JP2003252446A - Stack base discharging method of stack by reclaimer - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To stabilize an operation and to reduce a load of an operator by automating a stack base discharging work of a stack during interruption of discharging from the starting of landing of a bucket to a completion of discharging. <P>SOLUTION: When a tip end A of the stack base is defined as an origin, a yard length direction is adopted as an x axis, a yard width direction is adopted as a y axis, a height direction is adopted as a z axis and a coordinate of a foil initial biting point C<SB>1</SB>at the time of starting of discharging is defined as (x<SB>1</SB>, y<SB>1</SB>, z<SB>1</SB>), x<SB>1</SB>is determined by the following formula, a height of the uppermost stage bench at x<SB>1</SB>is determined as z<SB>1</SB>, an A side end of the uppermost stage bench is determined as y<SB>1</SB>, the wheel is bitten and after the A side is subsequently discharged. The wheel initial biting point of the lower stage bench is made to a point where the wheel is positioned at the A side end of the lower stage bench at the same boom turning angle as when the wheel is positioned at C<SB>1</SB>point. It can be made to a point where the A side end of the lower stage bench is positioned at the same x<SB>1</SB>as when the wheel is positioned at C<SB>1</SB>point. x<SB>1</SB>=(1+k<SB>1</SB>)a+k<SB>2</SB>(k<SB>1</SB>and k<SB>2</SB>: constants determined by a width and a structure of the wheel). <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention automatically dispenses the bottoms of piles of suspended bulks by a reclaimer when the bulks of these bulks are dispensed by a reclaimer in a storage yard for bulk items such as ores and coal. It is about the method.

[0002]

2. Description of the Related Art In a storage yard such as a raw material yard of a steel mill, piles of bulk ores such as ores and coal are stacked by a stacker and discharged by a reclaimer. FIG. 1 shows a part of a storage yard, in which a large number of yards 1 are provided in parallel with each other in the vertical direction of the paper, and a pile 2 is formed on the yard 1.
Are formed. Roadbeds 3 and 4 are provided between the yard 1, a stacker 5 travels on the roadbed 3, and a reclaimer 6 travels on the roadbed 4.

The stacker 5 forms piles 20 by dropping the bulky items carried in by the carry-in conveyor 16 to the stacking position 18 and stacking them. The drop position is determined by running the machine body 14 and turning and raising the boom 15. The reclaimer 6 pays out the bulk of the piles 21 to the carry-out conveyor 12. The payout position is determined by running the machine body 7 and turning the boom 8 (turning angle γ) and tilting (falling angle λ). In the stacker 5 and the reclaimer 6, 13 is a counterweight.

As shown in FIG. 2, a boom 9 attached to the body 7 of the reclaimer 6 has a wheel 9 attached to the tip thereof, and a bucket 10 is attached to the outer periphery of the wheel 9. While rotating the boom 8 as shown in FIG. 1, the wheel 9 is rotated to scoop up the loose material in the pile 21 by the bucket 10, drop it on the boom conveyor 11 and discharge it onto the carry-out conveyor 7. FIG. 2 shows an example of a front view of the reclaimer 6, which shows a body 7
Runs on the roadbed 4 in the direction perpendicular to the plane of the drawing, and the carry-out conveyor 12
Moves in the direction perpendicular to the paper surface and carries out loose items.

Regarding such a reclaimer 6, a body 7
Of automatic operation for automating traveling of the vehicle, turning of the boom 8 and elevation and depression is disclosed in JP-A-55-74922 and JP-A-1.
No. 242322, for example. In these known techniques, a sensor is attached to the reclaimer 6, the distance between the reclaimer and the pile is measured, and the operations of the machine body 7 and the boom 8 are controlled to discharge the pile.

[0006]

However, in the prior art disclosed in the above publications, the operator manually inputs the data at the start of paying out the initial pile and initializes the bucket of the reclaimer to the proper position of the pile. It was necessary to land on. In a storage yard at a steelworks,
Many piles are formed in many yards, and many stackers and reclaimers are operated by remote control from the central command room.

Since the piles 2 are paid out in accordance with the situation of the post-process, usually, the payout is not completed in one time, but is paid in several times. Then, in order to unload the received ore or the like at an early stage, it is necessary to form a new pile in a position adjacent to the pile 21 in which the delivery is suspended, as in the stacking position 19 in FIG.

However, as shown in FIG. 3, the piles 2 are paid out in a stepped manner, and the piles 21 during the interruption of the payout have a shape in which a skirt 17 on the side opposite to the reclaimer 6 is elongated, so that the skirt 17 is extended. It will be necessary to pay out and take up more space for new piles. Since there is no conventional technique for automatically paying out such a hem 17 and remote operation is difficult, the operator conventionally had to ride on the reclaimer 6 and visually drive it.

