JP5611000B2 - Loading device and control method thereof - Google Patents

Description

  The present invention relates to a charging apparatus and a control method thereof, and relates to an apparatus for charging a charged material into a vessel such as a blast furnace.

Conventionally, in a blast furnace for iron making, a charging device is used as equipment for charging a charged material into the furnace. A similar charging device is also used when filling the contents of containers such as other reaction furnaces, reaction towers, and catalyst containers.
In such a charging device, it is required that the charged material be in a desired state, for example, the planar distribution of the charged material in the container is made uniform. For this reason, in the charging device, it is required to freely control the spraying direction and the spraying state of the charged material, and various spraying mechanisms have been developed.

  In the apparatus of Patent Document 1, a cylindrical or bowl-like chute that feeds a charge is installed at an inclination on a turning portion, and the turning portion is turned around a vertical turning axis together with the chute so that the tip of the chute is removed. Sprinkle the discharged charge into a donut shape. Furthermore, the reach | attainment area | region of the charging material discharged | emitted from a chute | shoot is changed by adjusting the inclination | tilt angle of the chute | shoot with respect to a turning axis, and, thereby, control of a spraying state is implement | achieved.

  In the device of Patent Document 1, the chute is supported by the turning portion via an inclination angle adjusting mechanism. A turning drive motor is used to drive the turning portion to turn, and the output of the turning drive motor is also transmitted to the adjusting mechanism. A differential mechanism (planetary gear) is interposed between the adjustment mechanism and the drive motor, and an adjustment drive motor is connected to the third shaft of the differential mechanism. In such a configuration, if the reduction ratio of the intermediate gear is correctly selected, the adjustment mechanism and the turning portion can be rotated integrally by the turning drive motor. Also, by operating the adjustment drive motor, relative rotation (change in relative angle and phase difference) with respect to the turning motion is transmitted from the differential mechanism to the adjustment mechanism, and the adjustment mechanism tilts the chute according to the transmitted relative rotation. The angle is adjusted.

  In the above-described Patent Document 1, the adjustment mechanism for the inclination angle of the chute and the turning portion are integrally turned by driving the turning drive motor, and a differential mechanism is interposed to drive the adjustment mechanism by driving the adjustment drive motor. There is a need. Therefore, the structure becomes complicated and the equipment cost increases. Furthermore, maintenance inspection becomes complicated in order to maintain the turning of the complicated mechanism.

On the other hand, the applicant of the present application has installed a rotor that rotates around the pivot axis of the chute and a holder that rotates around an adjustment axis that is supported by the pivot mechanism and is inclined with respect to the pivot axis. Has been proposed (Japanese Patent Application No. 2009-234957).
In this configuration, the chute can be rotated at a fixed inclination angle by rotating the rotor and the holder synchronously, and the inclination angle of the chute can be changed by rotating the holder relative to the rotor. .

For the driving of such a configuration, a differential mechanism, a swing drive motor, and an adjustment drive motor as in Patent Document 1 can be used. Usually, the rotor and the holder are rotated synchronously with only the swing drive motor, and the angle At the time of adjustment, the rotor and the holder can be relatively rotated by the adjustment drive motor and the differential mechanism.
In addition, by using separate drive motors for the rotor and the holder, and controlling each separately, it is possible to perform the turning operation by the synchronous rotation of the rotor and the holder without using the differential mechanism, or the relative rotation of the rotor and the holder. The inclination angle of the chute can be adjusted.

JP 49-41205

However, in the configuration having the rotor and the holder described above, the two drive systems exemplified have the following problems.
The above-described system using a differential mechanism in the drive system requires a large differential mechanism that can withstand transmission of the driving force, and has a problem that it is not suitable for weight reduction and downsizing as a charging device.
In the method using the individual drive motor described above, it is not easy to directly detect the inclination angle of the chute from the sensor fixed to the frame. Therefore, the rotation angle of each drive motor is detected and the inclination angle of the chute is calculated from the difference. Will be estimated. Further, in the recovery operation in the event of a power failure or sensor abnormality, it is necessary to visually check the chute angle. However, in the blast furnace, the chute is installed in the furnace, so that it is necessary to open a manhole in the visual confirmation operation. However, manhole opening work is not easy due to operational problems. From the above, there is a problem that it is difficult to accurately control the inclination angle of the chute.

  SUMMARY OF THE INVENTION The main object of the present invention is to provide a charging device and a control method therefor that can accurately control the inclination angle of the chute while simplifying the drive system.

The charging device of the present invention includes a turning drive motor that rotates a turning portion including a chute around a turning axis, an adjustment mechanism that changes an inclination angle of the chute according to relative rotation with respect to the turning portion, and the adjustment mechanism. An adjustment drive motor that rotates about the pivot axis;
A differential mechanism that transmits rotation of the swing drive motor and rotation of the adjustment drive motor; and an adjustment angle sensor that transmits relative rotation between the swing drive motor and the adjustment drive motor in the differential mechanism. It is characterized by that.

