Pneumatic unloader and method of handling cargo

Abstract

To provide a pneumatic unloader and a method of handling cargoes that expands the range of cargo handling.SOLUTION: A pneumatic unloader 100 comprises a base unit 1 installed on land so as to be able to travel, a swivel unit 2 rotatably mounted on the base unit, a receiver tank 8 mounted on the swivel unit, an extendable horizontal boom 18 connected to the swivel unit or the receiver tank so as to be able to rise and fall, an extendable horizontal pipe 17 connected to the receiver tank so as to be able to rise and fall, a vertical boom 28 connected to the horizontal boom so as to be able to tilt, an extendable vertical pipe 21 connected to the horizontal pipe so as to be able to tilt, and a tilt actuator 26 that drives the vertical boom to tilt the vertical boom.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a pneumatic unloader and a method of handling cargo. [Background technology]

[0002] Generally, ports are equipped with pneumatic unloaders that suck up and unload bulk cargo such as grains transported by ships.

[0003] This pneumatic unloader generally comprises a telescopic horizontal pipe connected to the receiver tank so that it can be raised and lowered, and a telescopic vertical pipe connected to the horizontal pipe so that it can be tilted. The tip of the vertical pipe is inserted into the cargo in the hold, and suction is applied to unload the cargo. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-171440 [Patent Document 2] Japanese Patent Publication No. 165222 / 1983 [Patent Document 3] Japanese Patent Application Publication No. 58-119510 Summary of the Invention [Problem to be solved by the invention]

[0005] However, as far as the horizontal pipe's extension and contraction direction is concerned, the range of movement of the vertical pipe is limited to the range from the position when the horizontal pipe is most contracted to the position when the horizontal pipe is most extended, which poses a problem in that the cargo handling range is limited to that range.

[0006] The present disclosure has been devised in light of the above circumstances, and its purpose is to provide a pneumatic unloader and a loading method that can expand the loading range. [Means for solving the problem]

[0007] According to one aspect of the present disclosure, a base installed on land so as to be movable; a swivel unit rotatably provided on the base unit; a receiver tank provided in the swivel section; a telescopic horizontal boom connected to the rotating section or the receiver tank so as to be able to be raised and lowered; an extendable horizontal pipe connected to the receiver tank in a manner that allows it to rise and fall; a vertical boom tiltably connected to the horizontal boom; a telescopic vertical pipe tiltably connected to the horizontal pipe; a tilt actuator that drives the vertical boom to tilt the vertical boom; A pneumatic unloader is provided, comprising:

[0008] Preferably, the tilt actuator is formed by a hydraulic or electric cylinder connecting the horizontal boom and the vertical boom.

[0009] Preferably, the pneumatic unloader includes a horizontal telescopic actuator for extending and retracting the horizontal boom, The horizontal telescopic actuator is formed by a hydraulic cylinder or an electric cylinder.

[0010] Preferably, the horizontal boom comprises: a first horizontal boom on a base end side connected to the rotating section or the receiver tank so as to be able to be raised and lowered; a second horizontal boom on the tip side that is telescopically arranged on the outer or inner side of the first horizontal boom; a plurality of rollers provided on the second horizontal boom to support the second horizontal boom relative to the first horizontal boom; Equipped with.

[0011] Preferably, the plurality of rollers include: an upper surface roller that abuts against an upper surface of the first horizontal boom; a lower surface roller that abuts against the lower surface of the first horizontal boom; a left side surface roller that abuts against the left side surface of the first horizontal boom; a right side surface roller that abuts against the right side surface of the first horizontal boom; Includes:

[0012] Preferably, two of the upper surface rollers, two of the lower surface rollers, two of the left side surface rollers and two of the right side surface rollers are provided on the base end side and the tip end side.

[0013] Preferably, the first horizontal boom and the second horizontal boom have a rectangular cross-sectional shape.

[0014] Preferably, the pneumatic unloader includes a scraping device provided at a nozzle at the tip of the vertical pipe.

[0015] According to another aspect of the present disclosure, A cargo handling method using the pneumatic unloader, a tilting and suction step for suctioning a load in a state in which the horizontal boom and the horizontal pipe are fully contracted or extended and the vertical boom and the vertical pipe are tilted in the contracting or extending direction by the tilting actuator; A cargo handling method is provided.

[0016] Preferably, the cargo handling method includes rotating the rotating section during the tilting and suction step. [Effects of the Invention]

[0017] According to the present disclosure, the cargo handling range can be expanded. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 1 is a schematic side view illustrating a pneumatic unloader according to an embodiment of the present disclosure. [Figure 2]FIG. 2 is a schematic plan view showing the structure around the horizontal boom. [Figure 3] FIG. 2 is a schematic side view showing the structure around the horizontal boom. [Figure 4] FIG. 4 is a front cross-sectional view showing the horizontal boom, and is a cross-sectional view taken along line IV-IV in FIG. 3. [Figure 5] FIG. 4 is a front cross-sectional view showing the horizontal boom, and is a cross-sectional view taken along the line VV in FIG. 3. [Figure 6] FIG. 10 is a diagram showing a cargo handling method when using the unloader of the first comparative example. [Figure 7] FIG. 10 is a diagram showing a cargo handling method when using the unloader of the second comparative example. [Figure 8] 10A and 10B are diagrams showing a loading and unloading method when using the unloader of this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Note that the present disclosure is not limited to the following embodiments.

[0020] As shown in Figure 1, a ship S is anchored at a port with cargo B, such as grain or other bulk cargo, loaded in hold K. A pneumatic unloader (hereinafter simply referred to as unloader) 100 is installed on the port's quay Q to suck up and discharge cargo B stored in hold K. For convenience, the front, back, left, right, top, and bottom directions in Figure 1 are defined as shown. The sea side, or the ship S side, is the front, and the land side, or the unloader 100 side, is the rear.

[0021] The unloader 100 has a base 1 installed on land, i.e., on a quay Q, and a swivel unit 2 rotatably mounted on the base 1. The base 1 is capable of running on land. That is, a pair of front and rear rails 3 are provided along the quay Q, and the base 1 can run in the left-right direction on these rails 3. The base 1 has front and rear legs 4, wheels 5 rotatably mounted on the lower ends of the legs 4 and rolling on the rails 3, and girders 6 that span and connect the front and rear legs 4.

