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WO2020075668A1 - Dispositif de manutention de cargaison de type en pont - Google Patents

Dispositif de manutention de cargaison de type en pont Download PDF

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Publication number
WO2020075668A1
WO2020075668A1 PCT/JP2019/039474 JP2019039474W WO2020075668A1 WO 2020075668 A1 WO2020075668 A1 WO 2020075668A1 JP 2019039474 W JP2019039474 W JP 2019039474W WO 2020075668 A1 WO2020075668 A1 WO 2020075668A1
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WO
WIPO (PCT)
Prior art keywords
boom
target position
processing unit
cargo handling
bridge
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/039474
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English (en)
Japanese (ja)
Inventor
健 甲斐
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sumitomo Heavy Industries Material Handling Systems Co Ltd
Original Assignee
Sumitomo Heavy Industries Material Handling Systems Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sumitomo Heavy Industries Material Handling Systems Co Ltd filed Critical Sumitomo Heavy Industries Material Handling Systems Co Ltd
Publication of WO2020075668A1 publication Critical patent/WO2020075668A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries

Definitions

  • the present invention relates to a bridge-type cargo handling device.
  • Patent Document 1 discloses a crane that suppresses changes in the positions of the trolley and the hanger when the boom is raised and lowered.
  • a girder having a girder and a boom, a trolley traversing the girder, a suspender suspended from the trolley by a wire, and a plurality of wires for moving the trolley and the suspender are wound.
  • a bridge-type cargo handling device comprising a plurality of drums,
  • a configuration is provided that includes a storage time processing unit that drives the plurality of drums to move the suspender to a target position during a period in which the boom is undulated.
  • the lifting device can be moved to a predetermined position at the end or interruption of the cargo handling work without the operator being restrained for a long time for operating the lifting device.
  • FIG. 6 is a flowchart showing a procedure of a storage process according to the first embodiment. It is explanatory drawing which shows operation
  • 9 is a flowchart showing a part of a procedure of processing at storage according to the second embodiment. It is a figure explaining the 1st pattern of the process at the time of storage of Embodiment 2.
  • FIG. 1 is a diagram showing a state in which a boom is horizontal in the bridge-type cargo handling device according to the embodiment of the present invention.
  • FIG. 2 is a diagram showing a state in which the boom is stored in the bridge-type cargo handling device according to the embodiment.
  • FIG. 3 is a diagram showing a configuration of a control system of the bridge-type cargo handling device according to the embodiment.
  • the bridge-type loading and unloading apparatus 1 of the present embodiment is, for example, an unloader for landing bulk cargo from a cargo ship at a port facility.
  • the bridge-type cargo handling device 1 includes a girder 13 including a boom 11 that can be undulated and a girder 12 that does not undulate, a plurality of legs 15 that support the girder 13, a load recovery unit 17 such as a hopper into which cargo is loaded, and a cargo. It is provided with a lifting tool 21 such as a grab bucket that grabs the vehicle, a trolley 23 that hangs the lifting tool 21 and traverses along the girder 13, a driver's cab 31 on which an operator rides, and a machine room 32.
  • the machine room 32 is provided with a plurality of drums 51a to 51d and motors Ma to Md (FIG. 3) for driving them.
  • the plurality of drums 51a to 51d winds and unwinds the wires Wa to Wd (see FIGS. 1 and 3).
  • Sea-side pulleys 18 and land-side pulleys 19 to which the wires Wa to Wd are hung are provided at both ends of the girder 13, and the girder 13 is provided with slack receiving carriages 25 and 26 movable along the girder 13. ing.
  • the slack receiving carriages 25 and 26 are provided with pulleys that support the wires Wa to Wd.
  • the two wires Wb and Wc are stretched from the sea side drums 51b and 51c to the hanging tool 21 via the sea side pulley 18, the pulley of the slack receiving carriage 25, and the pulley of the trolley 23.
  • the other two wires Wa and Wd are stretched from the land-side drums 51a and 51d to the hanger 21 via the land-side pulley 19, the pulley of the slack receiving carriage 26, and the pulley of the trolley 23.
  • the slack receiving carriages 25 and 26 support a plurality of wires Wa to Wd between the trolley 23 and the sea side pulley 18 and between the trolley 23 and the land side pulley 19 to prevent the slack of the plurality of wires Wa to Wd. Reduce. Although illustration is omitted, the trolley 23 and the slack receiving carriages 25 and 26 are connected to each other by another wire via a plurality of pulleys provided on the girder 13 and the slack receiving carriages 25 and 26.
