JP2583544B2 - Cable winding abnormality detection device for rail machine - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cable winding abnormality detecting device for controlling or powering a rail machine that runs on a rail such as a stacker or a reclaimer.

[Conventional technology]

Generally, a stacker, a reclaimer and a scook reclaimer equipped with both functions are used as rail machines to take charge of stacking and reclaiming of ore or coal and coke in an ore yard or a coal yard of a steel mill. Have been.

Due to the nature of a mobile machine, these rail machines have separate cables for winding two cables, a power cable for transmitting power from the ground to the aircraft and a control cable for transmitting control information between the ground and the aircraft. Cable reel. These two cable reels are installed on a rail machine in parallel in the running direction, and a hydraulic motor or a torque motor applies a constant rotating torque at all times irrespective of the running position and the running direction. Winding and rewinding the cable according to the running condition.

Generally, the power cable and the control cable have a fixed part on the ground side near the center of the running range of the rail machine in order to shorten the cable length. Depending on the direction, one becomes a winding direction and the other becomes a rewinding direction.

By the way, the rotating torque of the cable reel always applies a rotating torque in a constant winding direction regardless of the winding diameter or unwinding diameter of the cable, the winding state or the unwinding state, and the running speed of the rail machine. Due to the simple control of causing the cable to be wound, the cable is damaged by winding with an abnormal tension or applying an abnormal tension without rewinding.

In addition, because the hydraulic motor does not wind smoothly due to oil leaks or abnormalities in the torque motor, the cable left on the ground side may be cut by the traveling wheels of the rail machine, or the cable may come off from the cable reel winding frame. An accident has occurred in which the cable is wound around the shaft of a cable reel and the cable is cut.

Further, in recent years, since remote automatic unmanning has been introduced to rail machines, monitoring of the winding and rewinding of the cable reel by the operator has not been possible.

[Problems to be solved by the invention]

However, in the conventional rail machine, precise control of the rotational torque according to the winding diameter or unwinding diameter of the cable reel, the winding state, the unwinding state, and the traveling speed of the rail machine, or winding of the cable reel. The fact is that no diagnostic technology such as abnormality detection has been introduced, and every time an accident such as a cable disconnection occurs, only post-mortem measures such as repairing or replacing the cable are taken, preventing damage or disconnection of the cable. There was a problem that it was not possible.

Therefore, the present invention has been made in view of the above-mentioned conventional problems, and a cable winding of a rail machine capable of easily and reliably detecting an abnormal state of winding and unwinding of a cable by a cable reel. It is an object of the present invention to provide an apparatus for detecting an abnormal state of clothing.

[Means for solving the problem]

In order to achieve the above object, the present invention provides a traveling state detecting means for detecting a traveling state of a rail machine, as shown in a basic configuration diagram of FIG. Reel rotation detecting means for outputting a detection pulse out of phase in accordance with the rotation of a cable reel on which a cable to be connected is wound, and the rail machine is configured to rotate the cable reel based on a detection result of the running state detecting means. And a detection of the reel rotation detection means when the traveling state detection means detects that the vehicle is running and the micro rotation area detection means does not detect the micro rotation area. Abnormal state determining means for determining whether any of a rotational direction abnormality, a rotational speed abnormality, and a rotational hunting abnormality of the cable reel has occurred based on the pulse. To have.

[Action]

According to the present invention, two rotation detection pulses out of phase from the reel rotation detecting means for detecting the rotation of the cable reel around which the cable is wound, and the running state of the rail machine, that is, whether the rail machine is running or stopped. The state detecting means detects the state of rotation, and further detects that the running state is a minute rotation area for minutely rotating the cable reel based on the detection result of the running state detecting means. When the traveling state is detected by the detecting means, and the minute rotation area is not detected by the minute rotation area detecting means, the rotational direction abnormality, the rotational speed abnormality, and the rotational hunting abnormality of the cable reel are based on the detection pulse of the reel rotation detecting means. Is determined, and the abnormal state of the cable reel is immediately detected.

〔Example〕

 Hereinafter, embodiments of the present invention will be described with reference to the drawings.

 FIG. 2 is a schematic diagram showing one embodiment of the present invention.

In the figure, reference numeral 1 denotes a rail machine such as a stacker, a reclaimer, a stack reclaimer, etc., and traveling wheels provided at a lower portion.
1a is engaged with the rail 2 so as to be able to run on the rail 2 freely.

