JP3099566B2 - Reclaimer travel position detector - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling position detecting device for a reclaimer in which a rotating bucket wheel is attached to the tip of a boom and the conveyed product is discharged from a pile of conveyed products by a turning operation of the boom.

[0002]

2. Description of the Related Art In a conventional reclaimer, a synchro transmitter is mounted on a running wheel as a running position detecting device to detect a running position. Since a traveling position detection error is caused by traveling wheel slip generated at the time of traveling start and traveling stop or a conveyed object on the traveling rail, the traveling position correction is performed by providing a traveling position detecting piece. In this case, the traveling position detecting piece is provided along the conveyor frame or the traveling rail, and the traveling position detecting device is provided on the reclaimer main body side. The mounting position (distance from the origin) of the travel position detection piece is preset in a control device such as a sequencer, and the travel position is corrected by detecting the position.

[0003]

However, in the above-described conventional traveling position detecting device, the position is corrected at every fixed distance pitch, and the traveling error cannot be corrected due to the slip of the traveling wheel between the position correcting pitches. In addition, large equipment costs were required. Further, the traveling position detecting piece has the following problem depending on the installation location. (1) When the traveling position detecting piece is installed on the conveyor base,
Originally steelworks were often built in landfills,
Subsidence often occurs. Due to the land subsidence, the conveyor gantry itself sinks and the traveling position detecting piece attached to the conveyor gantry does not perform its original function. (2) If the traveling position detection piece is installed along the rail, the load may be collapsed due to rain or wind because the load is loose, and it is necessary to correct the load with a lifting machine. was there. At that time, the traveling position detecting piece installed along the traveling rail may be broken.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a traveling position detecting device for a reclaimer which does not require a traveling position detecting piece and has improved maintainability.

[0005]

SUMMARY OF THE INVENTION A traveling position detecting device for a reclaimer according to the present invention detects the number of rotations of a drive shaft of a cable reel driving device for driving a cable reel of a cable for sending a power supply or a control signal to the reclaimer. A winding function setting unit configured to set a relationship between the rotation speed of the drive shaft of the cable reel drive device and the travel distance of the reclaimer; and calculating the travel distance from the rotation speed using the relationship. A traveling distance calculation processing unit.

[0006]

The present invention focuses on the fact that a cable reel driving device for driving a cable reel of a cable for sending a power supply or a control signal to a reclaimer performs the same operation as a traveling body regardless of slip of traveling wheels. By mounting the traveling body absolute position detector (rotational speed detecting device) on the drive shaft of the cable reel driving device, that is, the rotating shaft of the cable reel, the traveling absolute position of the traveling body is independent of the slip of the wheels of the traveling body. By performing the detection, the traveling position detection piece is removed.

[0007]

Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram of a control device of a reclaimer according to an embodiment of the present invention, FIG. 2 is a plan view showing an arrangement of a reclaimer 24 in a raw material yard 21, and FIG. FIGS. 4A and 4B show the cable reel driving device 32 and the rotation speed detecting device 33.
5 is a diagram showing the relationship between the rotation speed of the drive shaft of the cable reel drive device 32 and the traveling distance of the reclaimer 24. FIG. Raw material yard 21 loaded with raw material pile 23
Is provided with a traveling rail 22, on which a reclaimer 24 is installed so as to be able to travel. The reclaimer 24 is mounted with a boom 26 which can be raised and turned, and a bucket wheel 2 hydraulically driven by a bucket wheel driving device 28 is provided at the tip of the boom 26.
5, and a boom conveyor 27 is installed along the longitudinal direction of the boom 26. In the reclaimer 24, the rotation angle of the cable reel 31 of the cable 30 for sending the power and control signals to the elevation angle detector 4, the rotation angle detector 8, and the reclaimer 24 for detecting the elevation angle and the swing angle of the boom 26, respectively, A rotation speed detection device 33 (absolute encoder) for detecting the rotation speed of the drive shaft of the cable reel drive device 32 is provided.
The cable reel driving device 32 is controlled by a cable reel control device 34. On both sides of the bucket wheel 25 in the turning direction, the end of the pile 23 in the turning direction, that is, unloading detectors 9a and 9b for detecting the unloading by ultrasonic waves are provided. On both sides in the middle of the boom 26, stage change detectors 15a and 15b for detecting the height of the payout stage by ultrasonic waves to detect the end of the current payout stage are provided. Further, an anti-collision detector 14 that detects the distance to the pile 23 by an ultrasonic wave and outputs an alarm signal when the distance becomes equal to or less than a predetermined value is provided at the tip of the boom 26 in the middle.

