obata_grab bucket type ship unloader
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7/26/2019 Obata_grab Bucket Type Ship Unloader
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Key Technology of
Grab Bucket Type Ship Unloader
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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 Structure6. Dust Emission Control
CONTENTS CONTENTS
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Customer Customer
MITSUKOJIMA FUTOMITSUKOJIMA FUTO
Corp.Corp.CapacityCapacity
2000t/h2000t/h
MaterialMaterial Industrial saltIndustrial salt
TypeType Rope trolley Gantry CraneRope trolley Gantry Crane
(Grab bucket)(Grab bucket)
Lifting loadLifting load
50t50t
OutreachOutreach
38m38m
SpanSpan 20m20m
Lifting heightLifting height 40m40m
SpeedSpeed
GantryGantry
10m/min.10m/min.
TrolleyTrolley
200m/min.200m/min.
BoomBoom 10min/cycle [8010min/cycle [80
]]
Conveyor Conveyor
150m/min.150m/min.
1. SpecificationINTRODUCTION
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2. Delivery Record
31TOTAL
Coal15002JapanNippon Coke & Engineering Company Ltd
Coal, Ore10001JapanSumitomo Metal Logistics Service Co. Ltd
Indust. Salt20001JapanKashima Denkai Co. Ltd.
Indust. Salt, Grain, etc18501JapanSeto Futo Co., Ltd.
Coal20002ThailandBLCP Power Limited
Coal, Ore10001JapanSumitomo Metal Logistics Service Co. Ltd
Indust. Salt20001JapanMitsukojima Transshipment Co., LTD
Fine copper ore9001JapanNippon Mining & Material Co.,LTD.
Coal, Chrome ore10001JapanNippon Denkou Co.,LTD
Coal15004ChinaGuangdong Zhuhai Power Station Co.
Coal, Indust. Salt, etc.18001JapanYokkaichi Port Assosiation
Wood Chip, Maize4001JapanShizuoka Prefecture
Coal15002ChinaZhejiang Provincial Electric Power Bureau
Coal15001USASOROS
Coal14002MalaysiaNational Electricity Board (TNB)
Coal, Ore28001JapanNippon Steel Corporation
Coal, Ore18003BrazilCONSOTRIUM PRAIA MOLE
Coal15002KoreaKorea Electric Co.
Coal, Ore10001JapanNakayama Steel Corp.
Bauxite Limestone10002VenezuelaINTERALUMINA
HANDLING
MATERIAL
CAPACITY
(T/H)QTY LOCATION CUSTOMER
INTRODUCTION
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3. Semi-Automatic Operation(1) Outline of Semi-Automatic Operation
Higher efficiency like skillfuloperator
Subject to the performance ofmodel operation
WorkEfficiency
Highly RecommendableNot RecommendableTotal
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 typeType of
Operation
KEY TECHNOLOGY
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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
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4. Automatic hoisting up andtraverse to hopper
5. Automatic grab open
above hopper
(Avoid collision)
3. Semi-Automatic Operation(1) Outline of Semi-Automatic Operation
KEY TECHNOLOGY
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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
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(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
0 5 10 15 20 25 30- 2
- 1
01
2
3
- 2
- 1
01
2
3
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
KEY TECHNOLOGY
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(ii) Sensor-less Sway Detection System
Load Position Calculation from torque feedback of trolley motor
Semi-automatic operation is available without additional sensors
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
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3. Semi-Automatic Operation(3) Actual Unloading Work
(i) Manual Operation
KEY TECHNOLOGY
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3. Semi-Automatic Operation(3) Actual Unloading Work
(ii) Semi-Automatic Operation
KEY TECHNOLOGY
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3. Semi-Automatic Operation(4) Automatic Control of Bucket Grabbing
Those automatic grabbing control are effective
even under manual operation
(i) Grabbing Torque ControlReal time torque control of bucket grabbing
when accelerated traverse movement to avoid
material drop.
(ii) Bucket Lowering Control
Grabbed material amount control according tomaterial 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 tiphorizontal for enhancing efficiency when
unloading material at the bottom of ship.
Can be selected at operator’s cabin
KEY TECHNOLOGY
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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
Electrical Room of Crane
Control Room on Ground
Customer
Anywhere in the World
Efficient supplier’s support by
timely and accurate information
AMIL : ANUPAM-MHI INDUSTRIES LIMITED
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Operation status Diagram
Failure record Failure analysis
Various Functions
4. Monitoring and Maintenance Assistance System
KEY TECHNOLOGY
KEY TECHNOLOGY
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Light wheel load by applying Trapezoidal Box StructureLight 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
KEY TECHNOLOGY
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Optimum design of hopper with builtOptimum design of hopper with built--in dust collector in dust collector
Easy maintenance and Minimum running costEasy maintenance and Minimum running cost
Air Curtain
FiltersBlower
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
KEY TECHNOLOGY
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6. Dust Emission Control
KEY TECHNOLOGY
Dust Emission ControlDust Emission Control OFFOFF
Dust Emission ControlDust Emission Control ONON
0 sec 2 sec 10 sec
0 sec 2 sec 10 sec
Effect in case for dust of Soda ashEffect in case for dust of Soda ash
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Thank you very m uch
for your attention
ANUPAM-MHI INDUSTRIES LIMITED