On the rail machine 1, a cable reel 4 that winds the other end of a cable 3 such as a power cable or a control cable having one end fixed to a fixed portion F on the ground is rotatably provided.
As shown in FIGS. 3A and 3B, the cable reel 4 includes a rotating drum 4a, a plurality of spokes 4b extending radially from both ends in the axial direction at equal angular intervals, and these spokes. A detection piece 5 made of a magnetic material is mounted at a position on the outer ring 4c side of each spoke 4b. On the other hand, rotation detectors 8A and 8B as reel rotation detection means are arranged at positions near and opposing the detection piece 5 of the support portion 6 erected on the fixed portion. Double rotation detector 8A,
8B Each of the, as shown in FIG. 4, consists of a proximity switch such as a Hall element, by the approach of the detection piece 5, detection pulses PD _A and PD _B shifted 1/4 of the ON-state phase, for example from one another
Is output.

In addition, as shown in FIG.
A cable abnormality detecting device 10 for detecting an abnormal state of the cable reel 4 is provided.

As shown in FIG. 5, the cable abnormality detecting device 10 includes, for example, an interface circuit 11, an arithmetic processing device 12,
A ROM, a microcomputer 14 having at least a storage device 13 having a RAM, the rotation detector 8A on the input side of the interface circuit 11, detection pulses PD _A of 8B, together with the PD _B is input, for example, running A traveling detector that outputs a pulse according to the traveling of the rail machine 1 attached to the wheel 1a
15 detection pulse PD _C of the input, the output side is connected to the alarm circuit 17 which emits a travel drive device 16 and an alarm sound or light traveling the rail machine 1.

Processor 12 executes predetermined arithmetic processing based on the detection pulses PD _A -PD _C in accordance with the processing program stored in the ROM in advance storage device 13, to detect the abnormal state of the cable reel 4. That is, the rotation detector 8A rail machine 1 is in the stop, 8B from the detection pulse PD _A, when the PD _B is outputted, it is determined that the rotation abnormality is generated, the direction of travel and a cable reel 3 of the railway machine 1 When the rotation direction is opposite to the normal state, it is determined that the rotation direction abnormality has occurred, and the order of generation of the detection pulses PD _A and PD _B of the rotation detectors 8A and 8B while the rail machine 1 is running. when the crazy, the rotation hunting is determined that the abnormality has occurred, further travel detector 15 of the detection pulses PD _C traveling of the railway machine 1 based on the distance L and the rotation detector 8A and a running speed V, 8B detect A pulse interval prediction value T ′ is calculated by predicting the pulse interval of the pulse,
When the actual pulse interval T of the detection pulses of the rotation detectors 8A and 8B is not in the range of the values T '+ k and T'-k obtained by adding or subtracting the predetermined set value k, the cable reel rotation speed abnormality occurs. It is determined that there is any abnormality, and an alarm is issued when these reel abnormalities occur, and a stop command to stop the traveling of the rail machine 1 is output to the traveling drive device 16.

Further, the storage device 13 stores the arithmetic processing device 1 in the ROM.
A processing program necessary for the second arithmetic processing is stored in advance, and an arithmetic result and the like required in the arithmetic processing are sequentially stored in the RAM.

Next, the operation of the above embodiment will be described with reference to the flowchart of FIG. 6 showing the processing procedure of the arithmetic processing unit of the microcomputer 14.

That is, when the rail machine 1 starts automatic operation by remote control, the processing of FIG. 6 is started, and first, at step, it is determined whether the rail machine 1 is running. This determination may for example detect pulse PD _C traveling detector 15 is determined by whether or not the input within a predetermined time, when the detection pulse PD _C within a predetermined time is not input, a rail machine 1 is stopped it is determined, the process proceeds to step determines the rotation detector 8A, detection pulses PD _a from 8B, whether the PD _B is input. Here, when either of the detection pulses PD _A or PD _B is input, the winding and rewinding of the cable 3 should not be performed while the running of the rail machine 1 is stopped. If it is determined that the rotation is abnormal, the process proceeds to step to output a traveling stop command to the traveling drive unit 16 to prevent the traveling of the rail machine 1 from starting, and then proceeds to step to output an alarm signal indicating the cable reel abnormality to the alarm circuit 17. Output to
A predetermined warning sound or light warning is issued, and the process ends.

