JP2003313850A - Dust eliminating device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a dust eliminating device with good productivity by improving the adaptability to the angle change of a screen. <P>SOLUTION: This device has a screen 3 for capturing dust flowing down in a channel 2 and an arm 14 having a rake 12 at the tip. The arm 14 has a vertical multi-joint arm structure in which two unit arms 14a and 14b are mutually connected through a joint shaft 18, and further supported on a frame 10 through a joint shaft 16, and driven by the operation of hydraulic cylinders 20 and 22. In dust eliminating movement, the drive of the arm 14 is controlled by a controller 40 so that the rake 12 is raised up from the lower end site of the screen 3 along the screen 3. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a dust removing device for supplementing and removing dust such as algae and grass flowing down a water channel.

[0002]

2. Description of the Related Art As a dust removing device as described above, a screen 51 is installed in a water channel 50 as shown in FIG. 12, and dust collected in the water channel 50 is captured by the screen 51 and is called a rake 62. A so-called rake drive type dust remover configured to remove dust from the water channel 50 by raising a rake-shaped member along the screen 51 is generally known.

In this apparatus, a frame 60 is provided above the screen 51, and an arm 61 which is linearly expandable and contractible is supported by the frame 60 so as to be swingable via a support shaft 61a. In addition, the rake 62 is attached to the tip (lower end) of the arm 61. During the dust removal operation, the numbers in the figure
As shown in FIG. 4, after placing the arm 61 at a position away from the screen 51 to extend the arm 61, the rake 62 is placed at the lower end of the screen 51 by bringing the arm 61 close to the screen 51. In this state, the arm 61 is contracted to raise the rake 62 along the screen 51 and scrape up dust.

Incidentally, reference numeral 64 in the drawing is a conveyor for conveying dust. Reference numeral 63 is a guide member called an apron, which is continuously provided on the upper end of the screen 51, and guides the dust scraped up along the screen 51 to the conveyor 64.

[0005]

In the conventional dust removing device as described above, the rake 62 is caused by the linear expansion and contraction of the arm 61.
In order to move, the arm 61 is required as a basic structure to be supported in a state of being substantially parallel to the surface of the screen 51 (the surface that complements dust).

Therefore, when the angle of the screen 51 to be installed is different, it is necessary to change the angle and the supporting position of the arm 61 in each case. That is, there is a problem that the adaptability to the change of the screen angle is low.

For example, as shown in FIG. 13, when the inclination θ of the screen 51 becomes small, the support position of the arm 61 (the position of the support shaft 61a) needs to be low and it must be provided at a position separated from the screen 51. It is impossible to apply the device shown in FIG. 12 as it is, and it is required to drastically change the structure of the frame and the like. In this case, it is necessary to separately create the operation program.

Therefore, it is necessary to differentiate the devices according to the screen angle, resulting in poor productivity.

The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a dust remover having high productivity by improving adaptability to a change in screen angle.

[0010]

In order to solve the above-mentioned problems, the present invention provides a screen for capturing the dust that is flowing down,
A dust removing device that has an arm provided with a rake at its tip, and removes dust trapped by moving the rake along a screen from the water bottom in accordance with the operation of the arm, wherein a plurality of unit arms are provided as the arms. Has a vertical multi-joint type arm rotatably connected via an articulation shaft, and further drive means for individually driving each unit arm, and control for controlling the drive means to execute a predetermined dust removal operation. And means (claim 1).

According to this structure, the flexibility of the arm is increased as compared with the conventional dust removing device in which the arm linearly expands and contracts. Therefore, the screen can be directly applied to a screen having a different angle without changing the basic structure. Is possible.
That is, the adaptability to the screen angle change is enhanced. Further, as a result of the high adaptability to the screen angle change in this way, it is not necessary to differentiate the device for each screen angle, thereby improving the productivity.

This apparatus has an input means capable of inputting predetermined design information including information on the configuration of the screen, and the control means has the rake based on the design information input by the input means. It is preferable that the moving target position is set and the driving means is controlled so that the rake moves to the moving target position during the dust removing operation (claim 2).

According to this structure, the movement target positions such as the rising end position and the falling end position of the rake are set on the basis of the input of the design information, and the rake passes through these target positions to remove a series of dust particles. The action will be executed.

In the dust removing apparatus as described above, the arm is composed of a first unit arm rotatably supported by the frame and a second unit arm rotatably connected to the tip of the first unit arm. It is preferable that the tip of the rake is provided with the rake (claim 3).

