| 摘要 |
PURPOSE:In loading and unloading by a glove bucket between vessels and the shore, to automatically perform a cargo-handling work safely by finding an out of contact point among a transversing start line, a vessel hatch and the bucket, and the time when winding-up and transversing are simultaneously performed to operate a cargo handling machine. CONSTITUTION:In a mechanism for grasping a bulk cargo 6 in a hatch 5 by a glove bucket 3, winding up the bucket by a trolley traversing on a traversing beam 1, and loading a hopper 8 of a quay 7 by traversing movement of the trolley 2, a distance l is determined in such a manner that the bucket may not strike on a rock-falling preventing plate 11 on land even if winding-up of the bucket 3 is stopped while the winding-up and land traversing are simultaneously operated, a start point is found in such a manner that when the bucket reaches the safe traversing speed level I, the traversing speed of the trolley is not avove the velocity Va within the range of 10% at minimum to 100% at maximum, so as to fix a starting start line L-1, and when winding-up amounts above a setpoint in the line L-1, the land traversing operation is started. Thus, an automatic cargo-handling can be accomplished with high efficiency, and the bucket is prevented from striking on the rock-falling preventing plate even if winding-up is stopped while winding-up and traversing are simultaneously operated. |
