JP3225969B2 - Reclaimer control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a reclaimer in which a rotating bucket wheel is provided at 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, the actual jogging travel distance is compared with a jogging travel set value, and if the jogging travel set value ≦ the actual jogging travel distance is satisfied, a step change is performed.
Also, when performing the changeover, the vehicle has retreated from the unloading position of the current payout stage.

[0003]

In the above-mentioned conventional method, since the setting value of the jogging travel distance is one despite the fact that the jogging travelable distance differs for each payout stage, the payout stage is one stage. If there are up to five steps and the inching travel distance is set to the fifth inching travel distance, the inferior to the fourth step will not allow inching travel, even though there is allowance for inching. It becomes inefficient dispensing operation, and if the inching travel distance set value is the first inching travelable distance, the boom will contact the pile when paying out the fourth and fifth steps. There is a drawback, and furthermore, in the case of performing the changeover operation from the upper stage to the lower stage, if the reclaimer is retracted at the unloading position of the upper stage, the conveyed material remains at the lower stage.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a reclaimer control device in which the inching travel distance can be set effectively even at different payout stages, the boom tip does not contact the pile, and the payout efficiency is high. It is to provide.

[0005]

According to the present invention, there is provided a reclaimer control apparatus comprising: a jogging travel distance setting device for setting a common jogging travel distance in each dispensing stage; and a repose angle for setting a repose angle of a conveyed product. A setter, a collision prevention detector provided at the end of the boom, which detects that the distance from the end of the boom to the pile has become a certain value or less, and a height of the payout stage, provided in the middle of the boom conveyor Change detector that detects the end of the current payout stage by detecting the
A jogging travel distance storage that stores the jogging travel distance that is the maximum possible distance, and a jogging travel distance setting that sets the actual jogging travel distance of the reclaimer in the jogging travel setting device. The value and the jogging travel distance of the present payout stage, which are stored in the jogging travelable distance storage device, are calculated as follows. Distance If the in-motion travelable distance of the present payout stage satisfies either of the infinite travel distances, an automatic shift operation in which the reclaimer travels backward until the shift detector detects the end of the current payout stage is performed. Also, if the collision prevention detector detects that the distance from the tip of the boom to the pile has fallen below a certain value before the above conditions are satisfied, the automatic changeover operation is performed in the same manner, and further, the changeover is performed. When setting the angle of repose Accordance angle of repose, the lower payout stage, and a stage exchange controller performs a turning operation.

[0006]

[Function] Compare the actual jogging travel distance with the jogging travel set value, and satisfy the jogging travel distance ≧ jogging travel distance setting value, or set the actual jogging travel distance to the current payout stage jogging The step change is performed when the inching travel distance ≧ the inching travel distance is satisfied as compared with the travelable distance, so that the boom does not come into contact with the pile and efficient payout operation can be performed.

[0007] Further, when the stage is changed from the current payout stage to the lower stage, the turning operation is performed in consideration of the angle of repose of the pile.
The lower payout operation can be performed from the end of the pile, so that no conveyed material remains in the lower payout stage.

[0008]

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

FIG. 1 is a block diagram of a reclaimer control device according to an embodiment of the present invention. FIG. 2A is a plan view showing an arrangement of a reclaimer 24 in a raw material yard 21, and FIG.
FIG. 3 is a front view, FIG. 3 is a view showing the arrangement of unloading detectors 9a and 9b, step change detectors 15a and 15b, and a collision prevention detector 14, and FIG. 4 is a flowchart of the step change operation.

A raw material yard 21 on which a pile 23 of raw materials is loaded.
Is provided with a traveling rail 22, on which a reclaimer 24 is installed so as to be able to travel. The reclaimer 24 has a boom 26 that can be raised and turned. A bucket wheel 25 driven by hydraulic pressure is attached to the tip of the boom 26, and a boom conveyor 27 is installed along the longitudinal direction of the boom 26. ing.
The reclaimer 24 includes an elevation angle detector 4 for detecting the elevation angle and the rotation angle of the boom 26, and a rotation angle detector 8 respectively.
A traveling distance detector 13 for detecting the traveling distance of the reclaimer 24 is provided. 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, at the tip of the boom 26, a collision prevention detector 14 that detects the distance to the pile 23 by ultrasonic waves and outputs an alarm signal when the distance becomes equal to or less than a predetermined value is provided.

The elevation driving 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, and the turning drive device 5 and the turning command device 6
The turning control device 7 and the turning angle detector 8 are for the boom 26 to make a turning motion. The driving device 10, the driving command device 11, the driving control device 12, and the driving distance detector 1 are provided.
Reference numeral 3 is for running the reclaimer 24. The repose angle of the pile 23 is set in the repose angle setting device 16. The jogging travel distance of the payout stage is set in the jogging travel distance setting device 17. 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 detector 13 to the jogging travel distance set value set in the jogging travel distance setting device 17, and The jogging travel distance of the present payout stage stored in the jogging travel distance storage 18 is compared, and the jogging travel distance is set as follows: jogging travel set value ≦ jogging travel distance jogging travel If either of the following conditions is satisfied, the automatic changeover is performed, and the automatic changeover is also performed when the stacking collision prevention detector 14 outputs an alarm signal before the above condition is satisfied. Perform
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 addition,
A part of the travel control device 12 and a part of the turning control device 7 constitute a shift control device.