Therefore, the problem to be solved by the present invention is as follows.
In the storage yard of bulk materials such as ores and coal, when the piles of bulk materials are discharged by the reclaimer, the operation to stabilize the operation is stabilized by automating the pile bottom unloading work of the piles that has been suspended from the start of the bucket landing to the end of dispensing. And reduce the load on the operator.

[0010]

[Means for Solving the Problems] To solve the above problems
The invention of the present invention is based on
The tiered Sekiyama odor during discontinuation due to the Kramer
The hem that extends in the yard length direction on the side opposite the reclaimer.
B position distant by a distance a from the tip A of the
When paying out loose items up to the yard with point A as the origin
X-axis in length direction, y-axis in yard width direction, z-axis in height direction
The initial feeding point C of the foil at the start of dispensing ₁Coordinates of
(X₁, Y₁, Z₁), The following formula (1)
x₁And x₁The height of the uppermost bench in z₁,
X of the top bench₁Distance between the end of point A and the x-axis
Away from y₁As the foil is eaten, A of the top bench
After paying out the point side, pay out the point A side of the lower bench sequentially
How to reclaim the mountain bottom of a mountain with a reclaimer
Is the law. x₁= (1 + k₁) A + k₂  …………… (1) Where k₁And k₂Depends on the width and construction of the foil
Constant determined by

In the above-mentioned method of the present invention, the wheel is attached to the lower bench A at the same wheel turning angle as that of the wheel when the wheel is initially positioned at the point C ₁ on the lower bench.
It is preferable that the point is located at the end on the point side. Moreover, the x-coordinate of the foil initial喰付point of the lower bench, and the same x-coordinate x ₁ and when the wheel is located in the C ₁ point, and the point A side end of the y coordinate in x ₁ in the lower stage Bench It is preferable to set the distance between the x-axes and set the z-coordinate to the height of the lower bench.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION According to the present invention, among piles formed by stacking loose pieces, a pile foot 17 of a pile 21 having a stepped shape as shown in the example of FIG. Is the way. The mountain hem 17 extends in the yard length direction on the side opposite to the reclaimer of the yard 1, and the tip A is retracted to the point B as shown in FIG. 4 or 5 by the method of the present invention to empty the yard.

First, as shown in the example of FIG. 3, the tip A of the hem 17 is formed.
With the origin as (x ₀ , y ₀ , z ₀ ), the x-axis is set in the yard length direction, the y-axis is set in the yard width direction, and the z-axis is set in the height direction, and the AB distance a required for yard emptying is set. . This distance a
Is called the yard clearance. The coordinates of point B are (x _a , 0,
0).

The initial feeding point C of the foil at the start of the dispensing
_When the coordinate of ₁ is (x ₁ , y ₁ , z ₁ ), x ₁ is determined by the equation (1) according to the yard clearance a, and x ₁
Let z _{1 be} the height of the uppermost bench in the above, and y ₁ be the distance between the x-axis and the point A side (reclaimer 6 side) end in x ₁ of the uppermost bench. The positions of the yard clearance a and C ₁ can be set in advance and can be input by the operator each time. Settings and inputs can be made to the control sequencer of the target reclaimer. In the formula (1), k ₁ may be changed according to the yard clearance a, or may be changed depending on the width of the wheel and the peripheral structure of the mounting portion.

The position, shape and size of the piles 21 to be paid out are input to a process computer or the like as piles information recording the previous paying operation by the reclaimer.
For example, the position of the pile 21 is represented by the address of the yard 1 and the position within the yard, for example, the distance from the end of the yard 1 to the end of the pile 21, and the shape and size of the pile 21 are the xyz coordinates of the main points in the pile 21. Obtained from

Based on this piled mountain information, the sequencer for controlling the reclaimer 6 for paying out the mountain bottom 17 is set to the above A.
Point coordinates _{(x 0, y 0, z} 0) and C ₁ point coordinates (x
₁ , ₁ , y ₁ , z ₁ ) are input. Next, when the reclaimer 6 is operated, the machine body 7 automatically travels according to a command from the control sequencer, and the boom 8 is raised and swung to position the tip of the wheel 9 (bucket 10 shown in FIG. 2) at the point C _1. To do. In FIG. 3, P is the center point of the elevation and turning of the boom 8.

Then, in response to a work start command, while rotating the wheel 9, the machine body 7 is slightly moved in the direction of the arrow so that the pile mountain 21 is caught at the point C ₁ and the loose pieces are put in the bucket 10 (not shown in FIG. 3). Scooping, stopping inching at an appropriate biting depth, paying out while rotating the boom 8 in the direction of the arrow, repeating inching and turning, and C _{1 of the} payout uppermost bench (third step in this example) The point A side is paid out from the point. In the present invention, "to attach a wheel" means that the bucket 10 attached to the outer periphery of the foil 9 as shown in FIG. After that, the lower bench is repeated in the same way and the looseness on the A point side (reclaimer side) is dispensed, and the bottom bench (fifth step in this example) is dispensed to the B point, and the bottom of the mountain 17 The payout is completed.