According to this structure, the articulated arm structure is adopted to ensure the flexibility of the arm, but the control of the arm does not become too complicated, and the productivity and the maintainability are good. Will be able to provide.

In the case of this construction, for example, the first detecting means capable of detecting the rotational position of the first unit arm with respect to the frame and the rotational position of the second unit arm with respect to the first unit arm are detected. A possible second detecting means is provided, and at least one of the first and second unit arms is arranged so that the rake can move along the screen based on the detection position of the unit arm by each detecting means during the dust removing operation. It is preferable to configure the control means so that the drive is feedback-controlled (claim 4).

With this structure, the rake can be appropriately moved along the screen. That is, in the device of the present invention in which the rake is attached to the tip of the articulated arm, it is difficult to move the rake linearly as compared with the conventional device in which the arm linearly expands and contracts,
By performing feedback control of the drive of the unit arm as described above, the rake can be appropriately moved along the screen.

Further, in the feedback control, it is more preferable that the driving speed of the unit arm is operated as the operation amount (claim 5).

That is, when a hydraulic cylinder or hydraulic motor is used as the drive means, the control valve provided in the hydraulic circuit is operated in feedback control, but the drive speed of the unit arm is operated as the operation amount. In this case, it is possible to use a control valve having a low response as compared with the case of controlling the position of the unit arm, and it is possible to reduce the cost of the device configuration.

Further, in the above dust removing device, the rake is rotatably connected to the tip of the arm via an axis parallel to the joint axis, and the rake drive rotatably drives the rake with respect to the arm. Means is provided, and the control means is configured to drive the rake drive means in the dust removing operation such that the dust scraping surface of the rake is substantially orthogonal to the dust trapping surface of the screen. Is preferred (claim 6).

That is, the rake may be fixedly provided at the tip of the arm, but with the above-mentioned structure, dust can be reliably and properly dusted even on screens having different angles. It becomes possible to scrape up, and the dust removal effect can be enhanced.

[0022]

BEST MODE FOR CARRYING OUT THE INVENTION A first embodiment of the present invention will be described with reference to the drawings.

1 and 2 schematically show an example of the dust removing device according to the present invention. As shown in these drawings, the dust removing device 1 includes a screen 3 provided in the water channel 2 and a device body 4 that scrapes up dust collected by the screen 3 and removes it from the water channel 2. Further, as an auxiliary equipment of the dust removing device 1, a conveyor 5 is provided to convey the dust removed (raised) from the passage 1 to a predetermined place.

The screen 3 is a so-called bar screen in which bars are arranged in parallel in the width direction of the water channel 1 (left-right direction in FIG. 1; hereinafter simply referred to as width direction), for example, 20.
Bars made of metal are arranged in parallel at intervals of about mm, and the bar is configured to catch dusts flowing down the water channel 1.
The upper end of the screen 3 extends above the water channel 2, and when a rake 12 described below is raised from the bottom of the water channel along the screen 1, the captured dust can be scraped up by the rake 12 to above the water channel. . In addition to the bar screen, it is also possible to apply a mesh screen that can capture finer dust as the screen 3.

The apparatus main body 4 has a frame 10 arranged above the water channel 2 as shown in FIG. The frame 10 is a movable frame having wheels 10a,
The hydraulic motor (not shown) is configured to be self-propelled in the width direction (left and right direction in FIG. 1) of the water channel 2 along a pair of rails 11 laid above the water channel 2.

The frame 10 supports an arm 14 having a rake 12 at its tip end for scooping up the captured dust, and is equipped with a means for driving the arm 14 and the like.

The arm 14 is an arm having a so-called vertical multi-joint type structure composed of two unit arms. That is, the first and second unit arms 14a, 14
b, the base end portion of the first unit arm 14a is rotatably supported by the frame 10 via a horizontal joint shaft 16, and a horizontal joint shaft 18 is provided at the distal end portion of the first unit arm 14a. Thus, the base end of the second unit arm 14b is rotatably connected. And the arm 14
As a driving means of the first unit arm 14a and the frame 1
0, a first hydraulic cylinder 20 is mounted, and a second hydraulic cylinder 22 is mounted between the first unit arm 14a and the second unit arm 14b. While the 1 unit arm 14a is rotationally driven around the joint shaft 16 with respect to the frame 10,
With the operation of the second hydraulic cylinder 22, the second unit arm 14
b is configured to be rotationally driven around the joint shaft 18 with respect to the first unit arm 14a.