On the other hand, when the determination result of the step is that the detection pulses PD _A and PD _B are not input, it is determined that the cable reel 4 is in a normal state, and the process returns to the step. Then, while the rail machine 1 continues to be stopped, the processing of the above steps is repeated and continued, and when the rail machine 1 starts running without any abnormalities during that time, the process shifts from step to step.

In this step, it is determined whether or not the rail machine 1 is traveling in the M zone near the fixed portion F of the cable 3.
This determination, by performing addition and subtraction by the rotation direction of the drive motor for driving the traveling wheels 1a, for example by detection pulse PD _C interrupt processing this detection pulse is started every input of the travel detector 15, rails The traveling distance L from the fixed point F of the machine 1 (provided that the left E zone in FIG. 1 is positive,
The right side of the W zone is defined as negative), and it is determined whether the absolute value of the traveling distance L is smaller than the boundary distance LM of the _M zone. When the determination result is L ≦ L _M, it is determined that the vehicle is traveling in the M zone, and the process proceeds to the step. Similarly to the step, whether the detection pulses PD _A and PD _B are input from the rotation detectors 8A and 8B. The detection pulse P
D _A, PD when either is input of _B, and proceeds to step determines whether the flag F is set to "1", the first time i.e. when the flag F is not set to "1" When the detection pulses PD _A and PD _B have been input, the process proceeds to the step, sets the flag F to “1”, and returns to the step.

Thus, while the rail machine 1 is traveling in the M zone, the flag F
Is set to “1” and the detection pulses PD _A and PD _B
Is input, it is determined that the cable reel 3 is abnormally rotated, and the process proceeds from the step to the above-described step to output a travel stop command to the travel drive device 16 and to output an abnormality alarm output to the alarm circuit 17 in the step. And terminate the processing. That is, while the rail machine 1 is traveling in the M zone, the outer diameter of the cable 3 wound around the cable reel 4 is large, and the rotation of the cable reel 4 due to the travel of the rail machine 1 is slight. In normal conditions,
During this time, the rotation detection pulses PD _A and PD _B are not input twice or more. Therefore, when the detection pulses PD _A and PD _B are input twice or more, it can be determined that the rotation of the cable reel 4 is abnormal. .

When the rail machine 1 moves from the M zone to, for example, the E zone, the process proceeds from the step to the step, the flag F is reset to “0”, and the process proceeds to the step. It is determined whether or not.
This determination is made in the same manner as in the above-described steps.
Is read, and it is determined whether the value is positive and exceeds the boundary distance LM of the _M zone. At this time, since the rail machine 1 is traveling in the E zone, the process proceeds to step to determine whether or not the traveling direction of the rail machine 1 is the direction w away from the fixed point F. This determination is based on the mileage _Li-1 at the previous processing and the current mileage.
By calculating the difference from L _i , the direction w in which the rail machine 1 moves from the M zone to the E zone and moves away from the fixed point F
Since the vehicle is traveling, the process proceeds to steps.

In this step, the detection pulse PD _B of the rotation detector 8B is
It is equal to or is input earlier than the detection pulses PD _A rotary detector 8A. This determination is for determining whether or not the cable 3 is normally unwound from the cable reel 4. In a normal state, the rail machine 1 is traveling in the direction w away from the fixed point F in the E zone. At this time, as apparent from FIG. 1, the cable reel 3 rotates clockwise against the rotational torque of the hydraulic motor or the torque motor to rewind the cable 4, but for example, the cable reel 3
From when the cable 4 comes off, will be the cable reel 3 is rotated in the counterclockwise direction, since the detection pulses PD _A is to precede the detection pulses PD _B accordingly, it is determined that the abnormal state, The process shifts to the above step and outputs a travel stop command to the travel driving device 16, and shifts to a step to output an abnormal alarm output to the alarm circuit 17 and ends the process.

On the other hand, the step of determination result when the detection pulse PD _B precedes the detection pulses PD _A, the process proceeds to step determines that the normal state.

In this step, the detection pulses P of the rotation detectors 8A and 8B are
D _A, leave at least the past two times store PD _B, determines these input sequence _{PD B, PD A, PD B} , whether a sequence of PD _A. This determination should be made when the rail machine 1 is traveling in the direction w away from the fixed point F, and the arrangement should always be in the above order. When this arrangement is out of order, abnormal rotation hunting of the cable reel 4 occurs. Can be determined. At this time, when the input sequence of the detection pulse is out of order, it is determined that the rotational hunting abnormality has occurred, and the process proceeds to the step and outputs the traveling stop command to the traveling drive device 16. The output is output to the alarm circuit 17 and the process ends.