  • the other wire is pulled as the trolley 23 moves, so that the sea-side slack receiving dolly 25 is arranged at a position approximately half between the trolley 23 and the sea-side pulley 18, and The slack receiving carriage 26 is disposed at a position approximately halfway between the trolley 23 and the land-side pulley 19.
  • the girder 13 has a plurality of anchor fixing parts to which the trolley 23 can be fixed.
  • the operator can fix the trolley 23 to the girder 13 by moving the trolley 23 to the anchor fixing part and connecting the anchor fixing part and the anchor hole 23f of the trolley 23 using a fixing tool such as a pin.
  • the fixing of the trolley 23 using the fixing tool is called anchor fixing.
  • the trolley 23 is provided with an anchor detector 24 (see FIG. 3) that detects whether or not the anchor is fixed.
  • the anchor detection unit 24 corresponds to an example of the identification unit according to the present invention.
  • the multiple legs 15 are arranged on both sides of the girder 13 (both sides in the direction perpendicular to the paper surface of FIG. 1) on the sea side and the land side.
  • the two legs 15 on the land side are connected at their lower portions via beams 16.
  • a traveling device capable of traveling on a land rail is provided on the plurality of legs 15, whereby the bridge-type cargo handling device 1 can be moved in a direction along the quay (a direction perpendicular to the paper surface of FIG. 1).
  • the boom 11 is rotated around the hinge portion 11h by the boom drive device 53 (FIG. 3) provided exclusively for raising and lowering the boom 11, and is raised and lowered.
  • the boom 11 is leveled during the cargo handling work, and is raised to the storage position when the cargo handling work is completed or interrupted.
  • a bending pulley G is provided around the hinge portion 11h of the boom 11, and as shown in FIG. 2, the bending pulley G is hooked with wires Wb and Wc when the boom 11 rises. The paths of the wires Wb and Wc are maintained.
  • a drive circuit 52 that drives the motors Ma to Md and a boom drive device 53 that raises and lowers the boom 11. And are provided.
  • the driver's cab 31 is provided with a control device 60 that controls driving of the bridge-type cargo handling device 1.
  • the control device 60 includes a calculation device 71, a display unit 61 that outputs information to an operator, an operation unit 62 that the operator performs a driving operation, and an I / O 67 that inputs and outputs various signals.
  • the display unit 61 and the operation unit 62 may be provided in the cab 31, and the remaining components of the control device 60 may be provided in other parts such as the machine room 32.
  • the operation unit 62 includes a driving lever 63 for operating the lifting device 21 and the trolley 23, a boom raising / lowering switch 64 for raising and lowering the boom 11, and a target setting button 65 used for setting a target position described later. Be done.
  • the boom up / down switch 64 and the target setting button 65 may be provided as a display switch or a display button by, for example, a touch panel provided on the display panel.
  • the drive circuit 52 and the boom drive device 53 are connected to the I / O 67, and the boom drive device 53 and the drive circuit 52 can be moved based on a control signal from the control device 60.
  • the I / O 67 receives signals indicating the drive amount and the drive direction from the drive circuit 52 and the boom drive device 53, and the control device 60 controls the boom position of the boom 11, the hoisting tool 21, and the trolley based on these signals. 23 operating positions can be determined.
  • a detection signal is input from the anchor detection unit 24 to the I / O 67, and the control device 60 can identify whether the trolley 23 is anchored or not based on the detection signal.
  • 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 driving processing unit 72 that drives the plurality of drums 51a to 51d according to the operation of the driving lever 63, and a boom driving device 53 that drives the boom 11 by operating the boom hoisting switch 64.
  • An interference area storage unit 76 that stores the interference area R1 of the tool 21 is included.
  • an interference region R1 that may interfere with the hanger 21 is defined.
  • the interference region R1 in FIG. 1 and FIG. 2 includes, for example, ranges near the side surface and the bottom surface of the load collecting unit 17, below the load collecting unit 17, near the beam 16, and near the ground.
  • the interference area R1 is stored in the interference area storage unit 76, for example, as data of the transverse position and height along the column 13.