Although not shown in detail, the rake 12 is a rake-shaped member extending in the width direction of the screen 3 and extends along the catching surface of the screen 3 (the upstream surface of the water channel 2; the left side surface in FIG. 2). The dust trapped by the screen 3 is scraped up by moving it from the bottom of the water.

The rake 12 is rotatably connected to the distal end portion of the second unit arm 14b via a horizontal joint shaft 24, and is a hydraulic cylinder mounted across the rake 12 and the second unit arm 14b. With the operation of 26 (referred to as a third hydraulic cylinder 26), it is configured to be capable of swinging displacement between an operating position shown by a solid line in FIG. 2 and a standby position shown by a chain line.

In each of the hydraulic cylinders 20, 22 and 26 for driving the rake 12 and the arm 14, a stroke sensor 21 for detecting the protruding amount of the rod and outputting a signal corresponding to the detected amount to the controller 40 which will be described later. Two
3, 27 (see FIG. 3) are provided respectively, and the drive of the arm 14 and the like is controlled based on the output values of these sensors 21, 23, 27 during the dust removal operation described later.

The device body 4 further includes the rake 12 described above.
An apron 28 for guiding the dust scraped up to the upper end of the screen 3 to the conveyor 5 is provided. The apron 28 is fixed to the frame 10 at the same inclination angle as the screen 3 so as to extend the capturing surface of the screen 3 upward, and follows the movement of the main body 4 of the apron 28 at an arbitrary position of the screen 3. 5 is configured to guide the dust.

Further, the apparatus body 4 is equipped with a hydraulic unit 30 for driving the hydraulic cylinders 21, 22 and the like, an operation panel 32 for operating the apparatus body 4 and the like.

The conveyor 5 is, for example, a belt conveyor, and is provided over the width direction of the screen 3, and conveys the dust scraped up by the rake 12 to one end side of the water channel 2 in the width direction. It is configured to be loaded onto a truck or the like.

By the way, the dust removing apparatus 1 is provided with a controller 40 (control means) as shown in FIG. 3 as a control system. The controller 40 includes a well-known CPU that executes logical operations, a ROM that stores in advance various programs that control the CPU, a RAM that temporarily stores various data during operation of the device, and the like. Includes a main control means 42, an operation data calculation means 44, an error calculation means 46, a cylinder control means 48, etc., and is connected to the hydraulic unit 30 and the operation panel 32 etc. via an I / O section (not shown). Has been done.

The main control means 42 comprehensively controls the drive of the dust removing device 1, and drives and controls the arm 14 and the like so as to perform a predetermined dust removing operation according to a preset program. Further, in a series of dust removing operations, the positions of the unit arms 14a and 14b (positions in the rotational direction; referred to as detection positions L1 and L2) are calculated in real time based on the outputs of the stroke sensors 21 and 23. There is. That is, in this embodiment, the stroke sensors 21, 23, the main control means 42, etc. function as the first and second detection means of the present invention.

During the dust removing operation, the output of the stroke sensor 27 and the operation data described below are set so that the scraping surface (the upper surface in the solid line diagram of FIG. 2) of the rake 12 is substantially orthogonal to the capturing surface of the screen 3 at the operating position. And so on to control the operation of the rake 12.

The operation data calculation means 44 calculates a position (target movement position; hereinafter referred to as operation data) at which the rake 12 is moved during the dust removing operation, and operates the operation panel 32 to obtain information on the configuration of the screen 3 (design). By inputting (information), the movement data is calculated based on this input information and previously stored known information such as arm length. For example, in this embodiment, the operator inputs the dimensions of the screen 3 shown in FIG. 2 (the vertical length h of the capture surface) and the screen angle θ, so that the operation data includes the descent end position Dp of the rake 12. And the ascending end position Up are respectively obtained and stored. In addition,
The descending end position Dp is the rake 12 when scraping dust.
The position of the bottom of the water channel, at which the rake 12 is to be arranged, and the rising end position Up are end positions when the rake 12 is moved up along the screen 3. In this embodiment, since the apron 28 is continuously provided above the screen 3 as described above,
This position Up is the upper end position of the apron 28.

The error calculating means 46 detects the operation data (Dp, Up) and the detection position L1 of the first unit arm 14a so that the rake 12 can be linearly moved up along the screen 3 when scraping up dust. From the second unit arm 14
The target position of b is sequentially calculated, and the target position and the second
The error from the detection position L2 of the unit arm 14b is calculated and output to the main control means 42.
Calculates a correction amount based on this error, that is, a moving amount of the second unit arm 14b in the rotation direction capable of eliminating the error, and outputs a control signal corresponding to this to the cylinder control means 48.
Output to.

