JP2012071973A - Tripper connecting/separating device of stacker/reclaimer and method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To hoistably and rotatably support a boom 5 on a traveling girder 3 that travels on rails 2, to safely and surely separate a tripper 6 from the traveling girder 3 with a stacker/reclaimer 1 formed by connecting the tripper 6 as an object, without relying on visual confirmation by a worker, and to connect again later.SOLUTION: The stacker/reclaimer is provided with: a connector 70 that separably connects the tripper 6 to the traveling girder 3; a tripper holding means (for example, a storm anchor 63) that holds the tripper 6 at an anchoring position; and a tripper holding detection means (for example, a limit switch 63a) that detects that the tripper 6 is being held by the tripper holding means. The operation of separating the connector 70 can be performed only when the held state of the tripper 6 is detected (step SA3 to SA4).

Description

  The present invention relates to a stacker / reclaimer that serves as both a stacker that stacks bulk goods such as coal on a yard and a reclaimer that disassembles and discharges piled bulk goods. The present invention relates to an apparatus for separating and connecting a tripper to be used, and a method thereof.

  Conventionally, for example, cargo handling equipment at a wharf or steelworks, etc., has been used to store piles of ores and coal that are carried in piles in the yard. A so-called stacker reclaimer that also serves as a reclaimer for dispensing is widely known. The stacker reclaimer includes a traveling machine body that travels on a rail extending along a yard, a revolving body provided on the revolving body, and a boom that is supported by the revolving body so as to be able to be raised and lowered. The bucket wheel etc. are attached to.

  In addition, a conveyor for carrying in or out is laid between the rails, and a tripper is provided so that the belt of the conveyor is lifted obliquely upward to drop the loose article transported from its upper end. The tripper is connected to the traveling machine body to transfer the bulk material to the boom conveyor. The bulk material thus transferred to the boom conveyor is transported to the tip of the boom and dropped to the yard. And stacked in a trapezoidal or triangular shape.

  On the other hand, at the time of paying out, the loose article is removed from the mountain by a bucket wheel or the like at the tip of the boom, and is then conveyed to the base end side of the boom by the boom conveyor and dropped onto the hopper below it. The lower end of the hopper is positioned above the carry-in or carry-out conveyor, and the loose article conveyed product is carried out to the outside by the conveyor.

  When a tripper that is not used in such a payout is connected to the traveling machine body and pulled, there is a possibility that the upper end of the belt conveyor in this tripper may interfere with the boom. Therefore, in general, the range in which the boom can be lifted and turned so as to prevent interference is limited, leading to a reduction in work efficiency.

  In addition, trippers that are not used are also separated from the traveling machine when paying out, but it takes time to separate and connect the trippers, and all the work to avoid collisions despite the movement of heavy objects. Relying on the visual confirmation of the actual situation, there was a risk of collision due to the fatigue of the worker and the weather.

  On the other hand, for example, in Patent Document 1, a long connecting frame is extended from the traveling machine body toward the tripper, and is extended to the lower side of the carriage frame of the tripper. They are switched and connected at two positions separated from each other in the longitudinal direction. That is, when the tripper is not used, it is connected to the traveling machine body at a retracted position as far away from the boom as possible.

  Thus, if the tripper is switched between the two positions and connected to the traveling machine body, the positional relationship between the two is always determined, so that an unexpected collision can be avoided and the distance corresponding to the interval between the two positions can be avoided. By moving the two relative to each other, the position can be switched remotely.

Japanese Patent No. 4352360

  However, in order to connect the tripper to the traveling machine body at the retracted position away from the boom as in the conventional example, the connecting frame extending from the traveling machine body toward the tripper must be considerably long. Since the connecting frame is required to have appropriate strength and rigidity, the weight of the traveling machine body is greatly increased, resulting in an increase in power consumption.

  In view of such points, the object of the present invention is to make the tripper detachable in the stacker / reclaimer so as not to increase the weight of the traveling machine as in the conventional example, and to connect and separate the The goal is to make it safe and reliable without relying on confirmation.

  In order to achieve the above-mentioned object, the present invention provides a stacker / reclaimer in which a boom is supported so as to be able to be lifted and turned on a traveling machine body traveling on a rail, and the tripper is connected to the traveling machine body.・ Applicable to separation devices.

  And in this invention, the traveling body position detection means for detecting the position of the traveling body on the rail, the coupler for detachably connecting the tripper to the traveling body, and the tripper are held at the mooring position on the rail. Tripper holding means, and tripper holding detection means for detecting that the tripper is held by the tripper holding means are provided. The mooring position may be set in advance or arbitrarily selected.

  According to the above configuration, when traveling on the rail while the tripper is connected to the stacker / reclaimer traveling machine body, it is possible to load the loose article transported object. A tripper that can get in the way can be separated and held in the mooring position. At this time, first, the traveling machine body is detected while detecting the position of the traveling machine body on the rail by the traveling machine body position detecting means, and the tripper connected thereto is positioned at the mooring position.

  The tripper holding means holds the tripper at the mooring position. In this way, since the holding state of the tripper is detected by the tripper holding detection means, the coupler can be separated according to the detection result. That is, the tripper can be separated safely and reliably without relying on the visual confirmation of the operator. If the tripper is separated from the traveling machine body in this way, it will not interfere with the operation of the boom.

