JPS6330277B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention is directed to the operation of a cargo handling machine that automatically, safely, and highly efficiently carries out cargo handling work between a general ship and land using a grab bucket cart. It is about the method.

[Prior Art] As shown in Fig. 1, an unloader 13 that performs cargo handling work includes a trolley 2 that runs on a transverse beam 1 extending perpendicularly to a quay 7, and a trolley 2 that is suspended from the trolley 2 so that it can be rolled up and down. It is composed of a grab bucket 3, which grabs loose items 6 in the hold 5 of a general vessel 4, hoists the grab bucket 3, and runs the trolley 2 toward the land side to move the grab bucket 3 across the land. The loose materials 6 are transported, discharged into a hopper 8 installed on the quay 7 side, and conveyed to a predetermined position by conveyors 9, 10 below the hopper 8.

The operation of the unloader 13 is such that when the grab bucket cart 3 finishes grasping the bulk material 6, the grab bucket cart 3 is hoisted up, and at the same time, the trolley 2 starts running toward the shore so that the trajectory of the grab bucket cart 3 follows the line L. The slope is determined by the maximum hoisting speed of the grab bucket cart 3 and the maximum traveling speed of the trolley 2.

Cargo handling work is carried out at high speed and frequently in order to improve efficiency, but when it relies on manual labor, the work is demanding and requires a high level of skill, mental fortitude, and attentiveness from the driver. For this reason, attempts are being made to automate cargo handling operations.

An example of this automation will be explained based on FIG. 2. For example, when the grab bucket cart 3 is hoisted up from point A inside the general vessel 4 and the grab bucket cart 3 reaches point A', the trolley 2 is started to travel toward the shore. Similarly, if the grab bucket cart 3 is to be hoisted from point A in the general vessel 4, the trolley 2 is started traveling on land after the grab bucket cart 3 reaches point A', and the grab bucket cart 3
are rampant on land.

When performing such automatic cargo handling work, first determine the line L-2 based on the maximum hoisting speed of the grab bucket cart 3 and the maximum traveling speed of the trolley 2, and then determine the line L-2 while the grab bucket cart 3 is hoisting and traveling overland at the maximum speed. Even if hoisting of the grab bucket 3 stops due to the above reasons, a danger line DL is set so that the grab bucket 3 does not collide with the structure that protrudes furthest toward the sea, such as the rock fall prevention plate 11, and this danger line DL is set. When the grab bucket cart 3 starts traversing overland from the hoisting stop level of the grab bucket cart 3, an automatic traversing start line L-2 is established.

[Problems to be Solved by the Invention] However, in the above-mentioned cargo handling work, since the trolley 2 is run toward the land side after the grab bucket cart 3 reaches the line L-2, the running speed of the trolley 2 is kept at a predetermined speed until the running speed of the trolley 2 reaches its maximum. It took time, and the actual trajectory of the grab bucket 3 became as shown by the broken line L'-2 in Figure 2.
Compared to carrying out cargo handling work by manually operating the unloader, the time required for one task of transporting bulk goods 6 with the grab bucket cart 3 is longer by the amount of time required to hoist the grab bucket cart 3 to a height H, which improves the efficiency of cargo handling work. decreases.

Furthermore, in FIG. 2, when the grab bucket cart 3 is hoisted at point A, the grab bucket cart 3 is hoisted at point A.
If the grab bucket cart 3 is hoisted up to the point A, the trolley 2 can start running toward the land side, but if the grab bucket cart 3 is hoisted up at the point A near the hatch 12, the trolley 2 cannot be moved to the land side unless the grab bucket cart 3 is hoisted up to the point A'. Since the grab bucket cart 3 cannot start traveling, it takes a long time to hoist the grab bucket 3 alone, resulting in inefficient operation, and the difference becomes more noticeable if the general vessel 4 is small.

It is an object of the present invention to avoid such problems, to shorten the time required for individual hoisting operation, to enable highly efficient automatic cargo handling work, and to enable safe work.