The cylinder control means 48 controls the driving of the hydraulic cylinders 20, 22, 26, and supplies a control voltage or the like to a control valve (not shown) of the hydraulic unit 30 based on a control signal from the main control means 42. It is configured to apply.

Here, the operation control of the dust removing apparatus 1 by the controller 40 will be described with reference to FIGS. 6 and 7 according to the flowcharts of FIGS. 4 and 5.

When the operation of the dust remover 1 is started, first, at step S1, it is judged whether or not the arm 14 is set to the initial position as shown by the solid line in FIG. 6, and if it is not set to the initial position. The arm 14 is reset to the initial position. At this time, the rake 12 is set to the standby position.

When the arm 14 is set to the initial position, the first unit arm 14a is driven in the direction of lowering the tip thereof (counterclockwise in FIG. 6) (step S2). Then, until the first unit arm 14a reaches a predetermined deceleration position, it is driven at a constant speed at a preset speed,
When it reaches the deceleration position, it is switched to the deceleration drive, and when it finally reaches the stop position, the drive of the first unit arm 14a is stopped (steps S3 to S7).

Further, the first unit arm 14a as described above is used.
In parallel with the above operation, the drive speed of the second unit arm 14b is obtained, and the second unit arm 14b is driven at that speed (steps S8 and S9).

The driving speed Va of the second unit arm 14b is
For example, it is calculated based on the following equation. Va = (Lm2′−Lm2) / t1 where, Lm2; the detection position Lm2 ′ of the second unit arm 14b at the initial position; the second unit arm 14 at the descending end position Dp.
Position t1 of b: The movement time of the first unit arm 14a required for the rake 12 to reach the descending end position Dp from the initial position. Note that t1 is calculated by the following equation. t1 = (Lm1′−Lm1) / Vb Here, Lm1; the detection position Lm1 ′ of the first unit arm 14a at the initial position; the first unit arm 14 at the descending end position Dp.
Position Vb of a: moving speed of the first unit arm 14a.

Then, until the second unit arm 14b reaches the predetermined deceleration position, the second unit arm 1 is moved at the speed Va.
4b is driven at a constant speed, and when it reaches the deceleration position, it is switched to the deceleration drive, and when the rake 12 reaches the predetermined stop position, the drive of the second unit arm 14b is stopped (steps S10 to S14).

In this way, the first unit arm 14a is driven (steps S2 to S7) and the second unit arm 1 is driven.
By driving 4b (steps S8 to S14) in parallel, the rake 12 descends from the initial position to the descending end position Dp so as to draw an arcuate locus, as shown by the arrow in FIG. To do.

When the rake 12 reaches the descending end position Dp, the rake 12 is set to the operating position by the operation of the third hydraulic cylinder 26, and the first unit arm 14a is reversely driven (clockwise in FIG. 7). (Step S1
5). Then, until the first unit arm 14a reaches a predetermined deceleration position, it is driven at a constant speed at a preset speed, and when it reaches the deceleration position, it is switched to deceleration driving, and when it finally reaches the stop position, the first unit arm 14a. The driving of 14a is stopped (steps S16 to S20).

Further, the first unit arm 14a as described above is used.
The second unit arm 14b is driven in parallel with the above operation.
At this time, first, the second unit arm 1 is detected based on the detection position L1 of the first unit arm 14a and the operation data (Dp, Up).
The target position of 4b is calculated, and based on the error between this target position and the detected position L2 of the second unit arm 14b, a control signal is output from the main control means 42 in order to eliminate the error, and based on this, the second The unit arm 14b is driven (steps S21, 22).

Next, in step S23, it is determined whether or not the first unit arm 14a has reached the predetermined stop position. If it is determined that the first unit arm 14a has not reached the predetermined stop position, the process proceeds to step S21 and steps S21 to S21. The process of S23 is repeated. That is, the drive of the second unit arm 14b is feedback-controlled based on the error between the detected position L2 of the second unit arm 14b and the target position so that the rake 12 moves along the screen 3.

By repeating the processing of steps S21 to S23 as described above, the rake 12 rises along the screen 3 as shown by the arrow in FIG. 7, and accordingly, the rake 12 is captured by the screen 3. When it is determined that the trash 12 that has been scraped up is scraped up by the rake 12 and finally reaches the predetermined stop position (YES in step S23), the driving of the second unit arm 14b is stopped (step S24). As a result, a series of dust removing operations is completed.