  On the other hand, when the holding state of the tripper is not detected, it is not separated from the traveling machine body. In other words, the tripper is always held in the mooring position when it is separated from the traveling machine body, and its position does not change. Therefore, after that, even when performing the connection work with the tripper based on the detection result of the position of the traveling machine body on the rail, the unexpected collision can be avoided without depending on the visual confirmation of the operator.

  Preferably, when the holding state of the tripper is not detected, a tripper separation restricting means for restricting the separation of the tripper from the traveling machine body by prohibiting the separation operation of the coupler may be provided. In this way, even if the operator mistakenly operates the coupler even though the tripper is not held in the mooring position, it will not be separated.

  In addition, boom position detecting means for detecting the boom raising and lowering position of the boom is provided, and when the boom is detected to be in a predetermined position where it does not interfere with the tripper, the separating operation of the coupler is allowed only for the first time. You may do it. In this way, there is no worry of interfering with the boom when the tripper is separated or immediately after.

  Further, when the boom position detecting means detects that the boom is in the predetermined position, the traveling machine body from which the tripper is separated travels toward the mooring position, and enters within a predetermined distance from the mooring position. On the other hand, if the boom is not in the predetermined position, the traveling machine body may be prohibited from entering within the predetermined distance to restrict the connection with the tripper. In this way, interference with the boom can be prevented even when the tripper is connected.

  As the configuration of the coupler, a locking portion provided on one of the traveling machine body and the tripper, and an engagement member provided on the other and operated by an actuator so as to be engaged with and disengaged from the locking portion. And a guide portion that can contact the engaging member and guide the engaging member to the locking portion when the distance between the traveling machine body and the tripper is close to a predetermined value. If it carries out like this, an engagement member will contact | abut to a guide part in the proximity | contact state of a traveling body and a tripper, and, thereby, it will guide to a latching | locking part.

  Preferably, the proximity state detecting means for detecting the proximity state of the traveling body and the tripper, and when the proximity state is detected thereby, the traveling body that is traveling so as to approach the mooring position is temporarily stopped. Stop control means. By doing so, the traveling machine body is temporarily stopped in the proximity to the tripper, and the coupling member can be operated thereafter to bring the engaging member into contact with the guide portion.

  The traveling machine body position detecting means includes a rotation angle sensor that detects a rotation angle of a wheel of the traveling machine body, and a detection sensor that detects a detection target provided at a predetermined interval in a longitudinal direction of the rail. It may be. In this way, the position of the traveling machine body can be continuously detected by the signal from the rotation angle sensor, and the error accumulated in the process can be eliminated based on the signal from the detection sensor. Will improve.

  Further, the tripper may include a storage device for storing the position and a power source used for the operation of the storage device. In this way, even if the tripper is held at an arbitrary mooring position on the rail and separated from the traveling machine body, the mooring position is stored in the storage device, so that the relative position to the traveling machine body can be detected. Become.

  As described above, according to the present invention, when the tripper is separated from the traveling machine body in the stacker / reclaimer, the tripper holding detection means detects that the tripper is held at the mooring position. The tripper can be separated safely and reliably without relying on the visual confirmation of the operator. In addition, since it is separated after confirming that the tripper is held at the mooring position, there is no fear of the position changing, and an unexpected collision accident when the tripper is connected again can be avoided. In other words, the tripper can be connected safely and reliably without relying on the operator's visual confirmation.

1 is an overall configuration diagram of a stacker / reclaimer according to an embodiment of the present invention. It is the top view which expanded the connection part vicinity of the traveling body and tripper of the same stacker reclaimer, and was seen from the upper part. It is a side view which shows the structure of the coupler of the traveling body and a tripper, (a) shows a connection state, (b) shows a separation state, respectively. It is a side view which shows the structure of a proximity state detector. It is a functional block diagram of a control system of a stacker reclaimer. It is explanatory drawing about the raising / lowering of a boom and a turning interlock. It is explanatory drawing about the travel interlock of a travel girder. It is a flowchart which shows an example of the control procedure which concerns on separation of a tripper. It is a flowchart which shows an example of the control procedure of the front | former stage which concerns on the connection of a tripper. It is a flowchart which shows an example of the control procedure of the latter part. FIG. 4 is a view corresponding to FIG. 3 illustrating the connecting operation of the coupler, in which (a) shows a state in which the convex part of the movable hook is in contact with the guide part of the fixed hook, and (b) shows that the convex part is fitted in the concave part Each connected state is shown. FIG. 6 is a view corresponding to FIG. 5 according to another embodiment in which an actuator is provided in a storm anchor of a tripper.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an overall configuration diagram of a stacker / reclaimer 1 according to an embodiment. As an example, the stacker / reclaimer 1 is loaded with coal (conveyed material) conveyed in a conveyor in a coal raw material yard of an ironworks. The stacker is used in combination with a reclaimer that disposes and discharges the piled coal.

-Overall configuration-
The basic structure of the stacker / reclaimer 1 according to the present embodiment is conventionally known, and travels reciprocally on a pair of rails 2 laid along the coal raw material yard so as to extend to the left and right in FIG. A girder 3 (running aircraft) is provided. For convenience of explanation, the direction in which the rail 2 extends will be referred to as the front-rear direction, and the left side in FIG. 1 will be referred to as the front side and the right side as the rear side.