[0022] The swivel unit 2 is attached to the base 1 via a swivel ring or swivel bearing 7 so as to rotate or swivel around a swivel axis C1 extending vertically or up and down as indicated by arrow a. A swivel drive device for driving the swivel unit 2 is indicated by the symbol 7A. The swivel unit 2 is provided with a receiver tank 8 that temporarily receives the sucked load B. The receiver tank 8 is formed in a cylindrical shape that is long in the vertical direction, is fixed coaxially to the swivel unit 2, and is swivelable around the swivel axis C1.

[0023] A machine room 9 is provided in the base 2, and a vacuum pump 10 is disposed within the machine room 9. The vacuum pump 10 is connected to the receiver tank 8 via a suction pipe 11 and generates negative pressure within the receiver tank 8. The suction pipe 11 is rotatably connected to the upper end of the receiver tank 8 via a rotary joint (not shown). A bag filter 12 is provided within the receiver tank 8 just before the connection point of the suction pipe 11. The bag filter 12 prevents the load B from being sucked toward the vacuum pump 10.

[0024] An outlet for load B is provided at the bottom end of the receiver tank 8. A chute 14 is connected to this outlet. A rotary feeder 13 is provided on the chute 14. The rotary feeder 13 functions as a vacuum feeder or a delivery device. The rotary feeder 13 controls the discharge flow rate of load B (the amount of load B discharged per unit time) to be approximately constant, and also isolates the vacuum side from the atmosphere side. The side above the rotary feeder is the vacuum side, and the side below is the atmosphere side.

[0025] Load B discharged from the rotary feeder 13 and dropped through the chute 14 is finally delivered to a predetermined delivery point outside the machine. In this embodiment, load B is delivered directly from the chute 14 to a truck 15 waiting on the quay Q. This is not limiting, and for example, load B may be delivered to a ground conveyor installed on the quay Q via the chute 14 and an internal conveyor in that order.

[0026] A loading port 16, which is the inlet for load B, is provided on the side of the lower part of the receiver tank 8. The base or rear end of a horizontal pipe 17, which extends from the rear to the front, is rotatably connected to this loading port 16 via a ball-shaped swing joint 16A. In particular, the horizontal pipe 17 can rotate relative to the receiver tank 8 around a rotation axis C2 that extends horizontally (left and right in the drawing) as shown by arrow b. In other words, the horizontal pipe 17 is connected to the receiver tank 8 so that it can be raised and lowered.

[0027] The base or rear end of a horizontal boom 18 extending from the rear to the front is rotatably connected to the receiver tank 8 via a support shaft 8A (see FIG. 3). The horizontal boom 18 is rotatable relative to the receiver tank 8 around the aforementioned rotation shaft C2 as shown by arrow b. In other words, the horizontal boom 18 is connected to the receiver tank 8 so that it can be raised and lowered, and can be raised and lowered coaxially with the horizontal pipe 17. The horizontal boom 18 may also be connected to a location on the swivel section 2 other than the receiver tank 8 so that it can be raised and lowered.

[0028] The horizontal pipe 17 is extendable in its axial or longitudinal direction as shown by arrow c. The horizontal pipe 17 includes a base-end or rear-side first horizontal pipe 17A that is connected to the receiver tank 8 via a swing joint 16A so that it can be raised and lowered, and a tip-end or front-side second horizontal pipe 17B that is telescopically arranged on the outside or inside (inside in this embodiment) of the first horizontal pipe 17A.

[0029] The horizontal boom 18 is also extendable in its axial or longitudinal direction, as indicated by arrow c. The horizontal boom 18 and the horizontal pipe 17 extend in the same direction. The horizontal boom 18 includes a first horizontal boom 18A at the base end that is connected to the receiver tank 8 so that it can be raised and lowered; a second horizontal boom 18B at the tip end that is telescopically disposed on the outside or inside (outside in this embodiment) of the first horizontal boom 18A; and a plurality of rollers 19 provided on the second horizontal boom 18B to support the second horizontal boom 18B relative to the first horizontal boom 18A.

[0030] The first horizontal boom 18A and the second horizontal boom 18B are connected by a hydraulic cylinder that serves as a horizontal telescopic actuator, i.e., a horizontal telescopic cylinder 18C. By extending and contracting the horizontal telescopic cylinder 18C, the second horizontal boom 18B moves in the telescopic direction relative to the first horizontal boom 18A, thereby extending and contracting the horizontal boom 18. The horizontal telescopic actuator may be formed by an electric cylinder.

[0031] The first horizontal pipe 17A is fixed to the first horizontal boom 18A via a bracket or the like (not shown). The second horizontal pipe 17B is fixed to the second horizontal boom 18B via a bracket or the like (not shown). Therefore, the second horizontal pipe 17B moves in the extension / retraction direction relative to the first horizontal pipe 17A in synchronization with the movement of the second horizontal boom 18B in the extension / retraction direction relative to the first horizontal pipe 17A.

[0032] The second horizontal pipe 17B integrally comprises a straight pipe section 20A at the base end or rear side, which is inserted into the first horizontal pipe 17A, and a curved pipe section 20B connected to the front or front end of the straight pipe section 20A and bent downward by approximately 90°. The base or upper end of a vertical pipe 21 extending up and down is connected to the front or lower end of the curved pipe section 20B via a cylindrical swing joint 22 so as to be rotatable as indicated by arrow e. The rotation axis C3 of the vertical pipe 21 extends horizontally (left and right in the drawing). Therefore, the vertical pipe 21 is connected to the horizontal pipe 17 (specifically, the second horizontal pipe 17B) so as to be tiltable or swingable around the rotation axis C3 as indicated by arrow e.

[0033] The base or upper end of a vertical boom 28 extending downward is rotatably connected to the tip or front end of the horizontal boom 18, particularly the second horizontal boom 18B, via a support shaft 28A (see FIG. 3). The vertical boom 28 is rotatable relative to the second horizontal boom 18B around the aforementioned rotation axis C3 as indicated by arrow e. In other words, the vertical boom 28 is connected to the second horizontal boom 18B so as to be tiltable or swingable around the rotation axis C3 as indicated by arrow e.

