Mr Kanji Obata, Anupam Industries Ltd/Mitsubishi Heavy Industries Ltd,
India
Mitsubishi Heavy Industries, Ltd. Key Technology of Grab Bucket Type Ship Unloader 4Introduction 1. Specification 2. Delivery Record 4Key Technologies 3. Semi-Automatic Operation with Anti-Sway 4. Monitoring and Maintenance Assistance System 5. Light-Weight Trapezoidal Box Structure 6. Dust Emission Control CONTENTS CONTENTS Customer Customer MITSUKOJIMA FUTO MITSUKOJIMA FUTO Corp. Corp. Capacity Capacity 2000t/h 2000t/h Material Material Industrial salt Industrial salt Type Type Rope trolley Gantry Crane Rope trolley Gantry Crane (Grab bucket) (Grab bucket) Lifting load Lifting load 50t 50t Outreach Outreach 38m 38m Span Span 20m 20m Lifting height Lifting height 40m 40m Speed Speed Gantry Gantry 10m/min. 10m/min. Trolley Trolley 200m/min. 200m/min. Boom Boom 10min/cycle [80 10min/cycle [80 ] ] Conveyor Conveyor 150m/min. 150m/min. 1. Specification INTRODUCTION 2. Delivery Record 31 TOTAL Coal 1500 2 Japan Nippon Coke & Engineering Company Ltd Coal, Ore 1000 1 Japan Sumitomo Metal Logistics Service Co. Ltd Indust. Salt 2000 1 Japan Kashima Denkai Co. Ltd. Indust. Salt, Grain, etc 1850 1 Japan Seto Futo Co., Ltd. Coal 2000 2 Thailand BLCP Power Limited Coal, Ore 1000 1 Japan Sumitomo Metal Logistics Service Co. Ltd Indust. Salt 2000 1 Japan Mitsukojima Transshipment Co., LTD Fine copper ore 900 1 Japan Nippon Mining & Material Co.,LTD. Coal, Chrome ore 1000 1 Japan Nippon Denkou Co.,LTD Coal 1500 4 China Guangdong Zhuhai Power Station Co. Coal, Indust. Salt, etc. 1800 1 Japan Yokkaichi Port Assosiation Wood Chip, Maize 400 1 Japan Shizuoka Prefecture Coal 1500 2 China Zhejiang Provincial Electric Power Bureau Coal 1500 1 USA SOROS Coal 1400 2 Malaysia National Electricity Board (TNB) Coal, Ore 2800 1 Japan Nippon Steel Corporation Coal, Ore 1800 3 Brazil CONSOTRIUM PRAIA MOLE Coal 1500 2 Korea Korea Electric Co. Coal, Ore 1000 1 Japan Nakayama Steel Corp. Bauxite Limestone 1000 2 Venezuela INTERALUMINA HANDLING MATERIAL CAPACITY (T/H) QTY LOCATION CUSTOMER 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 Recommendable Not Recommendable Total Evaluation Mitsubishi Proposal Conventional 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 type Type of Operation KEY TECHNOLOGY 1. Grabbing (manual) 2. Hoisting start (manual) 3. Starting automatic operation by 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 Mitsubishi Providing high-performance anti-sway and accurate positioning operation by combination of feed-forward control and feed-back control Feed-Back Control Only Feed-Forward & Feed-Back Control 3. Semi-Automatic Operation (2) Anti-Sway System Feed-Forward Control Only HolcLlog up cpeedm/c) 1lme cec.) 0 5 10 15 20 25 30 - 2 - 1 0 1 2 3 - 2 - 1 0 1 2 3 6way raogem) 0 5 10 15 20 25 30 - 2 - 1 0 1 2 3 - 2 - 1 0 1 2 3 0 5 10 15 20 25 30 - 2 - 1 0 1 2 3 - 2 - 1 0 1 2 3 lolLlal cway 6way by lopuL dlcLurbaoce 1raverce cpeed m/c) KEY TECHNOLOGY (ii) Sensor-less Sway Detection System 4Load Position Calculation from torque feedback of trolley motor 4Semi-automatic operation is available without additional sensors -J -2 -1 O 1 2 J O 2O 4O 6O 8O 1OO 12O 14O
m 1 1 Q Sway range evaluated from trolley motor torque Actual sway range S w a y
r a n g 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 effective even under manual operation (i) Grabbing Torque Control Real time torque control of bucket grabbing when accelerated traverse movement to avoid material drop. (ii) Bucket Lowering Control Grabbed material amount control according to material gravity to avoid overload by lowering bucket when grabbing. Lowering length can be set at operators cabin. (iii) Bucket Tip Horizontal Control Bucket grabbing control to make its tip horizontal for enhancing efficiency when unloading material at the bottom of ship. Can be selected at operators 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 HUE Electrical Room of Crane Crane Con!roller La!a S!oring PC lain!enance PC (loni!oring So!!ware) Prin!er Control Room on Ground loni!oring los! PC HUE PouLer PouLer Hemo!e S!a!ion . /llL ' (Heal 1ime loni!or & Suppor!) P1lN Customer Anywhere in the World Hemo!e S!a!ion . liroshima (1echnical /dvice & Suppor!) Efficient suppliers support by timely and accurate information AMIL : ANUPAM-MHI INDUSTRIES LIMITED Operation status Diagram Failure record Failure analysis Various Functions 4. Monitoring and Maintenance Assistance System KEY TECHNOLOGY Light wheel load by applying Trapezoidal Box Structure Light 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 4 4 Optimum design of hopper with built Optimum design of hopper with built- -in dust collector in dust collector 4 4 Easy maintenance and Minimum running cost Easy maintenance and Minimum running cost Air Curtain Filters Blower Efficient dust collecting due to minimum requirement of duct Minimum power consumption Minimum maintenance work No need of return conveyor by returning collected dust directly to hopper Air curtain formed by exhaust air of dust collector 6. Dust Emission Control KEY TECHNOLOGY 6. Dust Emission Control KEY TECHNOLOGY Dust Emission Control Dust Emission Control OFF OFF Dust Emission Control Dust Emission Control ON ON 0 sec 2 sec 10 sec 0 sec 2 sec 10 sec Effect in case for dust of Soda ash Effect in case for dust of Soda ash Thank you very much for your attention. ANUPAM-MHI INDUSTRIES LIMITED