  The traveling girder 3 includes a carriage 30 to which a traveling device 31 having a plurality of wheels is attached, and a rail clamp 32 that sandwiches the rail 2 so as to keep the carriage 30 from moving after being stopped. ing. Further, the trolley 30 supports the turning tower 4 so as to be able to turn around the vertical axis Z, and is provided adjacent to this with a cab 33 for an operator to perform a driving operation. There are also a walkway and stairs for workers.

  A boom 5 is supported on the turning tower 4 so as to be able to be raised and lowered. The boom 5 can be raised and lowered with respect to the traveling girder 3. Moreover, the bucket wheel 50 is attached to the front-end | tip (left end of a figure) of the boom 5, and coal can be continuously withdrawn from a pile. In order to balance the weight of the bucket wheel 50 and the boom 5, a counterweight 52 is attached to an arm 51 that extends on the opposite side of the boom 5 with the turning tower 4 interposed therebetween.

  Moreover, the boom conveyor 53 is arrange | positioned over the whole longitudinal direction of the boom 5, and the coal withdrawn with the bucket wheel 50 can be conveyed toward the base end side from the front end side of the boom 5. FIG. . If the boom conveyor 53 is operated in the reverse direction, the coal transported from the outside can be transported from the proximal end side of the boom 5 to the distal end side and dropped onto the yard as described below.

  That is, between the pair of rails 2, a belt conveyor 20 used for loading and discharging coal is laid. Although details are not illustrated, in this embodiment, two belt conveyors 20 are laid as an example (one may be used), one of which is used for both loading and dispensing, and the other is dispensing. Used only for. A tripper 6 is provided so that the belt of the belt conveyor 20 for loading and discharging is lifted obliquely upward and coal is transferred to the boom conveyor 53 from its upper end.

  The tripper 6 is adjacent to the carriage 30 of the traveling girder 3 and is supported on the carriage 2 so as to be able to run on the rail 2. An inclined frame 61 is provided, and when viewed from the side as shown in the figure, the whole has a wedge shape. A plurality of wheels 62 are disposed on the carriage frame 60, and a storm anchor 63 (tripper holding means) that holds the wheels fixed to the ground is also disposed.

  On the other hand, the inclined frame 61 rises from the rear end (right end in the figure) to the front side (left side in the figure) of the carriage frame 60 and extends obliquely upward beyond the front end of the carriage frame 60. The belt of the belt conveyor 20 is turned upside down at the upper end of the inclined frame 61, folded back and extended downward, and then folded back toward the front again by a roller disposed at the lower part of the carriage frame 60.

  A chute 64 is disposed at the upper end of the inclined frame 61 so as to receive the coal falling from the belt of the belt conveyor 20 that is reversed. The chute 64 is positioned in the vicinity of the base end portion of the boom 5, more specifically on the base end side of the boom conveyor 53, with the tripper 6 connected to the traveling girder 3 as shown in the figure.

  Thereby, when coal is carried in from the outside, the coal conveyed by the belt conveyor 20 as described above is dropped to the base end side of the boom conveyor 53 via the chute 64, and the tip of the boom 5 is caused by the boom conveyor 53. It is transported to the side, dropped into the yard, and piled up in a trapezoidal shape. On the other hand, at the time of paying out, the pile of coal is broken down by the bucket wheel 50, transported to the base end side of the boom 5 by the boom conveyor 53, and dropped onto the lower hopper 54. This coal is carried out by a belt conveyor 20 located below the traveling girder 3.

  In the present embodiment, a tripper 6 is connected to the traveling girder 3 and pulled, and travels integrally on the rail 2. That is, the cart 30 of the traveling girder 3 is provided with an extending portion so as to face the rear tripper 6, and the rear end portion and the front end portion of the cart frame 60 of the tripper 6 are denoted as S in FIG. In the site | part shown, it connects so that isolation | separation is possible by the connection unit 7 demonstrated below.

  As shown in FIG. 2, when the connecting portion is enlarged and viewed from above, a pair of left and right sides are separated between the rear end portion of the carriage 30 of the traveling girder 3 and the front end portion of the carriage frame 60 of the tripper 6. A connecting unit 7 is provided. In addition to the coupler 70 described below, the coupling unit 7 includes a shock absorber 75 for alleviating the impact during the coupling. Further, prior to the connecting operation of the coupler 70, a limit state detecting means for detecting that the traveling girder 3 and the tripper 6 are close to each other at a very small interval (about 30 to 50 cm as an example) below a predetermined value. A proximity detector consisting of a switch 77 and a sensor rod 78 is included.

  As shown in detail in FIG. 3, the coupler 70 is attached to the fixed hook 71 provided on the cart frame 60 of the tripper 6 and the cart 30 of the traveling girder 3 so as to be swingable up and down. A movable hook 72 (engagement member) and an electric cylinder 73 that swings the movable hook 72 up and down to engage with and disengage from the fixed hook 71 are provided. As shown in FIG. 2, the fixed hook 71 is attached to the tip of a columnar support portion 60 a that extends forward from the front end portion of the carriage frame 60, and extends further forward therefrom.

