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Keyt echnologyof$ grabbuckettypes hip unloader ...
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Key technology of grab bucket type ship unloader Mr Kanji Obata, Anupam Industries Ltd/Mitsubishi Heavy Industries Ltd, India © Mitsubishi Heavy Industries, Ltd.
Transcript of Keyt echnologyof$ grabbuckettypes hip unloader ...
Key technology of grab bucket type ship unloader Mr Kanji Obata, Anupam Industries Ltd/Mitsubishi Heavy Industries Ltd, India
© Mitsubishi Heavy Industries, Ltd.
Key Technology of Grab Bucket Type Ship Unloader
◆ Introduction1. Specification2. Delivery Record
◆ Key Technologies3. Semi-Automatic Operation with Anti-Sway4. Monitoring and Maintenance Assistance System5. Light-Weight Trapezoidal Box Structure6. Dust Emission Control
CONTENTSCONTENTS
CustomerCustomer：： MITSUKOJIMA FUTO MITSUKOJIMA FUTO Corp.Corp.
CapacityCapacity：： 2000t/h2000t/h
MaterialMaterial：： Industrial saltIndustrial salt
TypeType：： Rope trolley Gantry CraneRope trolley Gantry Crane(Grab bucket)(Grab bucket)
Lifting loadLifting load：： 50t50t
OutreachOutreach：： 38m38m
SpanSpan：： 20m20m
Lifting heightLifting height：： 40m40m
Speed Speed
GantryGantry：： 10m/min.10m/min.
TrolleyTrolley：： 200m/min.200m/min.
BoomBoom：： 10min/cycle [8010min/cycle [80°°]]
ConveyorConveyor：： 150m/min.150m/min.
1. SpecificationINTRODUCTION
2. Delivery Record
31TOTAL
Coal15002JapanNippon Coke & Engineering Company LtdCoal, Ore10001JapanSumitomo Metal Logistics Service Co. Ltd
Indust. Salt20001JapanKashima Denkai Co. Ltd.Indust. Salt, Grain, etc18501JapanSeto Futo Co., Ltd.
Coal20002ThailandBLCP Power LimitedCoal, Ore10001JapanSumitomo Metal Logistics Service Co. Ltd
Indust. Salt20001JapanMitsukojima Transshipment Co., LTD
Fine copper ore9001JapanNippon Mining & Material Co.,LTD.
Coal, Chrome ore10001JapanNippon Denkou Co.,LTDCoal15004ChinaGuangdong Zhuhai Power Station Co.
Coal, Indust. Salt, etc.18001JapanYokkaichi Port Assosiation
Wood Chip, Maize4001JapanShizuoka Prefecture
Coal15002ChinaZhejiang Provincial Electric Power Bureau
Coal15001USASOROS
Coal14002MalaysiaNational Electricity Board (TNB)
Coal, Ore28001JapanNippon Steel Corporation
Coal, Ore18003BrazilCONSOTRIUM PRAIA MOLE
Coal15002KoreaKorea Electric Co.
Coal, Ore10001JapanNakayama Steel Corp.
Bauxite Limestone10002VenezuelaINTERALUMINA
HANDLING MATERIAL
CAPACITY(T/H)
QTYLOCATIONCUSTOMER
INTRODUCTION
3. Semi-Automatic Operation(1) Outline of Semi-Automatic Operation
Higher efficiency like skillful operator
Subject to the performance of model operation
Work Efficiency
Highly RecommendableNot RecommendableTotal Evaluation
Mitsubishi ProposalConventional Type
Less influenced by initial sway and other factors
Influenced by wind and initial sway
Anti-Sway Performance
No need of model operation(hatch clear point setting only)
Requiring model operation for various patterns by expert operator
Setting Method
Feed-forward feed-back control (with sensor-less anti-sway control)
Teaching playback typeType of Operation
KEY TECHNOLOGY
1. Grabbing
(manual)
2. Hoisting start
(manual)
3. Starting automatic operationby pedal switch
0. Initial setting(hatch clear point)
3. Semi-Automatic Operation(1) Outline of Semi-Automatic Operation
KEY TECHNOLOGY
4. Automatic hoisting up and traverse to hopper
5. Automatic grab open above hopper
(Avoid collision)
3. Semi-Automatic Operation(1) Outline of Semi-Automatic Operation
KEY TECHNOLOGY
6. Automatic traverse to ship
7. Hoisting down to the next grabbing position (manual)
3. Semi-Automatic Operation(1) Outline of Semi-Automatic Operation
KEY TECHNOLOGY
(i) Anti-Sway System Unique to MitsubishiProviding high-performance anti-sway and accurate positioning operation by combination of feed-forward control and feed-back control
Feed-BackControl Only
Feed-Forward & Feed-Back Control
3. Semi-Automatic Operation (2) Anti-Sway System
Feed-ForwardControl Only
Hoisting up speed(m/s)
Time (sec.)