The elevation drive device 1, the elevation command device 2, the elevation control device 3, and the elevation angle detector 4 are for the boom 26 to perform the elevation motion. 7 and the turning angle detector 8 are for the boom 26 to make a turning motion, and the traveling drive device 10, the traveling commander 11, and the traveling control device 12 are for driving the reclaimer 24. Tsukiyama 2
A repose angle of 3 is set. Jogging distance setting device 17
Is set to the inching travel distance of the payout stage. The joggable travel distance storage 18 stores the joggable distance for each payout stage. In addition to the normal control operation, the travel control device 12 sets the jogging travel distance of the reclaimer 24 detected by the travel distance calculation processing unit 20 described later to the jogging travel distance set in the jogging travel distance setting device 17. The value is compared with the possible inching travel distance of the present payout stage stored in the inching travelable distance storage unit 18, and the inching travel distance is set as follows. Automatic changeover is performed if either of the following possible jogging travel distances ≦ the jogging travel distance is satisfied, and the automatic changeover is similarly performed when the pile pile collision prevention detector 14 outputs an alarm signal before the above conditions are satisfied. Control operation to be performed. The turning control device 7 performs a turning operation in the lower payout stage in accordance with the angle of repose set in the repose angle setting device 16 when performing the step change in addition to the normal control operation.

In the winding function setting section 19, the relationship between the rotation speed of the drive shaft of the cable reel driving device 32 and the traveling distance of the reclaimer 24 is set. This relationship differs depending on the thickness of the cable 30, the size of the rotating shaft of the cable reel 31, and the like, and is, for example, as shown in FIG. In addition, the length of the cable 30 may slightly change due to a difference in temperature between summer and winter, so that the winding function setting unit 19 sets summer, winter, and spring / autumn. Several patterns can be registered. The operator can select the pattern manually or
You can also switch to calendar automatically.
The travel distance calculation processing unit 20 calculates the travel distance of the reclaimer 24 from the relationship between the rotation speed and the travel distance set in the winding function setting unit 19 and the rotation speed obtained by the rotation speed detection device 33. , To the travel control device 12. In addition,
The rotational speed detection value 33, the winding function setting unit 19, and the traveling distance calculation processing unit 20 constitute a traveling position detection device. The rotation speed detecting device 33 detects the rotation speed of a rotating shaft connected to the cable reel driving device 32 via a gear device. And the cable 3
A power collector 35 for transmitting the power transmitted at 0 to each part of the reclaimer 24, and an optical coupler 36 for extracting a control signal transmitted over the cable 30 are also provided.

[0010]

As described above, according to the present invention, the absolute position detector (rotation speed detecting device) of the traveling body is attached to the driving shaft of the cable reel driving device, that is, the rotating shaft of the cable reel, so that the traveling body By detecting the traveling absolute position of the traveling body irrespective of the slip of the wheels, the traveling position detecting piece is not required, so that the equipment cost can be reduced and the maintainability can be improved.

[Brief description of the drawings]

FIG. 1 is a block diagram of a control device of a reclaimer according to an embodiment of the present invention.

FIG. 2 is a plan view showing an arrangement of a reclaimer 24 in a raw material yard 21.

FIG. 3 is a front view showing an arrangement of a reclaimer 24 in a raw material yard 21.

FIG. 4 is a detailed view of a cable reel driving device 32 and a rotation speed detecting device 33;

FIG. 5 is a diagram showing the relationship between the rotation speed of the drive shaft of the cable reel drive device 32 and the travel distance of the reclaimer 24.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Elevation drive device 2 Elevation command device 3 Elevation control device 4 Elevation angle detector 5 Swivel drive device 6 Swivel command device 7 Swivel control device 8 Swivel angle detector 9a, 9b Unloading detector 10 Travel drive device 11 Travel command device 12 Traveling control device 14 Collision prevention detector 15a, 15b Step change detector 16 Repose angle setting device 17 Jogging travel distance setting device 18 Jogging travelable distance storage device 19 Winding function setting unit 20 Traveling distance calculation processing unit 21 Material yard Reference Signs List 22 running rail 23 pile 24 reclaimer 25 bucket wheel 26 boom 27 boom conveyor 28 bucket wheel drive device 30 cable 31 cable reel 32 cable reel drive device 33 rotation speed detection device 34 cable reel control device 35 current collector 36 optical coupler

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-4-280729 (JP, A) JP-A-1-308101 (JP, A) JP-A-3-232004 (JP, A) 96467 (JP, U) Actually open 56-151901 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B65G 65/00-65/28 G05D 1/00-1/12

Claims (1)

(57) [Claims] An apparatus for detecting a traveling position of a reclaimer in which a rotating bucket wheel is attached to a tip of a boom and pays out conveyed products from a pile of conveyed products by a swiveling operation of the boom, for sending power and control signals to the reclaimer. A rotation speed detection device for detecting a rotation speed of a drive shaft of a cable reel drive device for driving a cable reel of the cable, and a relationship between a rotation speed of a drive shaft of the cable reel drive device and a travel distance of the reclaimer are set. A travel position detection device for a reclaimer, comprising: a winding function setting unit; and a travel distance calculation processing unit that calculates the travel distance from the rotation speed using the relationship.