[0034] The vertical pipe 21 is extendable in its axial or longitudinal direction as shown by arrow d. The vertical pipe 21 includes a first vertical pipe 21A on the base end or upper end side that is tiltably connected to the second horizontal boom 18B via a swing joint 22, and a second vertical pipe 21B on the tip end or lower end side that is telescopically arranged outside or inside (inside in this embodiment) of the first vertical pipe 21A.

[0035] The first vertical pipe 21A is fixed to the vertical boom 28 via a bracket or the like (not shown). Although not shown, a wire is let out from a winch provided on the second horizontal boom 18B, and the tip of this wire is connected to the second vertical pipe 21B. By winding and letting out the wire with the winch, the second vertical pipe 21B moves in the extension / retraction direction relative to the first vertical pipe 21A, i.e., it moves up and down.

[0036] A nozzle, which is a suction port for load B, is provided at the tip or bottom end of second vertical pipe 21B, and this nozzle is equipped with a scraping device 27. The scraping device 27 is a device that makes suction easier by breaking up or scraping off surrounding load B before the nozzle sucks up load B. This scraping device 27 can be, for example, a screw type as described in Patent Document 2 or a rotating plate type as described in Patent Document 3.

[0037] The unloader 100 also includes a tilt actuator that drives the vertical boom 28 to tilt the vertical boom 28. The tilt actuator in this embodiment is formed by a tilt cylinder 26 that is a hydraulic cylinder. The second horizontal boom 18B and the vertical boom 28 are connected by the tilt cylinder 26, and the extension and contraction of the tilt cylinder 26 actively tilts the vertical boom 28 relative to the second horizontal boom 18B. The tilt actuator may also be formed by an electric cylinder.

[0038] The vertical boom 28 and the vertical pipe 21 have a common central axis C4 extending in their axial or longitudinal directions, and this central axis C4 is perpendicular to the aforementioned rotation axis C3. The vertical boom 28 and the vertical pipe 21 tilt back and forth from a reference position where this central axis C4 is parallel to the vertical direction. Normally, the vertical boom 28 and the vertical pipe 21 are positioned at the reference position and in a vertical state.

[0039] Similarly, the horizontal boom 18 also has a central axis C5 extending in its axial or longitudinal direction. The horizontal boom 18 rotates or rises and falls up and down, with the position where this central axis C5 is horizontal as a reference position. As shown in Fig. 3, if the rotation angle about the rotation axis C2 when the central axis C5 is in the reference position is taken as 0°, and the rotation angle when the central axis C5 points upward from the reference position is taken as +, and the rotation angle when the central axis C5 points downward from the reference position is taken as -, the horizontal boom 18 can rotate within a range of, for example, -10° to +30°.

[0040] The swivel section 2 is provided with a hoisting device for raising and lowering the horizontal boom 18. The hoisting device is formed by a winch 25, and a wire 25A that is let out from the winch 25 is wound around a pulley 25B that is provided on the swivel section 2 and a pulley 25C that is provided on the first horizontal boom 18A. When the winch 25 takes up the wire 25A, the horizontal boom 18 is raised, and when the winch 25 lets out the wire 25A, the horizontal boom 18 is lowered.

[0041] During cargo handling operations, the vertical pipe 21 is inserted into the hold K, and the scraping device 27 is placed on top of the cargo B in the hold K. Then, the vacuum pump 10 and the scraping device 27 are activated, and the cargo B in the hold K is broken down and scraped up by the scraping device 27 and sucked out through the nozzle.

[0042] The sucked load B passes through vertical pipe 21, swing joint 22, horizontal pipe 17, and swing joint 16A in this order and enters receiver tank 8. The air in receiver tank 8 passes through bag filter 12 and suction pipe 11 in this order and reaches vacuum pump 10. Meanwhile, load B in receiver tank 8 falls, passes from the outlet through chute 14 to rotary feeder 13, and is sent out at a flow rate controlled by rotary feeder 13. It is then discharged through chute 14 to truck 15.

[0043] Next, the structure around the horizontal boom 18 will be described in more detail with reference to FIGS.

[0044] As shown in the figure, the second horizontal pipe 17B is slidably inserted inside the first horizontal pipe 17A, and a seal member 30 is disposed between the second horizontal pipe 17B and the first horizontal pipe 17A to prevent leakage of the load B.

[0045] A transition section 20C is provided at the connection between the straight pipe section 20A and the curved pipe section 20B in the second horizontal pipe 17B. The transition section 20C is the section where the cross-sectional shape transitions from the rectangular cross-sectional shape of the curved pipe section 20B to the circular cross-sectional shape of the straight pipe section 20A.

[0046] The horizontal boom 18 is disposed below and parallel to the first horizontal pipe 17A and the straight pipe section 20A of the second horizontal pipe 17B. The lower end of a bracket 31 extending in the vertical direction is fixed to the base end of the first horizontal boom 18A in order to offset the horizontal boom 18 downward relative to the first horizontal pipe 17A. The upper end of the bracket 31 is connected to the receiver tank 8 via the support shaft 8A described above.

[0047] The second horizontal boom 18B is fitted to the outside of the tip of the first horizontal boom 18A so as to be movable in the axial direction of the central axis C5. As shown in Fig. 4, the first horizontal boom 18A and the second horizontal boom 18B have a rectangular cross-sectional shape and are formed into a tubular shape. The tip of the second horizontal boom 18B is tapered as shown in Fig. 3 and is connected to the support shaft 28A mentioned above.

[0048] Two horizontal telescopic cylinders 18C are provided, one on each side, and are arranged parallel to the central axis C5 at positions above and to the side of the first horizontal boom 18A and below and to the side of the first horizontal pipe 17A. The base end of the horizontal telescopic cylinder 18C is attached to the middle of the first horizontal boom 18A via a pin 32A and a bracket 32B. The tip end of the piston rod of the horizontal telescopic cylinder 18C is attached to the rear end of the second horizontal boom 18B via a pin 33A and a bracket 33B.

[0049] The base end or upper end of the vertical boom 28 is tapered as shown in FIG. 3 and is connected to the support shaft 28A described above.

[0050] The tilting cylinder 26 is disposed below the second horizontal boom 18B and is inclined with respect to the central axes C4 and C5. Two tilting cylinders 26 are provided, one on each side, but only the left one is shown in FIG.