According to the dust remover 1 of the present invention as described above, the rake 12 is attached to the tip of the arm 14 having the articulated structure, and the dust trapped by the screen 3 is accompanied by the bending of the arm 14. Since the arm is configured to be scraped up along with the extension / contraction operation, the flexibility of the arm is higher than that of the conventional dust removing device in which the arm is linearly extended / contracted. Therefore, even when the screens 3 are installed at different angles, they can be applied as they are without changing the basic structure, that is, the configuration of the device body 4. For example, in the conventional device,
When the installation angle of the screen is changed, the fulcrum position of the arm needs to be largely changed (see FIGS. 12 and 13)
Although it was required to drastically change the structure of the device body and the angle of the apron, according to the dust removing device 1 described above,
As shown in FIG. 8, the position of the fulcrum (joint shaft 16) of the arm 14, that is, the height a of the fulcrum and the horizontal distance from the upper end of the screen to the fulcrum, both when the screen angle θ is large (left figure) and when it is small (right figure). It can be dealt with without changing b.

Therefore, it is possible to improve the adaptability to the angle change of the screen 3. As a result of the improved adaptability to the screen angle in this way, it is not necessary to differentiate the device main body 4 according to the screen angle as in the conventional case, the productivity can be improved, and the common constituent members can be used. There is an effect that the cost can be reduced through the adoption of the technology.

In the dust remover 1, even if the screen angle is different, the device body 4 can be applied as it is, so that it is not necessary to separately prepare an operation program for each device having a different screen angle as in the conventional case. It is possible to support devices with different screen angles simply by changing a part of the data. In this respect,
As described above, the dust remover 1 is configured so that the dust remover 1 can be operated only by inputting the predetermined information regarding the configuration of the screen 3 by operating the operation panel 32, which is required for creating a program. It is possible to significantly reduce time and cost, and also in this respect, there is an effect that productivity can be improved and cost can be reduced.

Further, in this dust removing device 1, while the rake 12 is moved up and down as the articulated arm 14 is bent, the rake 12 causes the screen 3 to move when scraping dust.
Since the drive of the second unit arm 14b is feedback-controlled so that the second unit arm 14b can be moved up along with, the screen 3 captures the rake as in the conventional device that raises and lowers the rake in accordance with the linear expansion and contraction motion of the arm. There is an effect that dust can be appropriately scraped up by the rake 12 and discharged.

Next, a second embodiment of the dust removing device according to the present invention will be described.

Since the second embodiment is basically the same as the first embodiment except for the configuration of the control system, the common parts are designated by the same reference numerals and the description thereof will be omitted. Only the differences will be described in detail.

The second embodiment is also common to the first embodiment in that it has a controller 40. However, the function of the main control means 42 in the functional configuration is different from that of the first embodiment in the following points.

That is, the main control means 42 judges whether or not the error calculated by the error calculating means 46 is within the allowable range. If the error exceeds the allowable range, the error is within the allowable range. The control signal is output to the cylinder control means 48 so as to accelerate or decelerate the driving speed of the first unit arm 14a and the second unit arm 14b so that the driving force can be set.

The operation control of the dust remover 1 according to the second embodiment will be described below with reference to the flowcharts of FIGS. 9 and 10. In the operation control of the second embodiment, the lowering operation of the rake 12 is common to that of the first embodiment (steps S1 to S14 in FIG. 4), and therefore, in the following description, when the rake 12 is moving upward (dust scraping up). Only the operation control of time) will be explained.

In the second embodiment, when the rake 12 reaches the descending end position Dp, the rake 12 is first set to the operating position by the operation of the third hydraulic cylinder 26, and the second unit arm 14b when the rake is raised. Is calculated (step S30).

Driving speed Va 'of the second unit arm 14b
Is calculated based on the following equation, for example. Va ′ = (Ln2′−Ln2) / t2 where Ln2; the second unit arm 14 at the descending end position Dp
b detection position Ln2 '; second unit arm 14 at rising end position Up
Position t2 of b; moving time of the first unit arm 14a required for the rake 12 to reach the rising end position Up from the falling end position Dp. Note that t2 is calculated by the following equation. t2 = (Ln1′−Ln1) / Vb where Ln1; the first unit arm 14 at the descending end position Dp
detection position Ln1 ′ of a; first unit arm 14 at rising end position Up
Position Vb 'of a; moving speed of the first unit arm 14a.