An example after the completion of the payout is shown in FIGS. 4 and 5.
Both figures are plan views, and the broken line shows the state before the start of payout. In the example of FIG. 4, the initial feeding points C ₂ and C ₃ of the wheel on the lower bench are the same as the initial feeding point C of the wheel 10 on the uppermost bench.
_This is an example in which the wheel 10 is positioned at the point A side end of each stage with the same boom turning angle as when it is positioned at ₁ , that is, γ ₁ = γ ₂ = γ ₃ . In this example, the payout amount is small and the working time is short.

In the example of FIG. 5, the x-coordinates of the wheel initial feeding points C ₂ and C ₃ of the lower bench are the same as the x-coordinates x when the wheel 10 is located at the initial feeding point C ₁ of the upper bench. ₁
In this example, the y coordinate is the distance between the x-axis and the point A side end at x ₁ of the lower bench, and the z coordinate is the height of the lower bench. In this example, the payout amount is larger and the working time is longer than in the example of FIG. However, in the next discharging operation, when the piles 21 are discharged from the same side, or when the piles formed at the adjacent stacking positions, that is, the stacking positions 19 in FIG. The cost is high and the payout work is easy.

After the payout is completed, the step between BC is stepped as shown in FIGS. This is to prevent the boom 8 from hitting the piles 21 in the paying-out work, and its working mode is shown in FIG. In this example, the topmost bench of the delivery of Sekiyama 21 is 5
The case of paying out in steps is shown, and while rotating the wheel 9, the bucket 10 on the outer periphery is made to bite at the point C _{1 on} the payout uppermost bench of the pile of piles 21, and then is made to bite by the inching movement 22 of the machine body, and the boom 8 Is swung by the swiveling operation 24 and paid out.

In FIG. 6, the broken line 26 indicates the bench end line before payout, and the alternate long and short dash line 27 indicates the bench end line after payout. The solid arrow indicates the locus of the widthwise center of the bucket 10. First, while rotating the wheel 9, as shown by the broken line, the center Q in the width direction of the bucket 10 on the outer periphery is grounded at the point C ₁ so as to bite it, and the inching operation 22 bites it to point D. The bite depth is set so that the boom 8 does not contact the pile 21.

Next, the boom 8 is swung to the right as shown by the solid line to be paid out, and the swivel is stopped at the point E which is off the pile 21. Then, after moving to the point F by the inching operation 23, it is turned to the left by the turning operation 24 so as to stick to the pile 21, and is turned to the point G to be paid out. This inching motion 23
The movement depth from E to F by means of is the depth at which the boom 8 does not come into contact with the piles 21, as in the biting depth from C ₁ to D.

When Q stops at point G, the bench end line becomes the alternate long and short dash line 27. At this time, the parallel distance b between the illustrated DGs is set to be larger than the illustrated distance d so that the boom 8 does not contact the bench end line 27 in the vertical direction. d is a step between the side surface of the boom 8 and the side surface of the bucket 10.

Next, in the turning return operation 25, Q is moved to the right by G.
Return from the point to the H point, and let the inching motion 22 feed from the H point to the I point. At this time, the parallel distance c between the GHs shown in the figure is set to be larger than the above d so that the boom 8 does not come into contact with the bench end line 27 in the vertical direction at the time of biting. Then, in the turning operation 24, turning to the right and paying out in the same manner, J
Stop turning at a point. After that, it is moved in the order of K, L, M, N and R, and is paid out in the same manner.

In the method of the present invention, when the wheel 9 is to be bitten, the movement of the machine body 7 is temporarily stopped before this, and the machine body 7 is slung while rotating the boom conveyor 11 and the wheel 9 in an unloaded state, and It is preferable that the time point when the hydraulic pressure for rotation becomes equal to or higher than a predetermined value due to the influence of the rotation is determined to be eating and the operation is shifted to the next operation. By doing so, damage to the bucket 10 and the foil 9 can be prevented.

Further, when the hydraulic pressure for rotating the wheel is reduced to an unloaded state, it can be judged that the wheel 9 has come off to the stacker side of the pile 21, and the swinging operation 24 of the boom 8 is stopped to perform the inching operation. It is possible to shift to 23. In this way, it is possible to automatically perform the mountain bottom dispensing work by the preset program.