[Means for Solving the Problems] The present invention provides a cargo handling device consisting of a trolley that runs on a transverse beam extending perpendicularly to the quay, and a grab bucket cart that is suspended from the trolley so that it can be rolled up and down. The trolley is capable of stopping the grab bucket cart without colliding with a structure that protrudes most toward the sea even if the hoisting of the grab bucket cart suddenly stops when the trolley travels toward the land side while hoisting the grab bucket cart. A stopping distance of the trolley is determined for each speed from the minimum running speed to the maximum running speed of the trolley, and the grab bucket safe traversing speed setting level is such that the grab bucket that traverses on land extends horizontally from the most protruding part of the structure. The traversing speed of the grab bucket at the grab bucket hoisting position above the grab bucket safe traversing speed setting level when reaches
A start point for starting the grab bucket traversal of the grab bucket that does not exceed a speed that maintains a stopping distance that allows the grab bucket to stop without colliding with the structure is determined for each grab bucket hoisting position on the grab bucket safety traverse setting level, The grab bucket traverse starting line is determined by connecting the starting points, and the grab bucket is hoisted to the grab bucket traverse starting line at a set speed or higher to start the land traversing operation of the grab bucket.

[Function] Therefore, the grab bucket cart is hoisted at a speed higher than the set speed, and when the grab bucket cart reaches the grab bucket traverse starting line, the land traverse of the grab bucket cart is started.

[Example] Hereinafter, an example of the present invention will be described based on the drawings.

FIG. 3 shows an embodiment of the present invention, which includes a trolley 2 running on a transverse beam 1 extending perpendicularly to a quay 7, and a grab bucket 3 suspended from the trolley 2 so that it can be rolled up and down. Naru Unloader 1
3, when the trolley 2 travels toward the land side while hoisting the grab bucket cart 3 and the grab bucket cart 3 travels on land, even if the hoisting of the grab bucket cart 3 suddenly stops, the grab bucket cart 3 stops without colliding with the rock fall prevention plate 11. The stopping distance l of the trolley 2 that can be
Settings are made in consideration of the swing of the grab bucket 3 for each speed from 10%) to the maximum land traverse speed (100%).

Next, the grab bucket is hoisted up while traveling on land, and when the grab bucket reaches the safe traversing speed setting level of the grab bucket, which is extended horizontally from the most protruding part of the rock fall prevention plate 11, the grab bucket is above the safe traversing speed setting level of the grab bucket. 3. The safe traversing speed of the grab bucket 3 is set such that the traversing speed of the grab bucket 3 at the hoisting position does not exceed a speed that maintains a stopping distance that allows the grab bucket 3 to stop without colliding with the rock fall prevention plate 11. Determine for each grab bucket 3 hoisting position above the level. The grab bucket traversing starting start point is connected to the grab bucket traversing starting start line L-
1 is determined and the grab bucket cart 3 is hoisted up, and when the grab bucket cart 3 passes the traverse starting start line L-1 at a speed higher than the set speed, the trolley 2 is run to start the traverse land movement of the grab bucket cart 3.

To explain how to find the starting point for starting the grab bucket traversal, for example, when the grab bucket 3 is traveling overland at the maximum speed (100%) on the grab bucket safety traverse speed setting level, the grab bucket 3 must not collide with the rock fall prevention plate 11. In order to find the starting point A for starting the grab bucket cart 3, where the land traveling speed of the grab bucket cart 3 reaches the maximum speed (100%) when it reaches the position B that maintains the stopping distance, Y=y ₂ − Within the time t=Y/V _H required for the grab bucket cart 3 to hoist a distance of y ₁ at the set speed V _H , after the grab bucket cart 3 starts traveling on land, the grab bucket cart _{3 moves} as follows: Find the point at which the vehicle reaches its maximum speed when it travels a distance of V _T・t) and reaches x ₂ .

Similarly, when the grab bucket safely traverses at the speed setting level and travels overland at 50% of the maximum speed, the grab bucket 3 maintains a stopping distance that allows it to stop without colliding with the rock fall prevention plate 11.The grab bucket traverse start point D is relative to the position C. Find points.