  • the operator when starting the cargo handling work, the operator operates the boom up / down switch 64 in the cab 31 to lay the boom 11 from the standby position to the horizontal position. Then, with the boom 11 lying down in the horizontal position, the operator can operate the operation lever 63 to traverse, lift, and open / close the suspending tool 21, thereby unloading the cargo from the hold of the cargo ship. Further, at the end of the cargo handling work or at the time of the interruption of the cargo handling work (for example, when changing the cargo hold on the cargo ship), the operator operates the boom up / down switch 64 to move the boom 11 from the horizontal position to the standby position. Wake up When the boom 11 rises from the horizontal position to the standby position, the storage time processing unit 74 executes the storage time process described later in association with the rotation of the boom 11, and automatically moves the lifting tool 21 to a predetermined target position. Move to.
  • the storage position of the boom 11 is set to the angle ⁇ max, the total virtual extension amount when the boom 11 is raised from the horizontal position to the storage position is Le ( ⁇ max). Therefore, when the boom 11 is raised from the horizontal position to the retracted position while the drums 51a to 51d are stopped, the trolley 23 traverses to the land side for a predetermined length due to the action of the virtual feed amount Le ( ⁇ max), and the lifting device is lifted. 21 descends by a predetermined length.
  • the storage-time processing unit 74 moves the hoisting tool 21 to the target position in conjunction with the rotation of the boom 11 under the control incorporating the action of the virtual payout amount Le ( ⁇ ) of the wires Wb and Wc on the sea side.
  • FIG. 4 is a flowchart showing the procedure of the storage process according to the first embodiment.
  • 5A to 5C are explanatory diagrams showing the movements of the first to third steps in the first example of the storage process.
  • the first example shows a case where the target position D of the lifting tool 21 is set inside the load collecting unit 17 and the lifting tool 21 can be moved to the target position D without obstructing the interference region R1.
  • the storage processing unit 74 is preliminarily provided with data of a corrected feed amount ⁇ Le ( ⁇ n ) obtained by dividing the above-described virtual feed amount Le ( ⁇ ) for each minute angle ⁇ .
  • the stowage processing unit 74 adds the wires Wb and Wc to the sea-side drums 51b and 51c by the correction feed amount ⁇ Le ( ⁇ i ) while the boom 11 moves from the undulation angle ⁇ i to the undulation angle ⁇ i + 1.
  • the positions of the lifting tool 21 and the trolley 23 can be controlled in the same manner as the control when the boom 11 is fixed.
  • the storing time processing unit 74 starts the storing time processing of FIG. 4.
  • the storage process unit 74 first obtains the current position of the hanger 21 as the starting end point from the driving amounts of the motors Ma to Md at that time (step S1). Further, the storage processing unit 74 reads the preset target position D (FIG. 5A) as the end point of the hanging device 21 (step S2).
  • step S3 the storage time processing unit 74 determines whether or not the hanging tool 21 may interfere with something at the starting end point (step S3), and if not, the normal path connecting the starting end point to the ending point is interfered with. It is determined whether or not R1 overlaps (step S4).
  • Step S3 will be described in detail in the storage process 3.
  • the normal path of step S4 corresponds to, for example, a straight line or a path along which the hanger 21 moves when the drums 51a to 51d are driven at a substantially constant speed when the boom 11 is raised.
  • the storage time processing unit 74 adopts the normal route as the movement route of the suspending tool 21 (step S5). Then, the storage time processing unit 74 incorporates the function of the virtual extension amount Le ( ⁇ ) so as to move the suspending tool 21 along the adopted movement path in association with the rotation of the boom 11, and the motor Ma- The drive amount of Md is calculated (steps S7 and S8).
  • the method of calculating the drive amounts of the motors Ma to Md is not particularly limited, but the following method can be adopted as an example. That is, first, the storage processing unit 74 calculates the total drive amount of the drums 51a to 51d required to move the lifting tool 21 from the starting end point to the ending point when the boom 11 is fixed, and The total drive amount is divided into drive amounts for each predetermined control cycle so that the total drive amount is achieved during the period in which the boom 11 rises from the horizontal position to the standby position (step S7). Further, the storage processing unit 74 performs a correction to reduce the drive amount of the correction feed amount ⁇ Le ( ⁇ ) corresponding to the hoisting angle of the boom 11 to the drive amount thus calculated for each control cycle (step S8). .