  A concave portion 71a (locking portion) is formed on the upper portion of the fixed hook 71 slightly behind the central portion in the longitudinal direction, and the convex portion 72a at the tip of the movable hook 72 is engaged at the time of connection shown in FIG. It comes to stop. On the other hand, as shown in FIG. 5B, when the electric cylinder 73 is separated and the rod 73a is retracted, the movable hook 72 is lifted up and the movable hook 72 swings upward, and the convex portion 72a at the tip thereof is fixed hook. It separates from the recess 71a of 71 (at the time of separation). Such connection / disconnection of the coupler 70 is detected by a limit switch 74.

  In addition, a surface 71b is formed on the upper portion of the fixed hook 71 so as to extend back and forth substantially flatly on the tip side of the recess 71a. As will be described later with reference to FIG. When the rod 73a of the electric cylinder 73 advances in the proximity state, the convex portion 72a at the tip of the movable hook 72 that swings downward comes into contact. Since the flat surface 71b functions as a guide portion that guides the convex portion 72a of the movable hook 72 toward the concave portion 72a that continues to the rear side, the flat surface 71b is hereinafter referred to as a guide portion 71b.

  In the example shown in the figure, the electric cylinder 73 is swingably supported by the rear end of the L-shaped column 30a that once extends upward from the rear end of the carriage 30 of the traveling girder 3 and then bends and extends rearward. ing. The electric cylinder 73 swings up and down the movable hook 72 suspended at the lower end thereof by the expansion and contraction of the rod 73a. The suspension position is displaced back and forth with the swinging of the movable hook 72. Thus, the electric cylinder 73 and the rod 73a are also swung.

  As shown in FIG. 4, a shock absorber 75 that absorbs and relieves an impact that may occur at the time of connection is provided inside the connector 70 having such a configuration. In the example shown in the figure, the shock absorber 75 is formed by attaching, for example, a urethane ring-shaped cushioning material 75b in the front-rear direction to a columnar support portion 75a extending rearward from the rear end portion of the carriage 30 of the traveling girder 3. . A strut 76 extends forward from the front end portion of the carriage frame 60 of the tripper 6 so as to face the rear of the cushioning material 75b, and in the event of a collision, the cushioning material 75b is compressed in the front-rear direction to apply an impact. It is designed to absorb.

  A contact plate 76a is provided at the front end of the support column 76, and a slight amount (for example, in the connected state of the connector 70 shown in FIG. A gap (5 cm or less) is formed. In addition, the distance between the cushioning material 75b and the abutting plate 76a in the proximity state prior to the connection is a very small distance of about 30 to 50 cm. A limit switch 77 is provided below the shock absorber 75 as a detector for detecting the proximity state.

  That is, as shown in FIG. 4, a limit switch 77 is attached to the support portion 75a of the shock absorber 75 via a bracket 75c that extends downward. A rectangular support frame 76b that hangs down is attached, and a sensor rod 78 is supported so as to extend forward on the lower end side of the support frame 76b. The sensor rod 78 is positioned so that the front end contacts the limit switch 77 in the proximity state.

  That is, as shown in FIG. 4, the length of the sensor rod 78 is set in correspondence with the distance between the support portion 75a of the shock absorber 75 and the support column 76 in the proximity state, and the front end portion thereof is more forward as it goes upward. It has an inclined shape that protrudes, and when it enters a close state as shown in the figure, it contacts the limit switch 77 to turn it on.

  Returning to FIG. 2, at the rear end portion of the carriage 30 of the traveling girder 3, the operation of the coupler 70, etc. is performed when the tripper 6 is connected to or separated from the carriage frame 60 by the operation of the coupler 70 described above. A field operation box 34 having operation panels such as the traveling device 31, the rail clamp 32, the coupler 70, and the like is provided so that the traveling girder 3 can be operated while visually confirming the above.

  In the illustrated example, the field operation box 34 is disposed along a walkway 35 for an operator, and the tip of a communication cable 36 extending obliquely rearward therefrom is connected to the system on the tripper 6 side. Connector 36a is provided. The walkway 35 is provided so as to be connected to the walkway 65 on the tripper 6 side.

-Operation of stacker and reclaimer-
FIG. 5 is a functional block diagram schematically showing the control system of the stacker / reclaimer 1 of the present embodiment, and shows a case where the controller 90 is mounted on the traveling girder 3 as an example. As shown in the figure, the controller 90 includes at least a signal from the boom elevation angle sensor 91 and the boom turning angle sensor 92 for detecting the elevation and turning angles of the boom 5 and a wheel for detecting the rotation angle of the wheels of the traveling device 31. A signal from the rotation angle sensor 93, a signal from the detection sensor 94 for detecting a target (not shown) that is a detection target disposed on the rail 2 at a predetermined interval, and a limit switch ( LS) 74 and proximity detector, that is, an on / off signal from limit switch 77 is input.

  Further, the controller 90 inputs signals from the operation panels of the cab 33 and the on-site operation box 34, and outputs operation signals to the drive circuits 95 such as the turning tower 4, the boom 5, the traveling device 31, and the like. 3 and the boom 5 are lifted and turned, and an operation signal is also output to the brake 95 and the rail clamp 32 of the traveling girder 3. Further, the controller 90 also outputs an operation signal to the electric cylinder 73 (Act.) Of the coupler 70, and causes it to be coupled / separated. Further, an ON / OFF signal from the limit switch 63a (tripper holding detection means) indicating the operating state of the storm anchor 63 is also input from the side of the tripper 6 connected by the connector 36a.

