7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 1/20

!"# %"&'()*)+# ), +-./ /0&1"% %#2" 3'42 0(*).5"-!" $%&'( )*%+%, -&./%0 1&2.3+"(43 5+26!(+3.*(37( 84%9: 1&2.3+"(43 5+2,

1&2(%

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 2/20

Key Technology of

Grab Bucket Type Ship Unloader 

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 3/20

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 

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 4/20

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

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 5/20

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

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 6/20

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

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 7/20

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

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 8/20

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

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 9/20

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

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 10/20

(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

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 11/20

(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

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 12/20

3. Semi-Automatic Operation(3) Actual Unloading Work

(i) Manual Operation

KEY TECHNOLOGY

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 13/20

3. Semi-Automatic Operation(3) Actual Unloading Work

(ii) Semi-Automatic Operation

KEY TECHNOLOGY

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 14/20

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

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 15/20

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

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 16/20

Operation status Diagram

Failure record Failure analysis

Various Functions

4. Monitoring and Maintenance Assistance System

KEY TECHNOLOGY

KEY TECHNOLOGY

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 17/20

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

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 18/20

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

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 19/20

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

7/26/2019 Obata_grab Bucket Type Ship Unloader

http://slidepdf.com/reader/full/obatagrab-bucket-type-ship-unloader 20/20

Thank you very m uch

for your attention

ANUPAM-MHI INDUSTRIES LIMITED