  • step S8 the storage processing unit 74 may calculate the correction feed amount ⁇ Le ( ⁇ ) corresponding to the change in the undulation angle, and reduce the drive amount corresponding thereto. With such a calculation method, the drive amounts of the motors Ma to Md for each control cycle are calculated.
  • the storage processing unit 74 drives the motors Ma to Md with the corrected drive amount for each control cycle (step S9).
  • the storage processing unit 74 drives the motors Ma to Md with the corrected drive amount for each control cycle (step S9).
  • the hanger 21 advances toward the inside of the load collecting unit 17.
  • FIG. 5C when the boom 11 reaches the storage position and stops, the suspending tool 21 reaches the target position D in the load collecting unit 17 and stops.
  • ⁇ Processing 2 when storing> 6A to 6C are explanatory diagrams showing the operations of the first to third steps in the second example of the storage process.
  • the second example shows a case where the target position D of the suspending tool 21 is set at a position below the back reach, and when the suspending tool 21 is moved to the target position D on the normal route, the interference region R1 becomes an obstacle in the middle.
  • the storage process of FIG. 4 is started, and as described above, when the process proceeds to steps S1 to S4, the start point and the end point (target position D) of the hanging tool 21 are set. It is determined whether or not the interference region R1 overlaps the normal route connecting the two. Then, in the case of FIG. 6A, it is determined that the interference region R1 overlaps (YES) in the determination process of step S4.
  • step S4 determines whether the determination processing of step S4 is YES. If the determination processing of step S4 is YES, the storage processing unit 74 creates a route that can move to the target position D while avoiding the interference region R1, and adopts this as the movement route of the hanger 21 (step). S6). For example, in the example of FIG. 6A, since the suspending tool 21 interferes with the portion of the beam 16 in the interference region R1, the storage processing unit 74 causes the lifting tool 21 to rise, the trolley 23 to traverse, and the suspending tool 21 to move. Together with the descent, the paths P1 to P3 that do not overlap the interference region R1 are created. The routes P1 to P3 can be obtained as the shortest route that does not overlap the interference region R1 with a predetermined margin, for example.
  • the storage time processing unit 74 incorporates the action of the virtual payout amount Le ( ⁇ ) so that the suspending tool 21 moves along the adopted moving path in conjunction with the rotation of the boom 11, and the motor Ma-
  • the drive amount of Md is calculated (steps S7 and S8).
  • the method of calculating the drive amounts of the motors Ma to Md is not particularly limited, but the following method can be adopted as an example. That is, first, the storage time processing unit 74, if the boom 11 is fixed, moves the hoisting tool 21 along each of the paths P1, P2, and P3. The drive amounts of 51d are calculated, and the drive amounts for each control cycle are calculated so that these drives are achieved during the period when the boom 11 rises from the horizontal position to the standby position (step S7). Further, the storage processing unit 74 corrects the drive amount for each control cycle calculated in this way by subtracting the drive amount of the correction feed amount ⁇ Le ( ⁇ ) according to the hoisting angle of the boom 11 (step S8). . With such a calculation method, the drive amounts of the motors Ma to Md for each control cycle in which the hanger 21 is moved along the paths P1, P2, P3 in conjunction with the rotation of the boom 11 are calculated.
  • the storage processing unit 74 drives the motors Ma to Md with the corrected drive amount for each control cycle (step S9). Accordingly, as shown in FIGS. 6A and 6B, as the boom 11 rises from the horizontal position at a low speed, the hanger 21 advances along the paths P1, P2, P3 avoiding the interference region R1. Then, as shown in FIG. 6C, when the boom 11 reaches the storage position and stops, the suspending tool 21 reaches the target position D below the back reach and stops.
  • ⁇ Processing 3 when storing> 7A to 7C are explanatory diagrams showing operations in the first to third steps in the third example of the storage process.
  • the third example shows a case where the hanger 21 may interfere with something when the boom 11 is raised.
  • step S3 the storage time processing unit 74 causes the lifting tool 21 to start. Determine if there is a risk of something interfering with the point. Then, as shown in FIG. 7A, when there is a risk of interference at the starting end point, YES is determined in the determination processing of step S3.
  • the hanging tool 21 may interfere with something at the starting end point, for example, when the starting end point overlaps the interference region R1 based on the position information of the starting end point, or when the starting end point is the load collection unit 17 This is the case, for example, in the case where it overlaps with a specific region R2 such as below, where there is a high risk of interference.