[0051] The base end of tilt cylinder 26 is attached to the underside of the rear end of second horizontal boom 18B via pin 34A and bracket 34B. The tip end of tilt cylinder 26 is attached to the rear surface of the upper end of vertical boom 28 via pin 35A and bracket 35B.

[0052] The vertical boom 28 is also formed in a tubular shape with a square cross section. The vertical pipe 21 is disposed in the center of the cross section of this vertical boom 28. In this embodiment, the connection portion of the vertical pipe 21 between the first vertical pipe 21A and the second vertical pipe 21B is located below the vertical boom 28.

[0053] 4 and 5 show the cross-sectional structure of the horizontal telescopic connection portion of the horizontal boom 18, i.e., the connection portion between the first horizontal boom 18A and the second horizontal boom 18B. Figures 4 and 5 are cross-sectional views taken along lines IV-IV and VV in Figure 3, respectively.

[0054] 4, the first horizontal boom 18A and the second horizontal boom 18B have a quadrilateral (specifically, substantially square) cross-sectional shape. The cross-sectional size of the second horizontal boom 18B is larger than the cross-sectional size of the first horizontal boom 18A, and the second horizontal boom 18B is fitted to the radially outer side of the first horizontal boom 18A based on the central axis C5.

[0055] The first horizontal boom 18A is formed by assembling steel plates by welding or the like into a cylindrical shape with a square cross section. The first horizontal boom 18A integrally comprises an upper plate 40U that forms the upper surface of the first horizontal boom 18A, a bottom plate 40D that forms the lower surface of the first horizontal boom 18A, a left side plate 40L that forms the left side of the first horizontal boom 18A, and a right side plate 40R that forms the right side of the first horizontal boom 18A. The upper plate 40U and the bottom plate 40D protrude slightly in the left-right direction relative to the left side plate 40L and the right side plate 40R.

[0056] The second horizontal boom 18B is also formed by assembling steel plates or steel materials by welding or the like so as to form a cylindrical shape with a square cross section. The second horizontal boom 18B is formed by connecting and fixing an outer cylinder 41 located on the radially outer side of the center axis C5 to an inner cylinder 42 located on the radially inner side with a connecting member (not shown). The first horizontal boom 18A is arranged coaxially with the inner cylinder 42, with a gap therebetween.

[0057] A plurality of rollers 19 (16 in this embodiment) are arranged in the gap between the inner cylinder 42 and the first horizontal boom 18A. The rollers 19 are attached to the inner surface of the inner cylinder 42. The rollers 19 have wheels 43 that form a support surface, roller shafts 44 that rotatably support the wheels 43, and a pair of roller bases 45 that support the roller shafts 44. The roller bases 45 are attached to the second horizontal boom 18B, and the wheels 43 abut against the first horizontal boom 18A.

[0058] As shown in Figures 4 and 5, the multiple rollers 19 include an upper surface roller 19U that abuts against the upper surface of the first horizontal boom 18A, a lower surface roller 19D that abuts against the lower surface of the first horizontal boom 18A, a left side surface roller 19L that abuts against the left side surface of the first horizontal boom 18A, and a right side surface roller 19R that abuts against the right side surface of the first horizontal boom 18A.

[0059] The upper surface rollers 19U are provided on the left and right sides at the same axial position and abut against both left and right ends of the upper surface of the first horizontal boom 18A. In particular, the upper surface rollers 19U abut against the upper plate 40U at positions on extensions of the left side plate 40L and the right side plate 40R.

[0060] Similarly, the lower surface rollers 19D are provided on the left and right sides at the same axial position and abut against both the left and right ends of the lower surface of the first horizontal boom 18A. The lower surface rollers 19D abut against the bottom plate 40D at positions on the extension lines of the left side plate 40L and the right side plate 40R.

[0061] The left side rollers 19L are provided at the same axial position, one above the other. Here, the left side of the first horizontal boom 18A is formed by the surface of the left side plate 40L and the left end faces of the top plate 40U and bottom plate 40D. The upper and lower left side rollers 19L abut against the left end faces of the top plate 40U and bottom plate 40D, respectively.

[0062] Similarly, right side rollers 19R are provided at the same axial position, one above the other. The right side of the first horizontal boom 18A is formed by the surface of the right side plate 40R and the right end faces of the top plate 40U and bottom plate 40D. The upper and lower right side rollers 19R abut against the right end faces of the top plate 40U and bottom plate 40D, respectively.

[0063] 2 and 3, the pair of left and right upper surface rollers 19U, the pair of left and right lower surface rollers 19D, the pair of upper and lower left side surface rollers 19L, and the pair of upper and lower right side surface rollers 19R are provided at two locations, the rear side (base end side) and the front side (tip end side). Therefore, two of these rollers 19U, 19D, 19L, and 19R are provided at each of the rear side (base end side) and the front side (tip end side).

[0064] In this embodiment, a pair of upper and lower left side rollers 19L and a pair of upper and lower right side rollers 19R are provided at the rearmost end of the second horizontal boom 18B. Further, a pair of left and right upper rollers 19U and a pair of left and right lower rollers 19D are provided near and in front of these rollers 19L and 19R.

[0065] A pair of upper surface rollers 19U and a pair of lower surface rollers 19D are provided slightly forwardly and at a distance from these rollers 19U and 19D. Near and forwardly of these rollers 19U and 19D, a pair of upper and lower left side rollers 19L and a pair of upper and lower right side rollers 19R are provided.

[0066] When the second horizontal boom 18B moves in the extension / retraction direction relative to the first horizontal boom 18A, the above-mentioned multiple rollers 19 abut against the first horizontal boom 18A like linear bearings to support the second horizontal boom 18B, and at the same time, the rotation of the wheels 43 allows the second horizontal boom 18B to move smoothly.

[0067] As can be seen from the above description, the unloader 100 of this embodiment has the following functions. (1) A traveling function by the traveling part 1. (2) Rotation function around the rotation axis C1 by rotation of the rotating part 2 (see arrow a). (3) A raising and lowering function by using the winch 25 to raise and lower the horizontal boom 18 and horizontal pipe 17 around the rotation axis C2 (see arrow b). (4) Horizontal telescopic function by extending and retracting the horizontal boom 18 and horizontal pipe 17 (see arrow c). (5) Vertical extension function by extending and retracting the vertical tube 21 (see arrow d). (6) A tilting function by tilting the vertical boom 28 and the vertical pipe 21 around the rotation axis C3 by the tilting cylinder 26 (see arrow e).