If the result of the determination in the step is that the detection pulse is input in a predetermined input order, it is determined that the rewinding of the cable 3 is normally performed, and the process proceeds to the step.

In this step, a pulse interval estimated value T 'between the rotation detectors 8A and 8B is calculated from the traveling distance L and the traveling speed V of the rail machine 1. Here, the traveling speed V of the rail machine 1 is
Or counting the number of pulses per unit time of the travel detection pulses PD _C inputted from the travel detector 15 or the detection pulse
Calculated by measuring the elapsed time between PD _C.

Next, the process proceeds to the step where the actual detection pulse PD
_B calculates the actual pulse interval T until the detection pulse PD _A after being inputted is inputted, the real pulse interval T is 'value T obtained by plus or minus a predetermined value k to' the pulse interval estimate T + K, T'-k are determined. This determination is based on the detection pulses PD _A and PD _B of the rotation detectors 8A and 8B.
Is determined to be a pulse interval corresponding to the traveling speed of the rail machine 1, and T <T '
If -k or T> T '+ k, it is determined that there is a rewind abnormality and the process proceeds to the above step to output a traveling stop command to the traveling drive unit 16 and to the step to output an abnormality alarm output to the alarm circuit 17. And then terminate the process,
If T′−k ≦ T ≦ T ′ + k, it is determined that the state is normal, and the process proceeds to step.

In this step, it is determined whether or not the rail machine 1 is in the automatic operation. If the automatic operation is in progress, the process returns to the step, and if the automatic operation is released, the process is ended as it is.

Then, when the rail machine 1 shifts from the E zone running state to the stop state, as described above, shifts from step to step to determine whether or not the cable reel 4 is abnormal in the stopped state. When the vehicle starts traveling in the direction e approaching the step, the process shifts from step to step through step, step, step, and from step to step.

In this step, the detection pulse PD _A of the rotation detector 8A is changed to the detection pulse PD _B
It is determined whether or not it is ahead. That is, since a counterclockwise torque is applied to the cable reel 4 by the hydraulic motor or the torque motor, the rail machine 1
Travels in the direction e approaching the fixed point F, it rotates counterclockwise to wind up the cable 3, and the detection pulse PD _A of the rotation detector 8A becomes the detection pulse PD of the rotation detector 8B. it is determined that abnormal state shifts to the step when not precede the _B, and makes transition to step determines that the normal state when the detection pulse PD _a is ahead.

In this step, the step opposite to the detection pulses PD _A, the input sequence PD _A of _{PD B, PD B, PD A} , it is determined whether the order of the PD _B, detection pulses PD _A, the PD _B If the input order is out of order, it is determined that the rotation hunting abnormality has occurred in the cable reel 4 and the process proceeds to the above step. If the input order of the detection pulses PD _A and PD _B is not out of order, it is determined that there is a normal state. The process proceeds to the above step, and the pulse interval is determined according to the traveling speed of the rail machine 1, and then the process returns to the step.

After that, when the rail machine 1 is in a state of traveling in the M zone, the process proceeds from step to step, and from this step, the process proceeds to step, and the abnormality is determined during the traveling of the M zone. When the vehicle travels in the W zone, the process proceeds from step to step, then step to step, and from this step to step.

In this step, it is determined whether the rail machine 1 is traveling in the direction e away from the fixed point F or traveling in the approaching direction w in the same manner as in the above step, and the rail machine 1 is traveling in the direction e away from the fixed point F. Therefore, the process proceeds to the above step, and the same abnormality determination processing as when the rail machine 1 is traveling in the direction w away from the fixed point F in the E zone is performed.

Thereafter, when the rail machine 1 shifts to the running stop state in the W zone, the process shifts from step to step to perform the abnormality determination processing in the running stopped state. When the running starts to the fixed point F side from this state, the steps from step to step,
Move to step through step and step,
In this step, since it is determined that the vehicle is traveling in the direction w approaching the fixed point F, the process proceeds to the above step, and the same abnormality as the traveling of the rail machine 1 in the direction E approaching the fixed point F in the E zone is obtained. Perform determination processing.