In Fig. 3, L-3 indicates the trajectory of the grab bucket 3 when the speed of the grab bucket 3 is at the maximum speed at the grab bucket safety traverse setting level, L-4 indicates the trajectory of the grab bucket 3 when the speed is 50% of the maximum speed, and L-3 indicates the trajectory of the grab bucket 3 when the speed is 50% of the maximum speed. 3 shows the winding stop line.

Since the configuration is as described above, if the grab bucket cart 3 is hoisted at each point on the grab bucket cart traverse starting start line L-1 and the grab bucket cart 3 reaches the grab bucket traversing starting start line L-1 at a hoisting speed higher than the set value. When the trolley 2 starts running toward the land side and the grab bucket 3 reaches the grab bucket safe traversing speed setting level, the traversing speed of the grab bucket 3 at the hoisting position of the grab bucket 3 above the grab bucket safe traversing speed setting level is set to prevent rockfall. Since the speed does not exceed the speed at which it can stop without colliding with the plate 11, even if the hoisting of the grab bucket 3 suddenly stops, the trolley 2
By braking, the grab bucket cart 3 will not collide with the rock fall prevention plate, and cargo handling operations can be carried out more safely.

In addition, in the present invention, if the grab bucket cart 3 is hoisted up to point A on the grab bucket traversing starting start line L-1, the land traversing of the grab bucket cart ₃ is started. Grab bucket 3 to line L-2 passing through
Therefore _, the time required to hoist only the grab bucket cart 3 can be reduced by H/V _H = t (V _H is the rated speed of traversing). Since the time for hoisting only the grab bucket cart 3 can be shortened, more efficient cargo handling work can be performed.

It should be noted that the present invention is not limited to the above-described embodiments, and it goes without saying that various changes can be made without departing from the gist of the present invention.

[Effects of the Invention] As described above, according to the method of operating a cargo handling machine of the present invention, (i) Even if hoisting of the grab bucket suddenly stops when hoisting the grab bucket while hoisting the grab bucket overland, the grab bucket can be Since it is possible to stop without colliding with the rock fall prevention plate, safe cargo handling operations can be performed.

(ii) When the grab bucket cart is hoisted up to the grab bucket traversing start line, the land traversing of the grab bucket cart is started, so the time for only hoisting the grab bucket cart can be shortened, and efficient cargo handling work can be performed.

This excellent effect can be achieved.

[Brief explanation of the drawing]

Figure 1 is an explanatory diagram showing the outline of the unloader, Figure 2
The figure shows how to operate a conventional grab bucket.
FIG. 3 is a diagram showing an embodiment of the present invention. 1 is a traversing beam, 2 is a trolley, 3 is a grab bucket, 11 is a rock fall prevention plate, L-1 is a grab bucket traversing starting start line, and is a grab bucket safe traversing speed setting level.

Claims (1)

[Claims] 1. In a cargo handling device consisting of a trolley that runs on a transverse beam extending perpendicular to the quay, and a grab bucket cart that is suspended from the trolley so that it can be rolled up and down, the grab bucket cart is hoisted up and down by moving the trolley toward land. When traveling on land, the trolley's stopping distance is determined from the minimum traveling speed to the maximum traveling speed of the trolley, so that even if the hoisting of the grab bucket cart suddenly stops, the grab bucket can stop without colliding with the structure that protrudes furthest toward the sea. and when the above-mentioned land-traversing grab bucket reaches the grab bucket safe traversing speed setting level extending horizontally from the most protruding part of the structure, the grab bucket safely traversing speed setting level The grab bucket traversing start point of the grab bucket is set above the grab bucket safety traversing setting level so that the traversing speed of the grab bucket at the grab bucket hoisting position does not exceed the speed that maintains a stopping distance that allows the grab bucket to stop without colliding with the structure. Determine for each grab bucket hoisting position, connect the grab bucket traversal starting start points to determine the grab bucket traverse starting line, and hoist the grab bucket to the grab bucket traverse starting line at a speed higher than the set speed to start land traverse operation of the grab bucket. Features: How to operate cargo handling machines.