When the drive speed of the second unit arm 14b is obtained, the speeds Va 'and Vb' are stored as set speeds, respectively, and the first unit arm 14a is driven (see FIG. 7).
Then, it is driven clockwise) (step S31). Then, a timer (not shown) in the main control means 42 determines whether or not a predetermined time has elapsed. If No here,
The first unit arm 14a is driven at a predetermined acceleration (step S36).

In the case of YES in step S32, it is next determined whether or not the position L1 of the first unit arm 14a has reached a predetermined deceleration position, and in the case of YES here,
The drive of the first unit arm 14a is switched to the deceleration drive (steps S33 and S34). Note that step S33
If the deceleration position has not been reached at, the first unit arm 14a is driven at a constant speed at the speed Vb '(step S3).
5).

The first unit arm 14a as described above is also used.
The second unit arm 14b is driven in parallel with the above operation (steps S37 to S42). In addition, from step S38
The operation control of the second unit arm 14b in S42 is common to the steps S32 to S36 of the first unit arm 14a. That is, it is determined in step S38 whether or not a predetermined time has elapsed, and if No here, the second unit arm 14b is driven at a predetermined acceleration. If YES in step S38, the second unit arm 14
It is determined whether or not b has reached the deceleration position, and here it is YES
In the case of No. 2, the second unit arm 14b is switched to the deceleration drive. In the case of No, the second unit arm 14b is driven at a constant speed at the speed Va '.

Next, the detection position L of the first unit arm 14a
The target position of the second unit arm 14b is calculated based on 1 and the operation data (Dp, Up).
An error from the detection position L2 of the unit arm 14b is obtained (steps S43 and S44). Then, it is determined whether or not this error is within the allowable range (step S45), and if YES here, the current drive speed of each unit arm 14a, 14b is set as the set speed, and then the step The process proceeds to S48 (step S46).

On the other hand, if No in step S45,
A new drive speed is obtained by adding or subtracting a predetermined correction value to the current set speeds of the first unit arm 14a and the second unit arm 14b, and this speed is set as the set speed, , Step S48
(Step S47).

Then, in step S48, it is determined whether or not each unit arm 14a, 14b has reached a predetermined stop position, and if No here, step S31,
Control goes to step S37, and step S46 or step S47
Each unit arm 14a based on the set speed set in
The drive of 14b is controlled.

On the other hand, in the case of YES in step S48, the driving of each unit arm 14a, 14b is stopped (step S49), and the series of dust removing operations is completed.

In the operation control of the second embodiment as well, the drive of the arm 14 is feedback-controlled based on the detection position L1 of the first unit arm 14a so that the rake 12 can rise along the screen 3. This is common to the first embodiment in this respect. But,
While the first embodiment operates the displacement amount of the second unit arm 14b as the operation amount of the feedback control, the second embodiment is configured to operate the displacement speed of both unit arms 14a and 14b. In this respect, the configuration is different from that of the second embodiment and the first embodiment.

The second embodiment as described above has the following advantages over the first embodiment. That is, the hydraulic cylinders 20 and 22 that drive the arm 14
Is operated by operating a control valve provided in the hydraulic circuit. However, as in the first embodiment, the second unit arm 1
When operating the displacement amount of 4b in real time, high responsiveness is required, so a current control valve generally used as this type of control valve is not sufficient, and a fast response speed such as a servo valve is fast. It is desirable to use a special control valve. However, the servo valve is more expensive than the current control valve, and the frequency of failure and the like is high. Therefore, cost and reliability are problems. On the other hand, when operating the displacement speed of the unit arms 14a and 14b as in the second embodiment, there is a demand for the response speed as compared with the case of operating the displacement amount of the second unit arm 14b in real time. Low, therefore, inexpensive, such as a current control valve as a control valve of the hydraulic circuit,
This has the advantage that a reliable control valve can be used.

Next, a third embodiment of the dust removing device according to the present invention will be described.

Since the third embodiment is also basically the same as the first embodiment except for the configuration of the control system, the common parts are denoted by the same reference numerals, and the description thereof will be omitted. Only the points will be described in detail.

