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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
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 cpeed´m/c)
1lme ´cec.)
0 5 10 15
20 25
30
- 2
- 1
0
1
2
3
- 2
- 1
0
1
2
3
6way raoge´m)
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

1
§

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 operator’s 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 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
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!)
ÒP1lÒN
Customer
Anywhere in the World
Hemo!e S!a!ion . liroshima
(1echnical /dvice & Suppor!)
Efficient supplier’s 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