Next, the operation of this embodiment will be described with reference to the flowchart of FIG.

The turning direction is determined by the turning control device 7 in accordance with the operation of the unloading detectors 9a and 9b (step 31), and the boom 26 turns right, unloads right (steps 32 and 33) or turns left. Then, the left unloading detecting operation (steps 34 and 35) is performed, and the inching movement and the running distance count are performed (step 36). Then, in the travel control device 12, the jogging travel distance is set in the jogging travel distance setting device 17;
It is compared with the possible inching travel distance of the present payout stage stored in the inching travelable distance storage 18 (step 3).
7, 38), if the jogging mileage is under the following conditions: jogging mileage set value ≦ jogging mileage Automatic jogging operation is performed if either of the following possible jogging mileage of payout stage ≦ jogging mileage is satisfied. Is performed. If the inching travel distance does not satisfy any of the above conditions, it is checked whether or not the collision prevention detector 14 has been operated (step 39). If it has not been operated, the process returns to step 31; Move on to In the automatic changeover operation, the reclaimer 24 travels backward until the changeover detectors 15a and 15b detect the end of the current payout stage (steps 40 and 41). When the level change detector 15a or 15b detects the end of the current payout level, the reclaimer 24 stops after traveling for a certain period of time, and lowers the elevating level by one level (steps 42 and 43). Since the width of the pile 23 is naturally widened if it is lowered by one step, the unloading position (rail side) of the present payout stage is estimated from the angle of repose of the raw material of the pile set in the repose angle setting device 16, and the position is estimated. The boom 26 is swiveled until (step 44). Thereafter, the unloading detector 9a or 9b detects the unloading, that is, the bucket wheel 2
The reclaimer 24 travels forward (steps 45 and 46) until 5 contacts the pile 23, and then stops (step 4).
7). Finally, the transport amount is compared with the set amount (step 4).
8) If the value is equal to or more than the set value, the operation is terminated.

[0014]

As described above, according to the present invention, the inching travel distance is set in each stage internally, and the inching travel distance is compared with the actual inching travel distance. If the distance is satisfied, the shift to the step change operation is performed, and when performing the step change below the payout step this time, the turning operation is performed in consideration of the angle of repose of the pile, so that the boom does not contact the pile. At the same time, there is an effect that efficient payout becomes possible.

[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. 2A is a plan view showing an arrangement of a reclaimer 24 in a raw material yard 21, and FIG. 2B is a front view thereof.

FIG. 3 is an unloading detector 9a, 9b, a changeover detector 15
FIGS. 5A and 5B are diagrams illustrating the arrangement of the collision prevention detector 14. FIGS.

FIG. 4 is a flowchart of a step change operation.

[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 Travel control device 13 Travel distance detector 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 21 Raw material yard 22 Traveling rail 23 Stacking mountain 24 Reclaimer 25 bucket wheel 26 boom 27 boom conveyor 28 bucket wheel drive 31-48 steps

────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shoji Hamaya 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Nippon Kokan Co., Ltd. (56) References JP-A-1-242622 (JP, A) JP-A Sho57 -98433 (JP, A) JP-A-1-261124 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B65G 63/00 B65G 65/16-65/22

Claims (1)

(57) [Claims] 1. A reclaimer control device, wherein a rotating bucket wheel is provided at the tip of a boom and discharges a conveyed product from a pile of conveyed products by a swiveling operation of the boom, wherein a common inching travel distance is set in each dispensing stage. Inching angle setting device that sets the angle of repose of the conveyed object, and an angle of repose device that is set at the tip of the boom, and detects that the distance from the tip of the boom to the pile has fallen below a certain value. A collision prevention detector, a changeover detector that is provided in the middle of the boom conveyor and detects the end of the current payout stage by detecting the height of the payout stage, and enables inching travel at each payout stage A jogging travelable distance storage device that stores a jogging travelable distance that is the maximum distance, and a jogging travel set value that is set in the jogging travel distance setting device to the actual jogging travel distance of the reclaimer, Inching is possible Compared with the possible jogging travel distance of the current payout stage stored in the distance memory, the jogging travel distance is set as follows: If either travelable distance ≦ inching travel distance is satisfied, an automatic shift operation for retreating the reclaimer is performed until the shift detector detects the end of the current payout stage, and the condition is satisfied. When the collision prevention detector detects that the distance from the tip of the boom to the pile has been reduced to a certain value or less before, the automatic shift operation is performed in the same manner. A reclaimer control device, comprising: a shift control device that performs a turning operation in a lower payout stage in accordance with a repose angle set in a setting device.