In the third embodiment, the error calculating means 46 is arranged so that the unit arms 14a, 14 can be operated when the dust is picked up.
The position of the rake 12 is calculated based on the detected positions L1 and L2 of b, the error between the position of the rake 12 and the position of the screen 3 is obtained, and the result is output to the main control means 42. Further, the main control means 42 is configured to calculate the drive speed of the second unit arm 14b so that the rake 12 can rise along the screen 3 based on the error calculated by the error calculation means 46. There is.

Hereinafter, the dust removing device 1 according to the third embodiment
The operation control will be described with reference to the flowchart of FIG. In the operation control of the third embodiment, the lowering operation of the rake 12 is performed in the first embodiment (step S1 in FIG. 4).
~ S14), the following description will be given to rake 1
Only the operation control during the ascending of 2 (at the time of scraping up dust) will be described.

In the third embodiment, when the rake 12 reaches the descending end position Dp, first, the rake 12 is set to the operating position by the operation of the third hydraulic cylinder 26, and the first unit arm 14a is driven in reverse (see FIG. (Drives clockwise in 7)
By doing so, the movement of the rake 12 is started (step S60). Then, until the first unit arm 14a reaches a predetermined deceleration position, it is driven at a constant speed at a preset speed, and when it reaches the deceleration position, it is switched to deceleration driving.
When the predetermined stop position is finally reached, the first unit arm 1
The driving of 4a is stopped (steps S61 to S65).
The processing of steps S60 to S65 is the same as the processing of steps S15 to S20 of the first embodiment.

The first unit arm 14a as described above is also used.
The second unit arm 14b is driven in parallel with the above operation.
Specifically, first, from the detection positions L1 and L2 of the unit arms 14a and 14b to the position of the rake 12 (for example, the tip position).
The error between the position of the rake 12 and the position of the screen 3 is calculated based on the position of the rake 12 and the information about the configuration of the screen 3 input by operating the operation panel 32. That is, the gap between the rake tip and the screen 3 is obtained as an error (step S6).
6). Then, the driving speed of the second unit arm 14b is obtained so as to eliminate this error, and the second unit arm 14b is driven at this speed (steps S67, 68).

Next, in step S69, it is determined whether or not the first unit arm 14a has reached the predetermined stop position. If it is determined that the first unit arm 14a has not reached the predetermined stop position, the process proceeds to step S66 and steps S66 to S66-steps. The process of S69 is repeated. That is, the second unit arm 1 is based on the error between the position of the rake 12 and the position of the screen 3 so that the rake 12 rises along the screen 3.
The drive of 4b is feedback-controlled.

When it is finally determined that the first unit arm 14a has reached the predetermined stop position (step S
(YES in 69), the drive of the second unit arm 14b is stopped (step S70), and the series of dust removal operations is thereby completed.

According to such a third embodiment, the first
Although the drive of the unit arm 14a is so-called open-controlled, while the drive of the second unit arm 14b is feedback-controlled, the configuration is common to the first embodiment.
In the second embodiment, the drive speed of the second unit arm 14b is used as the operation amount in the feedback control, and the configuration is different from that of the first embodiment in this respect. That is, according to the third embodiment, as described in the second embodiment, an inexpensive and highly reliable control valve such as a current control valve can be used as the control valve of the hydraulic circuit. In terms of points, there is an effect that it is advantageous in configuration as compared with the first embodiment.

By the way, the dust removing device 1 described above is a main embodiment of the dust removing device according to the present invention, and its specific configuration (including control) is within a range not departing from the gist of the present invention. It can be changed as appropriate.

For example, in the dust remover 1 of the embodiment, the hydraulic cylinders 20 and 22 are used as driving means for the arm 14. However, in a small dust remover, the arm 14 is driven by a hydraulic motor or an electric motor. You may comprise. In this case, an encoder may be used as a sensor for detecting the position of the unit arms 14a and 14b.

Further, in the dust remover 1 of the embodiment, the articulated arm 14 is composed of the two unit arms 14a and 14b.
However, of course, the arm 14 in which three or more unit arms are connected may be used. However, if the number of unit arms increases, the control of the arm 14 becomes complicated accordingly, and therefore, if that point is taken into consideration, it becomes 2
It is preferable to apply the arm 14 composed of one unit arm.

In the embodiment, the rake 12 is connected to the tip of the second unit arm 14b through the joint shaft 24 so that the rake 12 can be displaced by the operation of the third hydraulic cylinder 26. When the angle is changed only within a limited narrow range, the rake 12 may be fixedly provided at the tip of the second unit arm 14b. However, in order to satisfactorily scrape up dust regardless of the angle of the screen 3, it is preferable to adopt a movable structure as in the above embodiment.

