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Key Technology of
Grab Bucket Type Ship Unloader
CONTENTS
Introduction
1. Specification
2. Delivery Record
Key Technologies
3. Semi-Automatic Operation with Anti-Sway
4. Monitoring and Maintenance Assistance System
5. Light-Weight Trapezoidal Box Structure
6. Dust Emission Control
INTRODUCTION
1. Specification
Customer MITSUKOJIMA FUTO
Corp.
Capacity 2000t/h
Material Industrial salt
Type Rope trolley Gantry Crane
(Grab bucket)
Lifting load 50t
Outreach 38m
Span 20m
Lifting height 40m
Speed
Gantry 10m/min.
Trolley 200m/min.
Boom 10min/cycle [80 ]
Conveyor 150m/min.
INTRODUCTION
2. Delivery Record
CUSTOMER
LOCATION
TOTAL
QTY
CAPACITY
(T/H)
HANDLING
MATERIAL
31
Venezuela
1000
Bauxite Limestone
Japan
1000
Coal, Ore
Korea
1500
Coal
Brazil
1800
Coal, Ore
Japan
2800
Coal, Ore
Malaysia
1400
Coal
SOROS
USA
1500
Coal
China
1500
Coal
Shizuoka Prefecture
Japan
400
Japan
1000
China
1500
Coal
Japan
2000
Indust. Salt
Japan
900
Japan
1800
Japan
1000
Coal, Ore
Thailand
2000
Coal
Japan
1850
Japan
2000
Indust. Salt
Japan
1000
Coal, Ore
Japan
1500
Coal
INTERALUMINA
KEY TECHNOLOGY
3. Semi-Automatic Operation
(1) Outline of Semi-Automatic Operation
Conventional Type
Type of
Operation
Mitsubishi Proposal
Setting
Method
Anti-Sway
Performance
Work
Efficiency
Total
Evaluation
Not Recommendable
Highly Recommendable
KEY TECHNOLOGY
3. Semi-Automatic Operation
(1) Outline of Semi-Automatic Operation
0. Initial setting
(hatch clear point)
2. Hoisting start
(manual)
1. Grabbing
(manual)
KEY TECHNOLOGY
3. Semi-Automatic Operation
(1) Outline of Semi-Automatic Operation
KEY TECHNOLOGY
3. Semi-Automatic Operation
(1) Outline of Semi-Automatic Operation
KEY TECHNOLOGY
3. Semi-Automatic Operation
(2) Anti-Sway System
(i) Anti-Sway System Unique to Mitsubishi
Providing high-performance anti-sway and accurate positioning
operation by combination of feed-forward control and feed-back
control
Feed-Forward
Control Only
Feed-Back
Control Only
3
2
1
0
-1
-2
Initial sway
5
25
30
3
2
1
0
-1
-2
Feed-Forward
& Feed-Back
Control
Hoisting up speed(m/s)
3
2
1
0
-1
-2
10
10
15
15
20
20
25
25
30
30
Time (sec.)
3
2
1
0
-1
-2
3
2
1
0
-1
-2
3
2
1
0
-1
-2
KEY TECHNOLOGY
3. Semi-Automatic Operation
(2) Anti-Sway System
(ii) Sensor-less Sway Detection System
Load Position Calculation from torque feedback of trolley motor
Semi-automatic operation is available without additional sensors
from
Sway range evaluated
m (m)
Sway
range
2
1
Time (sec.)
0
0
20
40
60
80
100
120
-1
140
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
(i) Grabbing Torque Control
Real time torque control of bucket grabbing
when accelerated traverse movement to avoid
material drop.
KEY TECHNOLOGY
OPTION
WAN
Router
Router
Customer
Crane Controller
Monitoring
Host PC
Data Storing PC
Maintenance PC
(Monitoring Software)
Printer
KEY TECHNOLOGY
Diagram
Failure record
Failure analysis
KEY TECHNOLOGY
Conventional type
Top height
Boom
height
Conventional
type
Trapezoidal
box type
KEY TECHNOLOGY
Blower
hopper
Air curtain formed by exhaust air
of dust collector
KEY TECHNOLOGY
0 sec
2 sec
10 sec
2 sec
10 sec
0 sec