0 5 10 15 20 25 30-2-10123
-2-10123
Sway range(m)
0 5 10 15 20 25 30-2-10123
-2-10123
0 5 10 15 20 25 30-2-10123
-2-10123
Initial sway Sway by input disturbance
Traverse speed (m/s)
KEY TECHNOLOGY
(ii) Sensor-less Sway Detection System◆ Load Position Calculation from torque feedback of trolley motor
◆ Semi-automatic operation is available without additional sensors
-3
-2
-1
0
1
2
3
0 20 40 60 80 100 120 140振れ量 m
振 れ量生
振れ量推定
Sway range evaluated from trolley motor torque
Actual sway rangeSway
rang
e (m
)
Time (sec.)
3. Semi-Automatic Operation (2) Anti-Sway System
KEY TECHNOLOGY
3. Semi-Automatic Operation(3) Actual Unloading Work
(i) Manual Operation
KEY TECHNOLOGY
3. Semi-Automatic Operation(3) Actual Unloading Work
(ii) Semi-Automatic Operation
KEY TECHNOLOGY
3. Semi-Automatic Operation(4) Automatic Control of Bucket Grabbing
Those automatic grabbing control are effectiveeven under manual operation
(i) Grabbing Torque ControlReal time torque control of bucket grabbing when accelerated traverse movement to avoid material drop.(ii) Bucket Lowering ControlGrabbed material amount control according to material gravity to avoid overload by lowering bucket when grabbing. Lowering length can beset at operator’s cabin.(iii) Bucket Tip Horizontal ControlBucket grabbing control to make its tip horizontal for enhancing efficiency when unloading material at the bottom of ship. Can be selected at operator’s cabin
KEY TECHNOLOGY
Processing, displaying and printing cranes’ operation status, record & analysis of device failure, maintenance & management info, etc.
KEY TECHNOLOGY
4. Monitoring and Maintenance Assistance System
WAN
ＨＵＢ
Electrical Room of Crane
Crane Controller
Data Storing PC
Maintenance PC(Monitoring Software)
Printer
Control Room on Ground
Monitoring Host PC
ＨＵＢRouter
Router
Remote Station : AMIL*(Real Time Monitor & Support)
OPTION
CustomerAnywhere in the World
Remote Station : Hiroshima(Technical Advice & Support)
Efficient supplier’s support bytimely and accurate information
AMIL : ANUPAM-MHI INDUSTRIES LIMITED
Operation status Diagram
Failure record Failure analysis
Various Functions
4. Monitoring and Maintenance Assistance SystemKEY TECHNOLOGY
Light wheel load by applying Trapezoidal Box StructureLight wheel load by applying Trapezoidal Box Structure
Conventional type Trapezoidal box type
Trapezoidal box type
5. Light-Weight Trapezoidal Box Structure
Conventional type
Top height
Boom height
KEY TECHNOLOGY
Conventional type
◆◆ Optimum design of hopper with builtOptimum design of hopper with built--in dust collectorin dust collector
◆◆ Easy maintenance and Minimum running costEasy maintenance and Minimum running cost
Air Curtain
FiltersBlower
Efficient dust collecting due to minimum requirement of ductMinimum power consumptionMinimum maintenance workNo need of return conveyor byreturning collected dust directly tohopperAir curtain formed by exhaust airof dust collector
6. Dust Emission ControlKEY TECHNOLOGY
6. Dust Emission ControlKEY TECHNOLOGY
Dust Emission Control Dust Emission Control OFFOFF
Dust Emission Control Dust Emission Control ONON0 sec 2 sec 10 sec
0 sec 2 sec 10 sec
Effect in case for dust of Soda ashEffect in case for dust of Soda ash
Thank you very muchfor your attention.
ANUPAM-MHI INDUSTRIES LIMITED