  For example, as described above, when coal is stacked on the yard by the stacker / reclaimer 1, the tripper 6 is pulled while being connected to the traveling girder 3, the boom 5 is lifted and swung, and the coal is dropped to the yard. . At this time, in order to avoid interference with the tripper 6, the turning of the boom 5 is restricted, and the turning angle is set to ± 105 to the position (the turning angle is 0 °) where the boom 5 extends forward in the opposite direction. Up to about 110 °.

  On the other hand, when the coal pile is disassembled and dispensed, the tripper 6 is cut off and held at a mooring position set in advance on the rail 2. The traveling girder 3 can move up and down the boom 5 while traveling alone on the rail 2 and turn up the coal pile with the bucket wheel 50 at the tip. Thus, if the tripper 6 is separated and separated from the mooring position by a predetermined distance or more, the boom 5 can be lifted and swung almost freely.

  However, the traveling girder 3 cannot be brought close to the mooring position while the boom 5 is greatly lifted and swung, and the raising and lowering of the boom 5 is not limited in a place that is not separated from the mooring position by a predetermined distance or more. Must not. For this reason, an interlock is provided between the raising / lowering of the boom 5 and the turning operation and the traveling operation of the traveling girder 3.

  For example, as schematically shown in FIG. 6 (a), if the traveling girder 3 is in a normal area sufficiently separated from the tripper 6 (for example, 80 to 100 m or more away), the boom 5 is lifted and turned. The traveling girder 3 can be freely traveled to the regular limit which is the boundary of the regular range. On the other hand, as shown in FIG. 5B, when the tripper 6 approaches the mooring position beyond the normal limit, the boom 5 is prohibited from being lifted and turned, and both the angles are limited to around 0 °.

  In addition, as shown in FIG. 5C, when the boom 5 is not lifted or turned outside the normal range, the boom 5 cannot be entered in the entry prohibited area. And the travel of the traveling girder 3 that approaches the tripper 6 is prohibited. That is, in this case, the travel girder 3 is traveled away from the tripper 6 and once returned to the normal range, the boom 5 is turned in the 0 ° direction.

  Further, for example, as schematically shown in FIG. 7 (a), if the elevation and turning angles of the boom 5 are both close to 0 °, there is almost no restriction on the traveling girder 3, and the normal range as well as the normal area is entered. It is also possible to travel in prohibited areas. However, if the distance from the tripper 6 at the mooring position is, for example, about 2 to 3 m, the traveling operation of the traveling girder 3 by the operation in the cab 33 is prohibited and the operation can be performed only at the field operation box 34. Like that.

  In addition, as shown in FIG. 5B, when the elevation and turning angle of the boom 5 is not near 0 °, the traveling girder 3 can freely approach the tripper 6 until the normal use, but there is a limit beyond that. You cannot enter the prohibited area. If the turning angle of the boom 5 is ± 90 ° or more, the counterweight 52 is on the side opposite to the tripper 6, so that the vehicle can travel beyond the normal range and before the entry prohibition range. However, outside the normal range, as shown in FIG. 6C, the boom 5 cannot be swung to ± 90 ° or less (because the counterweight 52 comes to the tripper 6 side).

  In this case, the traveling girder 3 can travel away from the tripper 6, but the boom 5 faces upward as shown in FIG. 7C, and the counterweight 52 may interfere with the tripper 6. In some cases, the vehicle cannot travel away from the tripper 6. In this case, it is necessary to operate the boom 5 downward so that the elevation angle is in the vicinity of 0 °.

  Because of the interlock as described above, for example, when the traveling girder 3 is brought close to the mooring position and connected to the tripper 6, the controller 90 is such that both the elevation and turning angles of the boom 5 are close to 0 °. After confirming, travel to the mooring position is allowed. Similarly, when separating the tripper 6 from the traveling girder 3, the controller 90 confirms that both the elevation and turning angles of the boom 5 are close to 0 °. And after confirming that the tripper 6 is hold | maintained in the mooring position by the storm anchor 63 as described below, it isolate | separates it.

-Connection and separation of tripper-
Hereinafter, connection and separation of the tripper 6 in the stacker / reclaimer 1 of this embodiment will be described in detail with reference to FIGS. FIG. 8 is a flowchart showing an example of a control procedure by the controller 90 when the tripper 6 is separated, and FIG. 9 shows an example of a control procedure at the time of connection. FIG. 10 shows the operation of the coupler 70 when the tripper 6 is coupled.

  First, when separating the tripper 6 from the traveling girder 3, the operator operates the joystick of the operation panel in the cab 33 to operate the boom 5 so that both the elevation and the turning angle are about 0 °. Further, the traveling girder 3 is caused to travel to the rear tripper mooring position. At this time, the controller 90 detects the position of the boom 5 based on signals from the boom elevation angle sensor 91 and the boom turning angle sensor 92. Further, the position of the traveling girder 3 is detected by signals from the wheel rotation angle sensor 93 and the detection sensor 94 to determine whether or not the tripper 6 is in the mooring position.

  That is, the position of the traveling girder 3 is continuously detected based on the signal from the wheel rotation angle sensor 93, and the error accumulated in the calculation process is eliminated based on the signal from the detection sensor 94. The detection accuracy of the position of the girder 3 is extremely high. The wheel rotation angle sensor 93, the detection sensor 94, and the position calculation unit of the controller 90 constitute a traveling machine body position detection means.