[0068] Next, advantages of this embodiment will be described in comparison with a comparative example. Note that identical or corresponding components will be denoted by the same reference numerals whenever possible.

[0069] Here, as the first comparative example, we consider a pneumatic unloader such as that described in Patent Document 1, which has (1) a traveling function, (2) a turning function, (3) a raising and lowering function, (4) a horizontal extension function, and (5) a vertical extension function.

[0070] However, in the first comparative example (4) horizontal telescopic function, only the horizontal pipe is telescopic, and the horizontal boom is not telescopic. Instead, a carriage is provided on the horizontal boom that runs along it, and the second horizontal pipe and the vertical pipe of the horizontal pipe are supported by the carriage and move together with the carriage.

[0071] (6) Regarding the tilting function, in the first comparative example, there is no vertical boom, and the vertical pipe is simply connected to the horizontal pipe so that it can tilt. Therefore, the vertical pipe simply hangs down and is maintained in a vertical position. There is no tilting actuator that actively tilts the vertical pipe. Therefore, the vertical pipe simply tilts passively in response to the rise and fall of the horizontal boom and horizontal pipe so that it always maintains a vertical position.

[0072] The upper and lower ends of the vertical tube are provided with flexible sections made of rubber or other materials that can bend flexibly. This helps to cushion the impact when the vertical tube collides with an external object. There is no scraping device at the lower end of the vertical tube, only a suction nozzle.

[0073] In this embodiment, the vertical pipe 21 does not have such a flexible portion, and the entire vertical pipe 21 is considered to be a substantially rigid body.

[0074] Next, as a second comparative example, we consider a pneumatic unloader equipped with (1) a traveling function, (2) a swivel function, (3) a hoisting function, (5) a vertical telescopic function, and (6) a tilting function. This second comparative example does not have the (4) horizontal telescopic function. The vertical pipe does not have a flexible section, and a scraping device is located at the bottom end of the vertical pipe.

[0075] Below, we will explain the loading and unloading methods when using the unloaders of the first comparative example, the second comparative example, and this embodiment. Here, we will assume fixed-point loading and unloading. Fixed-point loading and unloading refers to (1) loading and unloading performed while the traveling unit 1 is held in a fixed position without using the traveling function. For example, if the unloading position on the ground is determined to be one location or multiple discontinuous locations, the traveling unit 1 may be stopped and held in a fixed position to perform loading and unloading. This loading and unloading is called fixed-point loading and unloading.

[0076] 6 shows a loading method using the unloader of the first comparative example. (A1) and (B1) are a cross-sectional view and a plan view showing the initial state after loading has started. (A2) and (B2) are a cross-sectional view and a plan view showing the state after a certain time has elapsed.

[0077] As shown in (A1) and (B1), a load B is stored in a hold K of a ship S, and a nozzle 36 at the tip of the vertical pipe 21 is landed at a predetermined point P1 of the load B. In the illustrated example, as shown in (B1), the nozzle 36 is positioned diagonally forward and left with respect to the rotation axis C1, that is, the horizontal boom 18 (shown in a simplified form) extends diagonally forward and left from the rotation section 2.

[0078] Suction then begins, and load B is sucked into the vertical pipe 21 from the nozzle 36. As a result, load B decreases directly below the nozzle 36, and the height of load B gradually decreases, so the height of the nozzle 36 is also gradually lowered accordingly. At this time, at least one of the vertical extension and contraction functions and the elevation function is used. An inverted cone-shaped hole 38 with a certain angle of repose is formed around the nozzle 36.

[0079] As the loading operation proceeds in this manner, the height position of the nozzle 36 gradually decreases, and the outer diameter and depth of the hole 38 around the nozzle 36 increase, as shown in (A2) and (B2).

[0080] Once cargo handling at point P1 is completed in this manner, the nozzle 36 is raised using at least one of the vertical extension function and the elevation function. Then, the horizontal extension function and the rotation function are used to position the nozzle 36 directly above another distant point P2. Next, the nozzle 36 is landed at point P2 using at least one of the vertical extension function and the elevation function, and suction is performed. This process is repeated to carry out cargo handling.

[0081] Although not shown, heavy machinery may be placed inside the hold K, and the load B may be transported toward the nozzle 36 from an edge or corner of the hold K where it is difficult to place the nozzle 36. At this time, the heavy machinery may also be used to fill holes 38 that may occur during loading and unloading.

[0082] In this way, the cargo handling method of the first comparative example involves piercing the nozzle 36 like a needle into different points of the cargo B one after another, sequentially digging holes 38 and proceeding with suction. For convenience, this method of cargo handling is called needle piercing handling.

[0083] Next, with reference to FIG. 7, a cargo handling method when using the unloader of the second comparative example will be described.

[0084] As shown in (A1) and (B1), in the initial stage after the start of loading and unloading, the scraping device 37 at the tip of the vertical pipe 21 is landed at a predetermined point P1 of the load B. At this time, it is assumed that the vertical pipe 21 is in a vertical state.

[0085] Next, the scraping device 37 is operated and suction begins, and the load B is scraped and sucked into the vertical pipe 21. Immediately after suction begins, the scraping part at the tip of the scraping device 37 (the screw in the case of a screw type, or the rotating plate in the case of a rotating plate type) sinks into the load B. This maximizes the suction capacity. When sinking, the height position of the scraping device 37 may be lowered using at least one of the vertical extension function and the elevation function.

[0086] After this, as shown in (B2), with the scraping device 37 sunk to a depth approximately equal to the height of the scraping part (for example, about 50 cm), the height position of the scraping device 37 is maintained, and suction is performed while rotating the scraping device 37 using the rotation function. In the figure, suction is performed in an arc from point P2, which is located counterclockwise from the initial point P1, to point P3, which is located clockwise from the initial point P1.

