ) Based on the position information measured by the GPS device 30, it is determined in the controller 26 whether or not the flying object 22 has reached the standby point as the return destination (see step S15 in FIG. 4). .

  When the flying object 22 reaches the sky above the standby point, the landing support legs 33 held in the contracted state are extended, and the flying object 22 descends and landes (see step S16 in FIG. 4). The unloading operation for the object B is completed.

  The above operation is performed by one flying cargo handling and transporting device 20, but as shown in FIG. 5, a plurality of (for example, three) flying cargo handling and transporting devices 20 are prepared, and the unloading of the roses B is sequentially performed. It can also be performed continuously.

  In the present embodiment, it is not necessary to provide a dedicated cargo handling and transporting machine at the port as in the prior art, and therefore it is not necessary to provide the quay 1 that has been reinforced to withstand its weight.

  In addition, it is not easy to change the capacity of the cargo handling and delivery machine deployed on the quay 1 later, and devices such as various electric motors and hydraulic cylinders must be changed. By appropriately adjusting the number of cargoes, it is easy to increase or decrease the cargo handling capacity, and it is possible to manage the cargo handling capacity appropriately according to the situation without performing a large-scale repair work.

  Furthermore, since the flying cargo handling and transporting apparatus 20 is transported by a truck or the like, the cargo handling capacity can be lent to other areas, so that a flexible cargo handling plan can be implemented in a wide area.

  In addition, when a serious failure occurs in the flying cargo handling apparatus 20, the equipment downtime can be reduced as compared with the conventional apparatus by replacing it with a new apparatus.

  In addition, mass production of equivalent cargo handling equipment 20 reduces the cost per unit, while providing superior economic efficiency while maintaining the same cargo handling capacity as a dedicated cargo handling machine deployed in a conventional port. It can also be obtained.

  In this way, reinforcement of the quay 1 can be made unnecessary, and appropriate capacity management can be performed without carrying out large-scale repair work.

  In the case of the present embodiment, the flying object 22 includes a flying motor 24 that rotationally drives the propeller 21, a gripping motor 25 that opens and closes the gripper (grab bucket 23), and a base station BS. And a controller 26 for outputting a control signal to the flying motor 24 and the gripping motor 25 based on the command. If comprised in this way, a control signal will be output from the controller 26 based on the command from the base station BS, and the propeller 21 will be driven to rotate properly by the flying motor 24, while the gripper motor 25 will be properly driven. It can be opened and closed for cargo handling.

  The gripper includes a weight detector 27 for measuring the weight of the load (rose object B) gripped by the gripper, and the controller 26 measures the weight of the load measured by the weight detector 27. When the value exceeds the allowable value, an overload monitoring unit 26a that outputs a control signal for opening the gripper to the gripping motor 25 is provided. If comprised in this way, it will be prevented that the load of the weight exceeding an allowable value is hold | gripped with a gripper, and the conveyance by the flying body 22 of a load can be performed stably.

  Furthermore, the gripper is a grab bucket 23 for a rose B. If comprised in this way, the unloading of the rose B can be smoothly performed by the grab bucket 23. FIG.

  In addition, the flight cargo handling and conveying device of the present invention is not limited to the above-described embodiment, the gripper is not limited to a grab bucket, and may be a device capable of gripping and releasing a load such as timber, etc. In addition, it goes without saying that various changes can be made without departing from the scope of the present invention.

20 flying cargo handling equipment 21 propeller 22 flying body 23 grab bucket (gripper)
24 Electric motor for flight 25 Electric motor for gripping 26 Controller 26a Overload monitoring unit 27 Weight detector B Bulk object (load)
BS base station

Claims (4)

An aircraft with multiple propellers;
A flying cargo handling and conveying apparatus comprising: a gripper attached to the flying object and capable of gripping and releasing a load. The aircraft is
An electric motor for driving the propeller to rotate;
A gripping motor for opening and closing the gripper;
The flight cargo handling and conveying apparatus according to claim 1, further comprising: a controller that outputs a control signal to the flying motor and the gripping motor based on a command from a base station. The gripper includes a weight detector that measures the weight of the load gripped by the gripper,
The controller includes an overload monitoring unit that outputs a control signal for opening the gripper to the gripping motor when the weight of the load measured by the weight detector exceeds an allowable value. Item 2. The cargo handling and conveying apparatus according to item 2.   The flying cargo handling and conveying device according to any one of claims 1 to 3, wherein the gripper is a grab bucket for loose objects.

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