  Then, as shown in the flowchart of FIG. 8, if both the elevation and turning angles of the boom 5 are near 0 ° and the tripper 6 is in the mooring position (YES in step SA1), the controller 90 The connection / separation operation enable lamp is turned on on the touch panel (operation panel) (step SA2). After confirming that the lamp is lit, the operator leaves the cab 33 and moves to the vicinity of the site operation box 34 to operate the storm anchor 63 of the tripper 6.

  As a result, the tripper 6 is held at the mooring position by the storm anchor 63 and the limit switch 63a (tripper holding detection means) for detecting the operation of the storm anchor 63 is turned on, and the signal is sent to the controller 90 via the communication cable 36. Sent to. When it is detected that the tripper 6 is held by the storm anchor 63 (YES in step SA3), the coupler 70 can be separated. Further, some display may be made on the field operation box 34.

  Then, after the operator pulls out the connector 36a of the communication cable 36 in the vicinity of the field operation box 34, the operator performs the separation operation of the coupler 70 on the operation panel of the field operation box 34 (YES in step SA4). Receiving this, the controller 90 outputs an operation signal to the electric cylinder 73 to separate the coupler 70 (step SA5). That is, as shown in FIG. 3B, the movable hook 72 of the coupler 70 is lifted, and the convex portion 72 a at the tip is detached from the concave portion 71 a of the fixed hook 71. Along with this, the limit switch 74 is turned off, and the signal is sent to the controller 90.

  Subsequently, the operator operates the operation panel of the field operation box 34 to open the rail clamp 32 and then travel the traveling girder 3 away from the tripper 6. As a result, the limit switch 77 is turned off when the traveling girder 3 is not in proximity to the tripper 6. Further, the controller 90 detects the position of the traveling girder 3 based on signals from the wheel rotation angle sensor 93 and the detection sensor 94, and determines whether or not the distance from the mooring position of the tripper 6 is a predetermined distance (2 to 3 m as an example) (step). SA6). If this determination is YES, the controller 90 temporarily stops the traveling girder 3 and allows the traveling girder 3 to travel by an operation in the cab 33 (step SA7).

  Therefore, the operator returns to the cab 33 and continues to travel the traveling girder 3. The controller 90 detects the position of the traveling girder 3 based on signals from the wheel rotation angle sensor 93 and the detection sensor 94, and when it enters the normal range (YES in step SA8), the controller 90 turns on the tripper separation lamp on the touch panel of the cab 33. Turn on (step SA9). This completes the separation of the tripper 6.

  Next, a control procedure when the tripper 6 separated as described above is connected to the traveling girder 3 again will be described based on the flowcharts of FIGS. In this connection work, the operator first operates the operation panel in the cab 33 to run the traveling girder to the vicinity of the boundary of the normal range (normal limit), and the boom 5 is lifted and turned at about the angle. Operate to 0 °. As shown in the flowchart of FIG. 9, the controller 90 turns on the connection / separation operation enable lamp on the touch panel (operation panel) if the elevation and turning angle of the boom 5 are both near 0 ° (YES in step SB1). (Step SB2).

  After confirming that the lamp is lit, the operator causes the traveling girder 3 to travel further closer to the mooring position of the tripper 6. At this time, the controller 90 detects the position of the traveling girder 3 based on signals from the wheel rotation angle sensor 93 and the detection sensor 94, and temporarily stops when the traveling girder 3 reaches the normal limit (YES in step SB3) (step SB3). SB4). Thereafter, when the traveling girder 3 further approaches the tripper mooring position and the distance from the tripper 6 reaches a predetermined interval (for example, 2 to 3 m) (YES in step SB5), the controller 90 temporarily stops the traveling girder 3 again. The traveling operation is prevented from being performed by an operation in the cab 33 (step SB6).

  At this time, since the rail clamp 32 fixes the traveling girder 3, the operator leaves the cab 33 and moves to the field operation box 34. After the rail clamp 32 is opened by the operation here, the traveling girder 3 is slowly moved. Drive and move closer to the tripper mooring position. As a result, when the distance between the traveling girder 3 and the tripper 6 is close to a predetermined distance, the limit switch 77 is turned on by the sensor rod 78. Receiving the signal, the controller 90 detects that it is in the proximity state (YES in step SB7), and temporarily stops the traveling girder 3 (step SB8).

  In the proximity state in which the traveling girder 3 is stopped in this manner, the operator performs the coupling operation of the coupler 70 on the operation panel of the on-site operation box 34 as shown in step SB9 of the flow of FIG. In response to this, the controller 90 outputs an operation signal to the electric cylinder 73 of the coupler 70 to perform a coupling operation (step SB10). That is, as shown in FIG. 11A, the rod of the electric cylinder 73 advances (YES in step SB11), the movable hook 72 descends, and the convex portion 72a at the tip thereof comes into contact with the guide portion 71b of the fixed hook 71.