[0027]

[Examples] As shown in FIG. 3, the piles 21 were dispensed for the piles 21 in which the dispensing was suspended, and the state after the completion of dispensing was set as shown in FIG. Moreover, it did also like FIG. The boom 8 has a length of 57.5 m and a width of 6 m, and the wheel 9 has a diameter of 5.5 m to the tip of the bucket 10 on the outer circumference.

In FIG. 3, the yard clearance a = 10 m is required, and the coordinates of the point B are (10,0,0). Coordinates of the initial feeding point C ₁ point (x ₁ ,
y ₁ , z ₁ ) is obtained as follows, and (30, 9, 1
It was 0). That is, in the equation (1), a = 10
m, k ₁ = 1.5, k ₂ = 5 m, and x ₁ = 30 m. z ₁ is the third bench height of 10 m, y ₁ is x ₁ =
The distance between the end on the point A side of the third stage bench at 30 m and the x-axis was 9 m.

Under the same conditions as in this example, the yard clearance a =
K ₁ = 2.0 when the 20m, when the a = 30m k ₁
= 3.5, and in each case, k ₂ = 5 m. The reason why k ₁ is increased when the yard clearance a is increased is that the number of bench stages to be paid out increases and the number of turning-back operations 25 increases. As shown in FIG. 6, the payout of each stage is performed by repeating the inching and turning, and the inching operations 22 and 23 allow the depth to be 0.6 m, and the turning back operation 25 causes the boom 8 to move 2 times.
It was swung by ° ~ 3 °. The coordinates of the initial feeding point of the foil on the lower bench than the payout top bench were as follows. That is, in the case of the example of FIG. 4, C ₂ (27, 9, 6), C ₃ (2
4, 9, 3), in the case of the example of FIG. 5, C ₂ (30, 12,
6) and C ₃ (30,15,3).

[0030]

Industrial Applicability According to the method of the present invention, in a storage yard for bulk ores such as ores and coal, the long and long mountain skirts of the stepped piles during the discontinuation are automatically and safely discharged. You can Therefore, when you want to unload ore or coal early, space is secured,
In addition, automation of the dispensing operation using a large number of reclaimers is achieved, and the operator's load is also reduced.

[Brief description of drawings]

FIG. 1 is a plan view showing an example of a yard targeted by the present invention.

FIG. 2 is a front view showing a payout example of a pile of mountains as an object of the present invention.

FIG. 3 shows an example of the present invention, in which (a) is a plan view and (b) is a side perspective view.

FIG. 4 is a plan view showing an example of the present invention.

FIG. 5 is a plan view showing another example of the present invention.

FIG. 6 is an explanatory diagram showing an example of a payout operation in the present invention.

[Explanation of symbols]

1: Yard 2: Sekiyama 3, 4: Dojo 5: Stacker 6: Reclaimer 7: Airframe 8: Boom 9: Wheel 10: Bucket 11: Boom conveyor 12: Carry-out conveyor 13: Counterweight 14: Aircraft 15: Boom 16: Carry-in conveyor 17: Mountain hem 18, 19: Loading position 20, 21: Sekiyama 22, 23: Inching motion 24: Swing motion 25: Turning back operation 26: Bench end line before payout 27: Bench edge line after payout

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Shuji Tomita             1-chome Nishinosu, Oita-shi Hamada Heavy Industries Stock Association             Oita Branch

Claims (3)

[Claims] 1. A tiered pile of piles formed by stacking loose items, which is in a stepped form during suspension of reclaiming by the reclaimer, from the tip A of the skirt extending in the yard length direction on the side opposite to the reclaimer. When the loose object is discharged to the position B which is separated by the distance a in the direction, with the point A as the origin, the x axis is in the yard length direction, the y axis is in the yard width direction, and the z axis is in the height direction. When the coordinates of the wheel initial feeding point C ₁ are (x ₁ , y ₁ , z ₁ ), x ₁ is determined by the following equation (1), and the height of the uppermost bench at x ₁ is z ₁ ,
Skein喰付foil the distance between the point A side end and the x-axis in x ₁ in outermost upper bench as y _1, the outermost upper bench A
After the point side is paid out, the point B side of the lower bench is sequentially paid out. x ₁ = (1 + k ₁ ) a + k ₂ (1) where k ₁ and k ₂ are constants determined by the width and structure of the foil. 2. The wheel initial feeding point of the lower bench,
The pile foot of the reclaimer according to claim 1, wherein the wheel is located at the end of the lower bench at the point A side at the same boom turning angle as when the wheel is located at the point C _1. Payment method. 3. The x of the wheel initial feeding point of the lower bench
The coordinates are the same as x when the foil is located at the point C _1.
The coordinate is x ₁ , and the y coordinate is A at x ₁ of the lower bench.
The method of claim 1, wherein the distance between the end on the point side and the x-axis is the z-coordinate is the height of the lower bench.