  • the specific region R2 may be set in advance by a user or a setting member of the manufacturer, and the data may be stored in the interference region storage unit 76.
  • step S3 If YES is determined in the determination process of step S3, the storage processing unit 74 requests the undulation processing unit 73 to stop the drive for raising the boom 11 (step S10).
  • the undulation processing unit 73 stops the boom drive device 53 in response to this request, and the drive of the boom 11 is stopped. Further, as shown in FIG. 7B, the storage processing unit 74 outputs a warning from the display unit 61 that the boom 11 cannot be raised or lowered due to fear of interference with the hanger 21 (step S11). Then, the storage processing unit 74 ends the storage processing, and the undulation processing unit 73 ends the drive control of the boom 11.
  • the operator can recognize from the warning output that the boom 11 cannot be raised due to the position of the lifting tool 21. Then, as shown in FIG. 7C, the operator can move the hanger 21 to a position where there is no fear of interference and operate the boom hoisting switch 64 again to raise the boom 11 to the standby position.
  • FIG. 8 is a flowchart showing the procedure of the target position setting process executed by the setting processing unit.
  • 9A to 9C are diagrams for explaining the target position setting process.
  • FIG. 9A shows the preceding stage of the setting operation
  • FIG. 9B shows the setting completion
  • FIG. 9C shows the setting impossible.
  • the target position of the lifting device 21 described above can be set to any position by the operation of the operator.
  • the operator operates the suspending tool 21 and the trolley 23 to move the suspending tool 21 to the intended target position D0. Then, the operator operates the target setting button 65. Then, the setting processing unit 75 starts the target position setting processing (FIG. 8).
  • the setting processing unit 75 calculates the current position of the hanger 21 from the driving amounts of the motors Ma to Md at that time (step S21). Subsequently, the setting processing unit 75 determines whether or not the calculated position of the hanger 21 and the interference region R1 stored in the interference region storage unit 76 overlap (step S22). As a result, as shown in FIG. 9B, if there is no overlap with the interference region R1, the setting processing unit 75 sets the calculated position of the hanger 21 as the target position, and the storage processing unit 74 sets the target. The position data is passed (step S23).
  • the setting processing unit 75 outputs a warning from the display unit 61 that the target position cannot be set in the interference region R1. Then, the target position setting process is terminated without setting the target position (step S24).
  • the operator can set the target position to which the hanger 21 is moved during the storage process to any position except the interference region R1.
  • the setting processing unit 75 causes the setting processing unit 75 to set the inside of the load collecting unit 17 and the leg 15.
  • the target position of the hanger 21 can be set above the ground in between, above the ground in the back reach range, below the anchor fixing portion of the trolley 23, and the like.
  • the storage-time processing unit 74 that drives the plurality of drums 51a to 51d to move the lifting tool 21 to the target position while the boom 11 is rising. Equipped with. Therefore, the operator is not restrained for a long time for manipulating the suspending tool 21, and only when the operation of moving the boom 11 to the standby position is performed at the time of ending or interruption of the cargo handling work, the boom 11 is interlocked with the rotation. Then, the hanger 21 can be moved to the target position.
  • the setting processing unit 75 capable of setting the target position of the lifting device 21 based on the operation of the target setting button 65 is provided. Therefore, when the operator moves the boom 11 to the standby position, the operator can set the target position where the hanger 21 automatically moves to a desired position.
  • the setting processing unit 75 when the setting request of the target position is satisfied in the interference region R1 that may interfere with the hanger 21, the setting processing unit 75 warns that the setting is impossible. Is output. As a result, it is possible to prevent the inappropriate position from being set as the target position of the hanging tool 21.
  • the load collecting unit 17 such as the hopper and the legs 15 are set as the target position to which the hanger 21 automatically moves when the boom 11 is moved to the standby position.
  • the hanger 21 Above the ground, above the ground in the back reach range, below the anchor fixing position of the trolley 23, and the like.
  • the hanger 21 can be automatically moved to a position suitable for ending or interrupting the cargo handling, and the cargo handling work can be started promptly even when the cargo handling is restarted.
  • the storage time processing unit 74 avoids the interference region R1 when the hanger 21 passes through the interference region R1 in the normal route during the storage time process.