In the process of FIG. 6, steps,.
Corresponds to the abnormality determining means, and the step processing corresponds to the minute rotation range detecting means.

As described above, according to the above-described embodiment, the abnormal state of the winding and rewinding of the cable reel 4 in consideration of all of the traveling position of the rail machine 1, whether traveling or stopped, and the traveling speed is taken into account immediately and accurately. Detection can be performed, and accidents such as damage and disconnection of the power cable, control cable, and the like can be prevented.

In the above embodiment, the case where the abnormality detection device 10 is provided on the rail machine 1 has been described. However, the present invention is not limited to this, and the abnormality detection device 10 may be provided on the control device on the ground.

Further, in the above embodiment, the case where the traveling detector 15 is provided as the traveling state detecting means of the rail machine 1 has been described. However, the present invention is not limited to this, and the traveling control information of the traveling driving device 16 that remotely controls the rail machine 1 is provided. May be read, and the running state may be detected based on this.

Further, in the above embodiment, the case where the proximity switch is applied as the reel rotation detecting means has been described. However, the present invention is not limited to this, and any rotation detecting means such as a photoelectric switch or a micro switch may be applied. Can be.

Furthermore, in the above-described embodiment, the case where the rail machine 1 travels in both directions with the fixed point F of the cable 4 as a boundary point has been described. What you get.

Still further, the rail machine is not limited to the stacker, the reclaimer, and the stack reclaimer, and it is needless to say that the present invention can be applied to other rail machines that route cables such as an overhead traveling crane.

Also, a case has been described in which, when judging a rotational speed abnormality of the cable reel 4, a pulse interval predicted value T 'is calculated, and a value obtained by adding or subtracting a predetermined set value k to this value is compared with an actual pulse interval T. However, the present invention is not limited to this. For the pulse interval predicted value T ', the set value k' smaller than 1 and the set value k "exceeding 1 are set.
May be multiplied to calculate the lower limit value and the upper limit value.

Furthermore, when the spokes 4b are arranged at regular angular intervals, the rotation detectors 8A and 8B do not need to be arranged close to each other, and are separated by an integral multiple of the angular interval of the spokes 4b and by a phase shift. Even if it is provided at the position, the same operation and effect as the above embodiment can be obtained.

〔The invention's effect〕

As described above, according to the present invention, the correlation between the traveling state of the rail machine and the rotation state of the cable reel around which the cable is wound is detected, and when these correlations deviate from the normal state, Since it is determined that the rotation direction of the reel is abnormal, the rotational hunting is abnormal, or the rotational speed is abnormal, the abnormal state can be detected quickly and accurately, and accidents such as cable damage and disconnection can be prevented. This makes it possible to obtain an effect that a safe and stable operation of the rail machine can be ensured.

[Brief description of the drawings]

FIG. 1 is a basic structural view showing an outline of the present invention, FIG. 2 is a schematic view showing an embodiment of the present invention, and FIGS. 3 (a) and (b) each show an upper half of a cable reel. FIG. 4 is an explanatory view showing an attachment relation of a reel rotation detector, FIG. 5 is a block diagram showing an example of an abnormality detection device, and FIG. 6 shows an example of a processing procedure of an arithmetic processing device. It is a flowchart. In the figure, 1 is a rail machine, 2 is a rail, 3 is a cable, 4 is a cable reel, 7 is a detection piece, 8A and 8B are rotation detectors, 10 is a cable abnormality detection device, 11 is an interface circuit, and 12 is arithmetic processing The device, 13 is a storage device, 14 is a microcomputer, 15 is a travel detector, 16 is a travel drive device, and 17 is an alarm circuit.

Claims (1)

(57) [Claims] 1. A running state detecting means for detecting a running state of a rail machine, and detecting a phase shift according to rotation of a cable reel for winding a cable connecting the rail machine and a ground side fixed portion. A reel rotation detection unit that outputs a pulse, a minute rotation region detection unit that detects that the rail machine is in a minute rotation region of the cable reel based on a detection result of the traveling state detection unit, and the traveling state detection unit. When the running state is detected, and when the minute rotation area is not detected by the minute rotation area detection means, the rotation direction abnormality, the rotation speed abnormality, and the rotation hunting abnormality of the cable reel are detected based on the detection pulse of the reel rotation detection means. Abnormality detecting means for determining whether any of the above has occurred or not.