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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.

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

Nakayama Steel Corp.

Japan

1000

Coal, Ore

Korea Electric Co.

Korea

1500

Coal

CONSOTRIUM PRAIA MOLE

Brazil

1800

Coal, Ore

Nippon Steel Corporation

Japan

2800

Coal, Ore

Malaysia

1400

Coal

SOROS

USA

1500

Coal

Zhejiang Provincial Electric Power Bureau

China

1500

Coal

Shizuoka Prefecture

Japan

400

Wood Chip, Maize

Nippon Denkou Co.,LTD

Japan

1000

Coal, Chrome ore

Guangdong Zhuhai Power Station Co.

China

1500

Coal

Mitsukojima Transshipment Co., LTD

Japan

2000

Indust. Salt

Nippon Mining & Material Co.,LTD.

Japan

900

Fine copper ore

Yokkaichi Port Assosiation

Japan

1800

Coal, Indust. Salt, etc.

Sumitomo Metal Logistics Service Co. Ltd

Japan

1000

Coal, Ore

Thailand

2000

Coal

Seto Futo Co., Ltd.

Japan

1850

Indust. Salt, Grain, etc

Kashima Denkai Co. Ltd.

Japan

2000

Indust. Salt

Sumitomo Metal Logistics Service Co. Ltd

Japan

1000

Coal, Ore

Nippon Coke & Engineering Company Ltd

Japan

1500

Coal

INTERALUMINA

National Electricity Board (TNB)

BLCP Power Limited

KEY TECHNOLOGY

3. Semi-Automatic Operation
(1) Outline of Semi-Automatic Operation
Conventional Type
Type of
Operation

Mitsubishi Proposal

Teaching playback type

Feed-forward feed-back control


(with sensor-less anti-sway
control)

Setting
Method

Requiring model operation for


various patterns by expert
operator

No need of model operation


(hatch clear point setting only)

Anti-Sway
Performance

Influenced by wind and initial


sway

Less influenced by initial sway


and other factors

Work
Efficiency

Subject to the performance of


model operation

Higher efficiency like skillful


operator

Total
Evaluation

Not Recommendable

Highly Recommendable

KEY TECHNOLOGY

3. Semi-Automatic Operation
(1) Outline of Semi-Automatic Operation

3. Starting automatic operation


by pedal switch

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

5. Automatic grab open


above hopper
4. Automatic hoisting up and
traverse to hopper
(Avoid collision)

KEY TECHNOLOGY

3. Semi-Automatic Operation
(1) Outline of Semi-Automatic Operation

6. Automatic traverse to ship


7. Hoisting down to
the next grabbing
position (manual)

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

Traverse speed (m/s)

Sway by input disturbance Sway range(m)


10
15
20

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

trolley motor torque

m (m)
Sway
range

2
1

Time (sec.)

0
0

20

40

60

80

100

120

-1

Actual sway range


-2
-3

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.

(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
Those automatic grabbing control are effective
even under manual operation

KEY TECHNOLOGY

4. Monitoring and Maintenance Assistance System


Processing, displaying and printing cranes operation status,
record & analysis of device failure, maintenance &
management info, etc.
Remote Station : Hiroshima
(Technical Advice & Support)

Efficient suppliers support by


timely and accurate information

OPTION

WAN
Router

Anywhere in the World

Remote Station : AMIL*


(Real Time Monitor & Support)

Router

Customer

Crane Controller

Monitoring
Host PC

Control Room on Ground

Data Storing PC

Maintenance PC
(Monitoring Software)

Printer

Electrical Room of Crane


AMIL : ANUPAM-MHI INDUSTRIES LIMITED

KEY TECHNOLOGY

4. Monitoring and Maintenance Assistance System


Various Functions
Operation status

Diagram

Failure record

Failure analysis

KEY TECHNOLOGY

5. Light-Weight Trapezoidal Box Structure


Light wheel load by applying Trapezoidal Box Structure

Conventional type
Top height
Boom
height

Conventional
type
Trapezoidal
box type

Trapezoidal box type


Conventional
type

KEY TECHNOLOGY

6. Dust Emission Control


Optimum design of hopper with built-in dust collector
Easy maintenance and Minimum running cost
Efficient dust collecting due
Air Curtain

to minimum requirement of duct


Minimum power consumption
Minimum maintenance work
No need of return conveyor by
returning collected dust directly to
Filters

Blower

hopper
Air curtain formed by exhaust air
of dust collector

KEY TECHNOLOGY

6. Dust Emission Control


Effect in case for dust of Soda ash
Dust Emission Control OFF

0 sec

2 sec

10 sec

2 sec

10 sec

Dust Emission Control ON

0 sec

Thank you very much


for your attention.

ANUPAM-MHI INDUSTRIES LIMITED