  • the hanger 21 is moved to the target position along the route. Therefore, it is possible to reduce restrictions on the position of the starting end point of the hanging tool 21 during the storage process.
  • the bridge-type cargo handling device 1 of the first embodiment when the storage processing unit 74 raises the boom 11 in the storage processing, when the hanger 21 is in the interference region R1 or the specific region R2. , The boom drive device 53 is made to stop raising the boom 11. Therefore, it is possible to prevent the hanger 21 from interfering with something when the boom 11 is moved to the storage position.
  • the interference region R1 includes the vicinity of the bottom surface of the load collecting unit 17 and the vicinity of the ground, and the target position of the hanger 21 is limited to a position where the hanger 21 does not land. This is because when the hanger 21 is landed with the boom 11 raised, the wires Wa to Wd are loosened due to the landing, and the trolley 23 along the girder 13 is loosened. If the trolley 23 is loosened, the slack receiving carriage 25 on the boom 11 may move together with the trolley 23, and the wires Wb and Wc may come off, or the slack receiving carriage 25 on the boom 11 may be unbalanced. As a result, the trolley 23 and the slack receiving carriage 26 on the land side may move significantly along the girder 13.
  • the trolley 23 when the trolley 23 is anchored to the girder 13, the trolley 23 does not move even when the hanger 21 is landed, and the slack receiving carts 25 and 26 connected to the trolley 23 by another wire. Also, since the trolley 23 is fixed, it does not move. Therefore, the above fear does not occur.
  • the target position setting process and the storage process are changed to the processes corresponding to the case where the trolley 23 is anchored.
  • the target position setting process and the storage process according to the second embodiment will be described in detail.
  • ⁇ Target position setting process> 10 is a figure which shows the interference area
  • the interference region R11 of the second embodiment does not include the height of the hanger 21 landing on the interference region R11, such as the bottom surface of the load collecting unit 17, the ground between the legs 15, and the ground in the back reach range. Data representing such an interference region R11 is stored in the interference region storage unit 76 (FIG. 3) of the second embodiment.
  • the setting processing unit 75 of the second embodiment executes the target position setting processing (FIG. 8) similar to that of the first embodiment. However, the process of determining whether or not the target position overlaps the interference region (step S22) is performed based on the interference region R11 of the second embodiment. Through such a target position setting process, the operator can set the target position of the lifting tool 21 including the height at which the lifting tool 21 will land.
  • the target setting button 65 when setting the height at which the hanger 21 is landed on the target position, not only a method of operating the target setting button 65 in a state where the hanger 21 is actually landed but another method is used. You may employ together. For example, by operating the target setting button 65 in a state where the hanger 21 is moved to the position before landing, and the operator numerically inputs the target height at which the hanger 21 is landed, the target position Alternatively, it may be configured so that the position at which the hanger 21 is landed can be set. Since the operation of landing the suspending tool 21 is more complicated than the operation of simply traversing and ascending / descending, the method of inputting the target height numerically eliminates the need for complicated landing operation when setting the target position. Is obtained.
  • FIG. 11 is a flowchart showing a part of the procedure of the storage process according to the second embodiment.
  • 12A to 12C are explanatory diagrams showing first to third patterns of the storage time processing according to the second embodiment.
  • steps S31 to S37 of FIG. 11 are added between steps S3 and S4 of the storage time processing of the first embodiment (FIG. 4). Subsequently, the added steps will be described in detail.
  • step S3 When the boom hoisting switch 64 executes the storage time process, and in the determination process of step S3, it is determined that there is no risk of interference at the start end position, then the storage time processing unit 74 causes the hoisting tool 21 to reach the target position. , It is determined whether or not the height is for landing (step S31). If it is not the height for landing, the process proceeds to step S4 as it is, and the storage process shown in the first embodiment is executed.
  • the storage processing unit 74 determines whether or not the trolley 23 is anchor-fixed (step S32). If not, the target position is set as the end point. The height of the pre-implantation stage is set (step S33). When the end point is set, the process proceeds to step S4 and the storage process shown in the first embodiment is executed.
  • step S33 when the slack receiving trolley 25 located between the sea side pulley 18 and the trolley 23 is located on the girder 12, the storage time processing unit 74 sets the target landing height as the end point. The position may be set.