  In this state, when the operator slowly travels the traveling girder 3 so as to approach the tripper 6, the convex portion 72a at the tip of the movable hook 72 slides on the guide portion 71b, and FIG. As shown, it fits into the recess 71 a of the fixed hook 71. That is, the coupler 70 is coupled (YES in step SB12), the limit switch 74 is turned on, and the controller 90 that has received this signal recognizes the end of the coupling operation and stops the traveling girder 3 (step SB13). .

  That is, since the traveling girder 3 is automatically paused immediately before the tripper 6 is connected, the operator can easily and safely simply connect the coupler 70 after the traveling girder 3 is temporarily stopped. The tripper 6 can be reliably connected.

  When the connection of the tripper 6 is thus completed, the operator connects the connector 36a of the communication cable 36 in the vicinity of the field operation box 34 (YES in Step SB14), and then opens the storm anchor 63. As a result, the limit switch 63a of the storm anchor 63 is turned off (YES in step SB15), and the controller 90 receiving the signal turns on the tripper connection lamp (step SB16). Thus, the tripper 6 is released from the holding state at the mooring position, and is pulled by the traveling girder 3 to travel on the rail 2.

  Note that the procedure of step SA3 shown in the flowchart of FIG. 8 realizes the function of a tripper holding detection unit that detects that the tripper 6 is held by the storm anchor 63. The procedure of steps SA3 to SA5 realizes the function of the tripper separation regulating means for prohibiting the separation operation of the coupler 70 and regulating the separation of the tripper 6 when the holding state of the tripper 6 is not detected. ing. In the present embodiment, when it is detected in step SA1 that the boom 5 is in a predetermined position where it does not interfere with the tripper 6, that is, in the vicinity of 0 °, the separating operation of the coupler 70 is permitted.

  On the other hand, the procedure of step SB1 shown in the flowchart of FIG. 9 allows the traveling girder 3 to enter within a predetermined distance (entry prohibited area) from the tripper mooring position when the boom 5 is at the predetermined position. Otherwise, entry is prohibited and the function of the tripper connection restricting means for restricting the connection with the tripper 6 is realized. Moreover, the procedure of step SB8 implement | achieves the function of the stop control means which stops the traveling girder 3 temporarily, when it determines with it being a proximity | contact state.

  The control procedures shown in the flowcharts of FIGS. 8 to 10 are realized by the controller 90 executing a predetermined control program. In this embodiment, the controller 90 includes the tripper holding detection unit. The control units corresponding to the tripper separation regulating means, the tripper connection regulating means, and the stop control means are respectively provided in the form of software.

  As described above, according to the stacker / reclaimer 1 according to the embodiment described above, when coal is first loaded, the tripper 6 is connected to the traveling girder 3 and pulled, and the coal transferred to the boom conveyor 53 is thereby pulled. Can be dropped into the yard from the tip side of the boom 5 and piled up. On the other hand, when the pile of coal is withdrawn and discharged by the bucket wheel 50, the tripper 6 that interferes with the operation of the boom 5 can be separated and held at the mooring position.

  That is, when the storm anchor 63 is operated with the tripper 6 positioned at the mooring position, the holding state by this is detected by a signal from the limit switch 63a, so that the coupler 70 is separated according to the detection result. The tripper 6 can be separated safely and reliably without relying on the visual confirmation of the operator.

  On the other hand, when the holding state of the tripper 6 by the storm anchor 63 is not detected, the separating operation of the coupler 70 cannot be performed, so that the tripper 6 cannot be separated from the traveling girder 3. In other words, the tripper 6 is always held at the mooring position when separated from the traveling girder 3, and the position does not change.

  Therefore, after that, when connecting to the traveling girder 3 again, an unexpected collision can be avoided based on the detection result of the position of the traveling girder 3 on the rail 2, and the tripper 6 can be avoided without relying on the visual confirmation of the operator. Can be connected safely and reliably.

  Further, when the tripper 6 is separated and connected, the operation of the coupler 70 is allowed on condition that the elevation and turning angle of the boom 5 of the traveling girder 3 are in the vicinity of 0 °. Further, there is no possibility that the boom 5 interferes with the tripper 6.

-Other embodiments-
In addition, description of embodiment mentioned above is only an illustration, and it does not intend restrict | limiting this invention, its application thing, or its use. For example, in the above-described embodiment, when the tripper 6 is held at the mooring position by the storm anchor 63, the separating operation of the coupler 70 is allowed. It is only necessary to notify the worker of the holding state.

  Further, when the tripper 6 is connected and disconnected, the elevation and turning angle of the boom 5 of the traveling girder 3 do not necessarily have to be in the vicinity of 0 °. For example, if the elevation angle is in the vicinity of 0 °, the turning angle is ± 30 °. A wider range may be used.

  Moreover, in the said embodiment, although the storm anchor 63 of the tripper 6 is operated manually, you may enable it to operate this from the field operation box 34 of the traveling girder 3. FIG. For this purpose, as shown in FIG. 12, for example, a microcomputer 66 is mounted on the tripper 6, and an actuator 63b (Act.) Provided on the storm anchor 63 is operated. The microcomputer 66 can communicate with the controller 90 of the traveling girder 3 via the communication cable 36.

  Further, in the above-described embodiment, the tripper 6 is held and separated at a preset mooring position. However, the tripper 6 is not limited to this and is held at an arbitrarily selected mooring position on the rail 2. It may be. In this case, the tripper holding means may be a mechanism such as the rail clamp 32 of the traveling girder 3 that sandwiches the rail 2 instead of the storm anchor 63.