[0087] In this way, like a vacuum cleaner, suction is performed while the suction port (in this example, the scraping device 37) is moved horizontally. After suction, an arc-shaped groove 39 is formed on the surface of the load B, and the bottom of the groove 39 is a horizontal plane. Therefore, this type of loading is called flat loading. This type of flat loading is possible because the scraping device 37 successively scrapes and scrapes the load B as it moves horizontally.

[0088] On the other hand, in the first comparative example, there is no scraping device, and the vertical pipe 21 bends at the flexible portion when moved horizontally, so it is practically impossible to carry out such flat loading.

[0089] When comparing the screw type and rotary plate type scraping devices 37, the screw type is more suitable for flat surface loading and unloading because the screw type can increase the suction width perpendicular to the direction of movement.

[0090] In the second comparative example, the loading range can be further expanded by using the tilting function.

[0091] That is, as shown in (B3), for example, the tilting function can be used to move the scraping device 37 from point P2 to point P2A, that is, the scraping device 37 can be moved radially outward from the pivot axis C1.

[0092] During this tilting, at least one of the vertical telescopic function and the elevation function may be used to maintain a constant height position of the scraping device 37. For example, when moving from point P2 to point P2A, the vertical telescopic function may be used to extend the vertical pipe 21, or the elevation function may be used to lower the vertical pipe 21.

[0093] From this point P2A, the scraping device 37 is moved to a point P3A using the turning function, whereby another adjacent arc-shaped groove 39A can be formed radially outward of the groove 39.

[0094] Similarly, for example, from point P2, the tilting function can be used to move the scraping device 37 to point P2B, i.e., move the scraping device 37 radially inward around the pivot axis C1.

[0095] During this tilting, at least one of the vertical telescopic function and the elevation function may be used to maintain a constant height position of the scraping device 37. For example, when moving from point P2 to point P2B, the vertical telescopic function may be used to extend the vertical pipe 21, or the elevation function may be used to lower the horizontal pipe 17.

[0096] From this point P2B, the scraping device 37 is moved to a point P3B using the turning function, whereby another adjacent arc-shaped groove 39B can be formed radially inward of the groove 39.

[0097] Finally, the loading and unloading range can be defined as a substantially fan-shaped or partially arc-shaped area having points P2A, P2B, P3B, and P3A as vertices.

[0098] The flat loading operation of the second comparative example has the following advantages over the needle-stick loading operation of the first comparative example.

[0099] That is, in the needle-stick handling of the first comparative example, the worker must visually select a horizontal, flat portion on the surface of the load B and land the nozzle 36 there. Once the handling has progressed to a certain extent, the load B will have many holes 38, making it difficult to find such a horizontal portion. Furthermore, even if a horizontal portion is found, its area is relatively small. This requires the worker to have sufficient skills. Furthermore, in recent years, due to factors such as the aging of workers and labor shortages, automation of the loading and unloading process has been considered. However, because the work itself requires skill, automation is difficult with the needle-stick handling of the first comparative example.

[0100] On the other hand, with the flat loading operation of the second comparative example, it is not necessary to drill holes in the load B, and the surface of the load B can be generally maintained in a horizontal and flat state more easily than in the first comparative example. Therefore, it is easier to select the loading location and land the scraping device 37, and the worker does not need to be skilled. Furthermore, because the work does not require skill, automation can be carried out relatively easily.

[0101] In the second comparative example, even if a hole is made in the load B, the tilting function can tilt the vertical pipe 21, and the scraping device 37 can be inserted obliquely into the slope of the hole. However, in the second comparative example, the vertical pipe 21 is basically simply hanging down vertically, making such oblique insertion difficult.

[0102] However, the second comparative example has the following drawbacks.

[0103] The vertical pipe 21 has the least energy loss when it is in a vertical position. When the vertical pipe 21 is tilted from the vertical position, the energy loss increases compared to when it is in a vertical position. This leads to a decrease in the load transport capacity of the unloader.

[0104] In the second comparative example, the tilting function is used exclusively when expanding the cargo handling range, so suction and cargo handling are performed with the vertical pipe 21 tilted, which increases energy loss and reduces cargo transport capacity.

[0105] In this embodiment, in order to overcome this drawback, the above-described configuration is adopted and the following loading and unloading method is carried out.

[0106] FIG. 8 shows a cargo handling method when using the unloader of this embodiment.

[0107] As shown in (A1) and (B1), at the beginning of the loading operation, the scraping device 37 at the tip of the vertical pipe 21 is placed on a predetermined point P1 of the load B. The vertical pipe 21 is in a vertical state.

[0108] Next, the scraping device 37 is operated and suction begins, sucking the load B into the vertical pipe 21. Immediately after suction begins, the scraping part at the tip of the scraping device 37 (the screw in the case of a screw type, or the rotating plate in the case of a rotating plate type) sinks into the load B. This maximizes the suction capacity. When sinking, the height position of the scraping device 37 may be lowered using at least one of the vertical extension function and the elevation function.

[0109] After this, as shown in (B2), the height position of the scraping device 37 is maintained with the scraping device 37 sunk to a depth approximately equal to the height of the scraping part (for example, about 50 cm), and suction is performed while rotating the scraping device 37 using the rotation function. In the figure, suction is performed in an arc from point P2, which is a distance from the initial point P1 in the counterclockwise direction on the figure, to point P3, which is a distance from the initial point P1 in the clockwise direction on the figure. This creates an arc-shaped groove 39 on the surface of the load B, and flat loading is performed.

[0110] Next, while continuing suction, the horizontal extension function is used to move the scraping device 37 closer to the pivot axis C1 by a distance (called the shift distance) equal to the size of the scraping device 37 in a plan view. In other words, the radial distance from the pivot axis C1 to the scraping device 37 is shortened by the shift distance. This moves the scraping device 37 from point P3 to point P3A.

[0111] Then, from point P3A, the scraping device 37 is rotated in the opposite direction (counterclockwise) using the rotation function and moved to point P2A, thereby forming an arc-shaped groove 39A adjacent to the previously formed arc-shaped groove 39 on the radially inner side.

