JPH0235807B2 - KATSUTASHUNSETSUSENNOSUINGUSEIGYOSOCHI - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a swing control device for a cutter dredger.

In a cutter dredger, the driving pattern of the cutter head is determined so that the cutter head moves in accordance with a pre-designed excavation cross section during dredging.

For this reason, it is necessary to vertically lower the cutter head even when the cutter head reaches the cutoff position. To explain the outline of the Katsuta dredger with reference to Figures 1 and 2, a is the cutter head, b is the swing winch motor, c is the right swing wire, d is the left swing wire, e is the anchor, f is the spud, and g is the excavation cross section. . As shown in Figures 1 and 2, when the horizontal component forces of the right swing wire c and the left swing wire d are offset (at the offset point A), the position of the anchor e and the positions of the swing wires c and d in the excavation cross section It depends.

When the cutter head a is lowered in this state, it moves in the direction of the stronger horizontal component of the swing wires c and d (as indicated by arrows s and p in FIG. 2).

This results in over-excavation or unexcavation with respect to the pre-designed excavation cross section, reducing dredging efficiency.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a swing control device for a cutter dredger that does not cause over-digging or unexcavation due to movement of the cutter head when the cutter head is lowered.

An embodiment of the present invention will be described in detail below with reference to FIG.

Conventionally, a swing winch that stops when the cutter head is lowered is used as an auto-tension winch, and when the cutter head is lowered, the momentary cutter head position obtained from the ship's position indicator is compared with a preset position, and the system adjusts the position according to the deviation. We considered vertically lowering the cutter head by adjusting the amount of tension.

As shown in FIG. 3, this device is comprised of a swing winch control section 1, a swing wire loosening control section 2, a cutter head locus monitoring section 3, and a sensor 4. The cutter head locus monitoring unit 3 outputs a cutter head position command signal, a lowering start command signal and a lowering end command signal for the cutter head at the cutoff position to the swing wire loosening control unit 2 using the cutter head locus set and inputted in advance as a reference value. is configured to do so.

The sensor 4 is composed of a boat position indicator, a gyro, a trim, a heel indicator, etc., and each of the boat position indicator, gyro, trim, and heel indicator is connected to the cutter head position calculation unit of the swing wire loosening control section 2. 5 is a comparator, 6 is a speed torque control switching relay, 7 is a speed control function generator,
8 is a torque control function generator; 9
1 is a tacho generator, 10 is a swing winch motor, and 11 is an anchor.

The cutter head trajectory monitoring section 3 outputs a start command to the swing wire loosening control section 2 when the cutter head 10 reaches a position where it must be vertically lowered.

The swing wire loosening control section 2 uses a comparator (COMPARATOR) 5 to compare the position command output from the cutter head locus monitoring section 3 and the position of the cutter head calculated by the cutter head position calculation unit from the sensor 4 at every moment. I'll do it.

The output of the comparator (COMPARATOR) 5 is used to compare the cutter head position of the cutter head locus monitoring unit 3 and the cutter head position of the calculation unit to determine whether the swing winch needs to reel in the cutter head or whether it needs to extend it. ,
It also outputs the amount of deviation of the cutter head.

That is, to explain the swing winch on the starboard side in FIG. 2, if the cutter head shifts to the P side when the cutter head is lowered, it is determined that winding is necessary, and if it shifts to the S side, it is determined that it is necessary to extend.

When the cutter head requires winding due to the deviation output of COMPARATOR 5, the relay 6 switches to the speed control function generator 7;
The deviation output obtained by COMPARATOR 5 is converted into a speed control signal and output to the swing winch control section 1 until this value becomes zero, and the swing winch 1
Involve 0.

Also, when the cutter head needs to be extended, the relay 6 switches to the torque control function generator 8 as described above, and the torque control function generator 8 is activated.
The deviation output obtained by the COMPARATOR 5 is converted into a torque control signal, which is output to the swing winch control section 1 until this value becomes zero, and the swing winch 10 is extended in accordance with the load torque of the winch.

When the cutter head is lowered to a specified position by the cutter head locus monitoring section 3, a command to loosen the swing wire and terminate the control is output, and the swing wire loosening control is terminated.

This makes it possible to vertically lower the rudder by using the swing winch 10, which has not been used conventionally, as an auto-tension winch when lowering the rudder.

In Figure 3, swing winch/motor 1
0. The swing winch control section 1 and the swing wire loosening control section 2 are shown only for the port side swing winch, but they are similarly provided for the starboard side swing winch.

In short, according to the present invention, there is provided a cutter head trajectory monitoring section, a cutter head position detection section, a cutter head position calculation section that calculates the position of the cutter head based on a signal from the cutter head position detection section, and a set trajectory of the cutter head from the cutter head trajectory monitoring section. and a cutter head position signal from the cutter head position calculating section to calculate a positional deviation amount, and control for controlling the speed and torque of the swing winch in accordance with the positional deviation amount output from the comparator. In order to lower the cutter head along the set locus, the control of the control section is switched to torque control for the swing winch on the side where the cutter head has deviated in accordance with the position deviation output from the comparator, and the swing winch on the opposite side is switched to torque control. By providing a switch for switching the swing winch to speed control, the following effects are achieved.

When descending the rudder, it is possible to descend vertically. This allows the cutter head to be operated in accordance with the designed dredging cross section, eliminating over-digging and unexcavation and improving dredging efficiency.

No skill is required during rudder descent operation; this is done automatically.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of a cutter dredger, FIG. 2 is an explanatory diagram showing the closing position of the cutter head, and FIG. 3 is a circuit diagram showing an embodiment of the present invention. DESCRIPTION OF SYMBOLS 1... Swing winch control unit, 2... Swing wire loosening control unit, 3... Cut head locus monitoring unit, 4... Sensor, 5... Comparator, 6... Speed torque control switching relay, 7... Speed Control function generator, 8... Torque control function generator, 10... Swing winch motor.

Claims (1)

[Claims] 1 A cutter head trajectory monitoring section, a cutter head position detection section, a cutter head position calculation section that calculates the position of the cutter head based on a signal from the cutter head position detection section, a cutter head setting trajectory from the cutter head trajectory monitoring section, and the cutter head position calculation section A comparator that calculates the amount of position deviation by comparing the position signal of the cutter head from In order to lower the cutter head along the cutter head, the control of the control unit is switched to torque control for the swing winch on the side where the cutter head has deviated in accordance with the position deviation output from the comparator, and for speed control of the swing winch on the opposite side. A swing control device for a Katsuta dredger, characterized by comprising a switch for switching.