  • the storage processing unit 74 may estimate the position of the slack receiving carriage 25 from the traverse position of the trolley 23 when the boom 11 is horizontal, for example.
  • the storage processing unit 74 may also acquire the position of the slack receiving carriage 25 from the detection result of the proximity switch or the like.
  • step S34 the storage processing unit 74 subsequently determines whether or not the trolley 23 is above the target position (step S34), and YES. If so, the target position of the landing height is set as the end point (step S35). When the end point is set, the process proceeds to step S4 and the storage process shown in the first embodiment is executed.
  • the lifting tool 21 descends while the position of the trolley 23 is maintained. Then, when the boom 11 rises to the retracted position, the lifting tool 21 stops at the landing position set as the target position.
  • step S34 If it is determined in the determination process of step S34 that the anchor-fixed trolley 23 is located outside the target position, the storage processing unit 74 first stops the drive for raising the boom 11 to the undulation processing unit 73. Request (step S36). Furthermore, the storage processing unit 74 outputs a warning from the display unit 61 that the trolley 23 is anchored at a position deviated from the target position (step S37). Then, the storage process ends.
  • FIG. 13 is a flowchart showing a modification of the storage process of the second embodiment.
  • FIG. 13 shows the steps after steps S5 and S6 (see FIG. 4) in the storage process of the second embodiment.
  • the storage time processing unit 74 determines whether or not the end point is the landing height before calculating the drive amounts of the motors Ma to Md in each control cycle according to the movement route ( Step S41). As a result, if the height is the landing height, the drive amount is calculated such that the speed of the hanger 21 is low when the hanger 21 is landed (step S7a). On the other hand, if it is not the landing height, the drive amount is calculated as in the first embodiment (step S7). Then, the storage processing unit 74 executes the processing of steps S8 and S9 as described in the first embodiment.
  • the suspending tool 21 When the target position is the height of the landing and the suspending tool 21 is landed in accordance with the rotation of the boom 11, the suspending tool 21 is decelerated at the time of landing by the storage time process of the modification, and the landing holding is performed. The impact of can be suppressed.
  • the hoisting tool 21 may be moved to a predetermined position in association with the rotation of the boom 11. At that time, when the lifting tool 21 is landed at the start of the rotation of the boom 11 and the trolley 23 is fixed to the anchor, the lifting tool 21 is grounded in conjunction with the rotation of the boom 11. It may be controlled so that the lifting tool 21 is moved to a target position by moving it away from the ground). On the other hand, when the suspension 21 is landed at the start of the rotation of the boom 11 and the trolley 23 is not fixed to the anchor, a warning is output to control the rotation of the boom 11. May be. In addition, when the suspension tool 21 is ground-cut, control for decelerating the suspension tool 21 more than after ground cutting may be used together.
  • the anchor detection unit 24 (for example, a proximity sensor or the like) that detects whether or not the trolley 23 is anchored is provided, and the storage time processing unit 74 is provided.
  • the target position is the landing height of the hanger 21
  • the anchor detection unit 24 detects anchor fixation
  • the hanger 21 is moved to the target position for landing. Therefore, in the storage process, the height at which the hanger 21 is landed can be adopted as the target position of the hanger 21, and the hanger 21 is limited to the case where the landing of the hanger 21 causes no inconvenience. Can be landed at the target position.
  • the inconvenience caused by the landing of the suspending tool 21 is, for example, that the wires Wa to Wd are loosened by the landing, and the slack receiving carts 25 and 26 and the suspending tool 21 may move largely due to the weight of the slack receiving cart 25.
  • the wires Wb and Wc may be loosened and come off the trolley 25.
  • the bridge-type cargo handling device 1 of the second embodiment even when the target position is set to the height at which the hanger 21 is landed, if the anchor detection unit 24 does not detect anchor fixation, The storage processing unit 74 moves the lifting tool 21 to the height of the target position before the landing in conjunction with the movement of the boom 11 to the storage position. Therefore, in the storage process, it is possible to prevent inconvenience caused by landing of the hanger 21 and, when the target position is set to the height of the landing, the hanger 21 Can be moved close to the target position.
  • the storage time processing unit 74 lowers the suspension tool 21 during the landing when the suspension tool 21 is landed on the target position.
  • the drive amounts of the drums 51a to 51d are controlled so that the speed becomes the speed. As a result, it is possible to reduce the impact generated when the suspending tool 21 is landed.