[0084]

As described above, the present invention has a screen for catching dust that is flowing down and an arm provided with a rake at its tip, and the rake moves from the bottom of the water to the screen along with the operation of the arm. In the dust removing device that removes the dust that is trapped by moving the unit, a vertical multi-joint type arm in which a plurality of unit arms are rotatably connected via joint shafts is provided as the arm, so that the arm is linear. Since the flexibility of the arm is improved compared to the conventional dust remover that expands and contracts, it can be applied to screens with different angles without changing the basic structure.

Therefore, the adaptability to the screen angle change can be improved. In addition, it is not necessary to differentiate the device for each screen angle, which makes it possible to improve productivity.

[Brief description of drawings]

FIG. 1 is a front view showing a dust remover (first embodiment) according to the present invention.

FIG. 2 is a vertical cross-sectional view of FIG. 1 showing a dust removing device.

FIG. 3 is a block diagram showing a control system of the dust removing device.

FIG. 4 is a flowchart illustrating operation control of the dust removing device (during rake lowering drive).

FIG. 5 is a flowchart illustrating operation control of the dust removing device (during rake raising drive).

FIG. 6 is a schematic diagram illustrating a dust removal operation (during a rake lowering drive).

FIG. 7 is a schematic diagram illustrating a dust removing operation (during rake rising drive).

FIG. 8 is a schematic diagram comparing the configurations of dust removers having different screen angles.

FIG. 9 is a flowchart for explaining operation control (during rake lowering drive) of the dust remover according to the second embodiment.

FIG. 10 is a flowchart illustrating operation control (during a rake rising drive) of the dust remover according to the second embodiment.

FIG. 11 is a flowchart illustrating an operation control (during a rake rising drive) of the dust remover according to the third embodiment.

FIG. 12 is a schematic view showing an example of a conventional dust remover.

FIG. 13 is a schematic diagram showing a configuration when the screen angle is changed in the conventional dust removing device.

[Explanation of symbols]

1 Dust remover 2 waterways 3 screen 4 Device body 5 conveyors 10 frames 12 rakes 14 arms 14a First unit arm 14b Second unit arm 20 1st hydraulic cylinder 22 2nd hydraulic cylinder 26 3rd hydraulic cylinder

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Yukio Uenishi             391-1 Taishi-cho, Taishi-cho, Minamikawachi-gun, Osaka Prefecture (72) Inventor Tokuji Nakagawa             1-8-24 Chuo, Joto Ward, Osaka City

Claims (6)

[Claims] 1. A screen for catching dust that is flowing down,
A dust removing device that has an arm provided with a rake at its tip, and removes dust trapped by moving the rake along a screen from the water bottom in accordance with the operation of the arm, wherein a plurality of unit arms are provided as the arms. Has a vertical multi-joint type arm rotatably connected via an articulation shaft, and further drive means for individually driving each unit arm, and control for controlling the drive means to execute a predetermined dust removal operation. And a dust removing device. 2. The dust remover according to claim 1, further comprising an input unit capable of inputting predetermined design information including information regarding a configuration of the screen, wherein the control unit is input by the input unit. A target movement position of the rake is set based on design information, and during the dust removal operation,
A dust remover configured to control the drive means so that the rake moves to the target movement position. 3. The dust remover according to claim 1, further comprising a frame for supporting the arm, the arm being rotatable at a first unit arm rotatably supported by the frame and a tip thereof. A dust remover comprising a second unit arm that is operably connected, and the rake is provided at a tip of the second unit arm. 4. The dust remover according to claim 3, wherein first detecting means capable of detecting a rotational position of the first unit arm with respect to the frame, and rotational position of the second unit arm with respect to the first unit arm. And a second detecting means capable of detecting the first or the second controlling means so that the rake can move along the screen based on the detection position of the unit arm by each detecting means during the dust removing operation. A dust remover characterized by performing feedback control of driving of at least one of the second unit arms. 5. The dust remover according to claim 4, wherein the control unit is configured to operate the drive speed of the unit arm as an operation amount in the feedback control. 6. The dust remover according to claim 1, wherein the rake is rotatably connected to a tip of the arm via an axis parallel to the joint axis, and further to the arm. Rake drive means for rotationally driving the rake is provided, and the control means controls the rake drive means such that, in the dust removal operation, the dust scraping surface of the rake is substantially orthogonal to the dust trapping surface of the screen. A dust remover characterized by being driven.