[0112] By repeating this circumferential and radial movement around the pivot axis C1 and advancing suction in a zigzag pattern, the handling range can be expanded and a roughly fan-shaped or partial arc-shaped area can be handled. In the illustrated example, the scraping device 37 moves in a zigzag pattern from points P2, P3, P3A, P2A, P2B, and P3B. The roughly fan-shaped or partial arc-shaped area (referred to as a first area A1) with points P2, P2B, P3B, and P3 as its vertices is the handling range.

[0113] In cargo handling using this horizontal telescopic function, the vertical pipe 21 is always kept in a vertical state. Therefore, unlike the second comparative example, it is possible to prevent an increase in energy loss and a decrease in transport capacity.

[0114] In the illustrated example, when the radially innermost arc-shaped groove 39B (arc-shaped groove 39B between points P2B and P3B) in the first area A1 is formed, the horizontal boom 18 and horizontal pipe 17 are in the maximum contracted state. Therefore, it is not possible to form another arc-shaped groove radially inward of the arc-shaped groove 39B using the horizontal telescopic function. In other words, it is not possible to load cargo in the area in front of the first area A1 when viewed from the rotation axis C1, and there is a limit to the expansion of the loading range using the horizontal telescopic function.

[0115] Therefore, in this embodiment, the tilting function is used to load the area in front of the first area A1. This will be explained below.

[0116] As shown in the figure, in this embodiment, the tilting function is used to handle cargo in a second area A2 that is radially inward or forward of the first area A1, which could not be handled using only the horizontal telescopic function.

[0117] At this time, first, using the tilting function, the scraping device 37 is moved closer to the pivot axis C1 by the shift distance from the midpoint P4B of the arc-shaped groove 39B between points P2B and P3B (moved in the contraction direction of the horizontal extension / contraction). In other words, the radial distance from the pivot axis C1 to the scraping device 37 is changed from the distance from the pivot axis C1 to the midpoint P4B to a distance shorter by the shift distance. This moves the scraping device 37 from point P4B to point P4C. As described above, during tilting, the height position of the scraping device 37 may be maintained constant using at least one of the vertical extension / contraction function and the elevation / deformation function.

[0118] Next, the rotation function is used to rotate the scraping device 37 clockwise in the drawing, and the scraping device 37 is moved from point P4C to point P3C. As a result, another adjacent arc-shaped groove 39C can be formed radially inward of the arc-shaped groove 39B between points P2B and P3B.

[0119] Next, while continuing suction, the tilt function is used to move the scraping device 37 closer to the pivot axis C1 by the shift distance, thereby moving the scraping device 37 from point P3C to point P3D.

[0120] Next, using the turning function, the scraping device 37 is turned counterclockwise from point P3D to point P4D, which is located radially inward from point P4B by the shift distance, thereby forming another adjacent arc-shaped groove 39D radially inward of the arc-shaped groove 39C between points P4C and P3C.

[0121] In the illustrated example, this forms the second area A2 and ends the loading operation. However, if necessary, the above-mentioned radial movement (tilting) and circumferential movement (turning) may be repeated to further advance the suction in a zigzag pattern and expand the loading area.

[0122] In this way, the tilting function can be used to perform cargo handling up to the second area A2, which could not be handled using only the horizontal telescopic function, and the cargo handling range can be expanded.

[0123] Here, we compare this embodiment with the second comparative example. In this embodiment, cargo handling in the first area A1 is performed using the horizontal telescopic function. On the other hand, cargo handling in the first area A1 itself is also possible in the second comparative example by using the tilting function instead of the horizontal telescopic function.

[0124] However, when the tilting function is used as in the second comparative example, the vertical pipe 21 is used at an angle as described above, which leads to an increase in energy loss and a decrease in transport capacity.

[0125] In contrast to this, in this embodiment, cargo handling can be performed while the vertical pipe 21 is kept in a vertical state, which is more advantageous than the second comparative example.

[0126] On the other hand, in the second comparative example, cargo handling cannot be performed outside the tiltable range in the radial direction. Therefore, when the second area A2 is outside the tiltable range, cargo handling cannot be performed in the second area A2 in the second comparative example.

[0127] In contrast, in this embodiment, loading can be performed using the tilting function even outside the horizontally extendable range. Therefore, loading in the second area A2 is possible, and the loading range can be expanded compared to the second comparative example. Furthermore, loading using the tilting function is performed as a supplementary or additional operation in an area outside the horizontally extendable range. Therefore, the increase in energy loss and the decrease in transport capacity caused by using the tilting function can be minimized.

[0128] Furthermore, if cargo is to be loaded in the second area A2 outside the horizontal extension range in the first comparative example, it is possible to do so by using the traveling function or by moving the ship, but this is not possible with fixed-point loading. If the traveling function is used to move the unloader or the ship, cargo cannot be loaded during the movement, and loading efficiency drops significantly.

[0129] It is impossible to apply the horizontal telescopic function of the first comparative example to the second comparative example. This is because the second comparative example assumes that the movement of the vertical pipe in the radial direction around the pivot axis C1 is performed solely by the elevation function and the tilting function. Furthermore, it is also impossible to apply the tilting function of the second comparative example to the first comparative example. This is because the first comparative example loads and unloads by inserting the vertical pipe in a vertical position into the load, and does not, in principle, assume that the vertical pipe will be unloaded in an inclined position.

[0130] In the example shown in Figure 8 (B2), the tilting function is used to expand the handling range to a second area A2, which is radially inward from the first area A1. However, as shown in Figure 8 (B3), the tilting function may also be used to expand the handling range to a third area A3, which is radially outward from the first area A1. In this case, the tilting direction is reversed from the previous example.

[0131] That is, when forming the radially outermost arc-shaped groove in the first area A1 (arc-shaped groove 39 between points P2 and P3), the horizontal boom 18 and horizontal pipe 17 are in the maximum extension state. At this time, for example, using the tilt function, the scraping device 37 is moved away from the pivot axis C1 by the shift distance from point P2 (moved in the extension direction of the horizontal telescopic mechanism), and the scraping device 37 enters the third area A3. This allows loading and unloading in the third area A3 to begin, and then the scraping device 37 is moved in a zigzag pattern to proceed with suction, as in the previous example.

[0132] In this way, in this embodiment, the cargo handling range can be expanded to an area outside the expandable range of the horizontal extension function.