  • the present invention is not limited to the above embodiment.
  • the bridge-type loading / unloading device according to the present invention is not limited to an unloader, and various types of loading / unloading devices are included as long as it is a bridge-type loading / unloading device having a boom capable of undulating, such as a container crane.
  • the hanger according to the present invention is not limited to the grab bucket, and various hangers such as a spreader may be applied.
  • the configuration in which the four trolleys 51a to 51d are driven to traverse the trolley and the lifting and lowering and opening / closing of the suspending tool has been described.
  • a configuration for raising and lowering and opening and closing may be adopted.
  • the anchor detection unit such as a proximity sensor is shown as the identification unit for identifying the anchor fixation of the trolley, but as the identification unit according to the present invention, for example, the process of confirming the anchor fixation to the operator.
  • Means for identifying the presence or absence of anchor fixation may be adopted by various methods such as a section.
  • the details shown in the embodiments can be appropriately changed without departing from the spirit of the invention.
  • the present invention can be applied to a bridge-type cargo handling device.

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

Abstract

L'invention concerne un dispositif de manutention de cargaison de type en pont qui peut déplacer un outil en suspension vers une position prédéterminée lorsqu'une opération de manutention de cargaison a été terminée ou est arrêtée sans qu'un opérateur soit occupé pendant une longue période par l'actionnement du dispositif de manutention. Le dispositif de manutention de cargaison de type en pont (1) comprend : une poutrelle (13) ayant une poutre (12) et une flèche (11) ; un chariot (23) qui se déplace transversalement le long de la poutrelle ; un outil en suspension (21) suspendu au chariot par un câble ; et une pluralité de tambours (51a-51d) sur lesquels sont enroulés une pluralité de fils (Wa-Wd) qui déplacent le chariot et l'outil en suspension. L'objet de l'invention comprend en outre une unité de traitement de stockage (74) qui entraîne la pluralité de tambours (51a-51d) pour déplacer l'outil en suspension (21) vers une position cible (D) pendant une période de levage et d'abaissement de la flèche (11).
PCT/JP2019/039474 2018-10-10 2019-10-07 Dispositif de manutention de cargaison de type en pont Ceased WO2020075668A1 (fr)

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JP2018191505A JP7262962B2 (ja) 2018-10-10 2018-10-10 橋形荷役装置
JP2018-191505 2018-10-10

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024081904A1 (fr) 2022-10-14 2024-04-18 Genesis Therapeutics, Inc. Méthodes de traitement du cancer

Citations (6)

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Publication number Priority date Publication date Assignee Title
US4569453A (en) * 1982-01-28 1986-02-11 Amca International Loading and unloading crane and method of operation therefor
JP2001122586A (ja) * 1999-10-26 2001-05-08 Ishikawajima Harima Heavy Ind Co Ltd コンテナクレーンの自動運転制御方法及びその装置
JP2002234618A (ja) * 2001-02-08 2002-08-23 Ishikawajima Harima Heavy Ind Co Ltd アンローダの運転方法
JP2017178581A (ja) * 2016-03-31 2017-10-05 三井造船株式会社 岸壁クレーン
JP2017178470A (ja) * 2016-03-28 2017-10-05 三井造船株式会社 岸壁クレーン
JP2017178580A (ja) * 2016-03-31 2017-10-05 三井造船株式会社 岸壁クレーン

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4569453A (en) * 1982-01-28 1986-02-11 Amca International Loading and unloading crane and method of operation therefor
JP2001122586A (ja) * 1999-10-26 2001-05-08 Ishikawajima Harima Heavy Ind Co Ltd コンテナクレーンの自動運転制御方法及びその装置
JP2002234618A (ja) * 2001-02-08 2002-08-23 Ishikawajima Harima Heavy Ind Co Ltd アンローダの運転方法
JP2017178470A (ja) * 2016-03-28 2017-10-05 三井造船株式会社 岸壁クレーン
JP2017178581A (ja) * 2016-03-31 2017-10-05 三井造船株式会社 岸壁クレーン
JP2017178580A (ja) * 2016-03-31 2017-10-05 三井造船株式会社 岸壁クレーン

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024081904A1 (fr) 2022-10-14 2024-04-18 Genesis Therapeutics, Inc. Méthodes de traitement du cancer

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