  In that case, the tripper 6 may include a storage device for storing the position and a battery (power source) used for the operation of the storage device. In this way, even if the tripper 6 is separated from the traveling girder 3 while being held at an arbitrary mooring position on the rail 2, the mooring position is stored in the storage device, so that the relative position with respect to the traveling girder 3 is maintained. Can be detected. As the storage device, the internal storage device of the microcomputer 66 shown in FIG. 12 can be used.

  Furthermore, in the present embodiment, as an example, the stacker / reclaimer 1 that loads and discharges coal in a coal raw material yard of an iron works has been described, but the present invention is not limited to this, and The present invention can also be applied to stackers and reclaimers that load and discharge various materials such as ores in quarries.

  According to the stacker and reclaimer according to the present invention, the connection and separation of the tripper can be performed without relying on the operator's visual confirmation, and it is difficult to be affected by the operator's fatigue and bad weather, so it is safe, reliable and extremely useful. It is.

1 Stacker / Reclaimer 2 Rail 3 Travel Girder
5 Boom 6 Tripper 63 Storm anchor (tripper holding means)
63a Limit switch (tripper holding detection means)
66 Microcomputer (storage device)
7 Connecting unit 70 Connector 71a Recessed hook recessed portion (locking portion)
71b same guide part 72 movable hook (engagement member)
73 Electric cylinder (actuator)
77 Limit switch (Proximity detection means)
90 controller (tripper holding detection means, tripper separation restriction means, tripper connection restriction means, and stop control means)
91 Boom elevation angle sensor (boom position detection means)
92 Boom turning angle sensor (boom position detecting means)
93 Wheel rotation angle sensor (traveling machine body position detection means)
94 Detection sensor (traveling machine body position detection means)

Claims (11)

A connecting / separating device for the tripper in a stacker / reclaimer, which supports a boom so as to be able to be lifted and swung on a traveling machine body traveling on a rail, and is connected to the traveling machine.
Traveling machine body position detection means for detecting the position of the traveling machine body on the rail;
A coupler for releasably connecting a tripper to the traveling machine body;
Tripper holding means for holding the tripper in a mooring position on the rail;
A tripper connection / separation device comprising: a tripper holding detection unit that detects that the tripper is held by the tripper holding unit.   A tripper further comprising a tripper separation restricting means for restricting the separation of the tripper from the traveling body by prohibiting the separating operation of the coupler when the holding state of the tripper is not detected by the tripper holding detecting means. Connecting / separating device. Boom position detecting means for detecting the boom elevation and turning position,
3. The coupling / coupling device according to claim 2, wherein the tripper separation restricting unit allows a separation operation of the coupler when the boom position detection unit detects that the boom is in a predetermined position where the boom does not interfere with the tripper. Separation device.   When the boom position detecting means detects that the boom is at the predetermined position, the traveling body separated from the tripper is allowed to enter within a predetermined distance from the mooring position, while the boom is The connection / separation device according to claim 3, further comprising a tripper connection restricting means for restricting the connection with the tripper by prohibiting the traveling body from entering within the predetermined distance if it is not at a predetermined position. The coupler is
A locking portion provided on one of the traveling machine body and the tripper, and an engagement member provided on the other and operated by an actuator to be engaged and disengaged with the locking portion;
2. A guide portion capable of contacting the engagement member in a proximity state where the distance between the traveling machine body and the tripper is a predetermined value or less, and a guide portion that guides the engagement member to the locking portion. The connection / separation device according to any one of 4. Proximity state detecting means for detecting the proximity state of the traveling machine body and the tripper;
The connection / control unit according to claim 5, further comprising: a stop control unit that temporarily stops the traveling machine body that is traveling so as to approach the mooring position when the proximity state detecting unit detects the proximity state. Separation device.   The traveling machine body position detecting means includes a rotation angle sensor that detects a rotation angle of a wheel of the traveling machine body, and a detection sensor that detects a detection target provided at a predetermined interval in the longitudinal direction of the rail. The connection / separation device according to any one of claims 1 to 6.   The connection / separation device according to any one of claims 1 to 7, wherein the tripper includes a storage device for storing the position of the tripper and a power source used for the operation of the storage device. A stacker / reclaimer for connecting and separating the tripper in a stacker / reclaimer, which supports a boom so as to be able to be lifted and turned on a traveling machine body that runs on a rail, and is connected to the traveling machine.
Preparing a tripper holding detection means for detecting that the tripper is held at a mooring position on the rail;
First, while detecting the position of the traveling machine body on the rail, the traveling machine body is traveled, and the tripper connected thereto is positioned at the mooring position,
Next, the tripper is held at the mooring position, and the holding state at the mooring position of the tripper is detected without separating the tripper from the traveling machine body until the holding state is detected by the tripper holding detecting means. For example, the tripper is separated from the traveling machine body. Boom position detecting means for detecting the boom elevation and turning position,
The connection / separation method according to claim 9, wherein the boom position detection unit separates the tripper after it is detected that the boom is in a predetermined position that does not interfere with the tripper.   After the boom position detecting means detects that the boom is in the predetermined position, the traveling machine body from which the tripper is separated travels toward the mooring position, and enters the mooring position within a predetermined distance. The connection / separation method according to claim 10.

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