[0133] In the above example, a zigzag pattern loading method was described in which the scraping device 37 was rotated, then moved a shift distance in the radial direction, and then rotated in the opposite direction again, repeating this process. However, the movement pattern of the scraping device 37 may be other patterns. For example, the scraping device 37 may be moved in the radial direction, then moved a shift distance in the circumferential direction, and then moved in the opposite radial direction again, repeating this process.

[0134] As described above, the unloader 100 of this embodiment can realize the following loading and unloading method. (1) A loading and unloading method including a tilting suction step in which the horizontal boom 18 and horizontal pipe 17 are fully contracted or extended, and the vertical boom 28 and vertical pipe 21 are tilted in the contracting or extending direction by the tilting cylinder 26, and load B is sucked in. (2) A cargo handling method according to (1), in which the rotating part 2 is rotated during the tilting suction step.

[0135] During flat loading in this embodiment, loading proceeds while the scraping device 37 and the vertical pipe 21 push the load B horizontally. This reaction force is transmitted from the vertical pipe 21 to the second horizontal boom 18B and the first horizontal boom 18A, and acting forces such as a torsional moment (for example, a torsional moment about the central axis C5) and a bending moment are transmitted from the second horizontal boom 18B to the first horizontal boom 18A. In other words, these acting forces are applied to the connection between the second horizontal boom 18B and the first horizontal boom 18A, and with this acting force applied, the second horizontal boom 18B moves relative to the first horizontal boom 18A.

[0136] To ensure smooth and easy movement of the second horizontal boom 18B, this embodiment employs the above-described connection structure between the first horizontal boom 18A and the second horizontal boom 18B. That is, the second horizontal boom 18B is supported by a plurality of rollers 19, particularly the upper surface rollers 19U, the lower surface rollers 19D, the left side surface rollers 19L, and the right side surface rollers 19R. Therefore, even if a torsional moment or other force is applied to these rollers 19U, 19D, 19L, and 19R, the wheels 43 of the rollers 19 rotate, allowing smooth movement of the second horizontal boom 18B. Therefore, the connection structure of this embodiment is highly suitable for the unloader 100 of this embodiment.

[0137] In particular, since two of these rollers 19U, 19D, 19L, and 19R are provided on the front and rear sides, the second horizontal boom 18B is more firmly supported relative to the first horizontal boom 18A, and at the same time, the movement of the second horizontal boom 18B can be made smoother.

[0138] Although the embodiments of the present disclosure have been described in detail above, various embodiments and modifications of the present disclosure are conceivable.

[0139] (1) For example, the number of horizontally telescopic cylinders 18C may be one, or may be three or more.

[0140] (2) The number of tilting cylinders 26 may be one, or may be three or more.

[0141] (3) The hoisting device for hoisting the horizontal boom 18 is not limited to the winch 25, and may be formed by, for example, a hydraulic cylinder that connects the horizontal boom 18 and the receiver tank 8.

[0142] (4) The cross-sectional shape of the first horizontal boom 18A and the second horizontal boom 18B may be a shape other than a rectangle, for example, a circle.

[0143] The embodiments of the present disclosure are not limited to the above-described embodiments, and all modifications, applications, and equivalents encompassed within the spirit of the present disclosure as defined by the claims are included in the present disclosure. Therefore, the present disclosure should not be interpreted as being limited, and can be applied to any other technology that falls within the spirit of the present disclosure. [Explanation of symbols]

[0144] 1 base 2 Swivel section 8 Receiver Tank 17 Horizontal pipe 18 horizontal boom 18A First horizontal boom 18B Second horizontal boom 18C Horizontal telescopic cylinder 19 Laura 19U Upper roller 19D Lower roller 19L Left side roller 19R Right side roller 21 Vertical tube 26 Tilting cylinder 27 Scraping device 28 Vertical Boom 100 Pneumatic Unloader

Claims

1. a base installed on land so as to be movable; a swivel unit rotatably provided on the base unit; a receiver tank provided in the swivel section; a telescopic horizontal boom connected to the rotating section or the receiver tank so as to be able to be raised and lowered; an extendable horizontal pipe connected to the receiver tank in a manner that allows it to rise and fall; a vertical boom tiltably connected to the horizontal boom; a telescopic vertical pipe tiltably connected to the horizontal pipe; a tilt actuator that drives the vertical boom to tilt the vertical boom; A pneumatic unloader comprising:

2. The tilt actuator is formed by a hydraulic cylinder or an electric cylinder that connects the horizontal boom and the vertical boom.

2. The pneumatic unloader according to claim 1.

3. a horizontal telescopic actuator for extending and retracting the horizontal boom, The horizontal telescopic actuator is formed by a hydraulic cylinder or an electric cylinder.

2. The pneumatic unloader according to claim 1.

4. The horizontal boom is a first horizontal boom on a base end side connected to the rotating section or the receiver tank so as to be able to be raised and lowered; a second horizontal boom on a tip side that is telescopically disposed on the outer side or the inner side of the first horizontal boom; a plurality of rollers provided on the second horizontal boom to support the second horizontal boom relative to the first horizontal boom; Equipped with 2. The pneumatic unloader according to claim 1.

5. The plurality of rollers include: an upper surface roller that contacts an upper surface of the first horizontal boom; a lower surface roller that contacts the lower surface of the first horizontal boom; a left side surface roller that abuts against the left side surface of the first horizontal boom; a right side surface roller that abuts against a right side surface of the first horizontal boom; Contains 5. A pneumatic unloader according to claim 4.

6. The upper surface roller, the lower surface roller, the left side surface roller, and the right side surface roller are provided in pairs on the base end side and the tip end side.

6. A pneumatic unloader according to claim 5.

7. The first horizontal boom and the second horizontal boom have a rectangular cross-sectional shape.

5. A pneumatic unloader according to claim 4.

8. A scraping device is provided at the nozzle at the tip of the vertical pipe.

2. The pneumatic unloader according to claim 1.

9. A cargo handling method using the pneumatic unloader according to claim 1, a tilting and suction step for suctioning a load in a state in which the horizontal boom and the horizontal pipe are fully contracted or extended and the vertical boom and the vertical pipe are tilted in the contracting or extending direction by the tilting actuator; A cargo handling method characterized by:

10. The rotating unit is rotated during the tilting and suction step. The method of handling cargo according to claim 9.

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