The charging device control method of the present invention includes a turning drive motor that rotates a turning part including a chute around a turning axis, an adjustment mechanism that changes an inclination angle of the chute according to relative rotation with respect to the turning part, A control method for a charging device having an adjustment drive motor for rotating an adjustment mechanism around the pivot axis,
A differential mechanism that transmits rotation of the swing drive motor and rotation of the adjustment drive motor, and an adjustment angle sensor that transmits relative rotation between the swing drive motor and the adjustment drive motor in the differential mechanism are used. ,
When the inclination angle of the chute is set to a predetermined angle, the adjustment drive motor is controlled with reference to an angle detected by the adjustment angle sensor.

Here, as the adjustment mechanism that changes the inclination angle of the chute according to the relative rotation with the turning portion, the configuration having the rotor and the holder described above can be adopted. Further, in order to detect the rotation of the turning drive motor, a turning angle sensor or the like may be installed as appropriate, or the configuration may be used if the rotation of the turning drive motor can be detected from the control device.
Or you may apply the differential mechanism and adjustment angle sensor which were mentioned above with respect to the same turning drive motor, adjustment mechanism, and adjustment drive motor in patent document 1 mentioned above or another structure.

A general planetary gear can be used as the differential mechanism. The three input / output shafts of the planetary gears receive the rotation of the turning drive motor and the rotation of the adjustment drive motor as inputs, and by selecting the correct reduction ratio of each gear, the rotation of the rotation drive motor and the rotation of the adjustment drive motor are controlled. As long as the relative rotation is output and obtained by the adjustment angle sensor, it can be connected to an arbitrary gear.
As a differential mechanism, in addition to a planetary gear, a gear mechanism or other transmission mechanism similar to this may be used, and it is appropriately used as long as it outputs a rotational speed corresponding to the difference between the input rotational speeds of the two systems. can do.
As an example of the differential mechanism, a wave gear type differential unit (trade name Harmonic Drive FD series) manufactured by Harmonic Drive Systems Co., Ltd. can be used.

In the present invention, the turning portion is driven by the turning drive motor, and the adjustment mechanism is driven by the adjustment drive motor. That is, a drive motor is individually installed for the turning portion and the adjustment mechanism, and the turning portion and the adjustment mechanism are individually rotated by the drive motors of the respective systems.
The turning angle sensor detects rotation based on the turning drive motor. The adjustment angle sensor detects a relative rotation between the rotation of the turning drive motor and the rotation of the adjustment drive motor via the differential mechanism.

  Here, when the rotation of the turning part by the turning drive motor and the rotation of the adjusting mechanism by the adjustment driving motor around the turning axis are the same rotational speed (when the relative rotation is 0), the turning part and the adjusting mechanism are It is rotated synchronously and swivels together with the chute. In this state, since the relative rotation with respect to the turning portion in the adjustment mechanism is 0, the inclination angle of the chute does not change (normal turning operation).

  On the other hand, if the rotation speed of the turning part by the turning drive motor and the rotation speed around the turning axis of the adjustment mechanism by the adjustment drive motor are released and the rotation speeds are different from each other, the adjustment mechanism will rotate relative to the turning part. The angle of inclination of the chute changes according to. That is, by stopping the turning drive motor and operating only the adjustment drive motor, the basic turning operation is stopped and the inclination angle of the chute is adjusted. Alternatively, by rotating the turning drive motor and the adjustment drive motor at different speeds, the inclination angle is adjusted according to the relative rotation while the chute and the turning portion are turned (inclination angle adjustment operation).

In such a normal turning operation or tilt angle adjustment operation, the turning angle sensor can detect the turning state of the chute and the turning portion from the rotation based on the turning drive motor.
Further, since the adjustment angle sensor can directly detect the inclination angle of the chute from the relative rotation around the turning axis of the turning portion and the adjustment mechanism, the inclination angle of the chute can be accurately controlled.
In particular, since the relative rotation is detected using a mechanical detection mechanism called a differential mechanism, abnormal detection of the tilt angle due to a power failure does not occur. Even if the adjustment angle sensor is damaged, the inclination angle can be confirmed from outside the furnace.

Furthermore, in the present invention, the drive path from the turning drive motor to the turning portion and the drive path from the adjustment drive motor to the adjustment mechanism do not require a differential mechanism, and these drive paths are required to have a large driving force. Since it is not necessary to install a complicated planetary gear or the like on the way, it is possible to avoid an increase in size and cost of the device due to the differential mechanism in the drive path.
On the other hand, in the present invention, a differential mechanism is used for the adjustment angle sensor. However, this differential mechanism only needs to be able to transmit the rotational operation to each sensor, and does not require transmission of driving force. A lightweight one can be used, and the size and cost of the apparatus can be reduced.

In the charging device of the present invention, it is desirable that the transmission ratio of the transmission path including the differential mechanism is set so that one cycle of the adjustment angle sensor corresponds to one cycle of the inclination adjustment of the chute.
In the present invention, since one cycle of the adjustment angle sensor corresponds to one cycle of chute tilt adjustment, the chute tilt can be determined on a one-to-one basis from the output angle from the adjustment angle sensor. And output of information to the control system can be simplified.

In the charging device according to the present invention, a frame, a pivot shaft set on the frame, a rotor supported by the frame and rotatable about the pivot shaft, and a rotor set on the pivot shaft. An adjustment shaft that intersects at an angle, a holder that is supported by the rotor and is rotatable about the adjustment shaft, a chute that is fixed to the holder and extends in a direction that intersects the adjustment shaft at a second angle, A rotation drive motor fixed to a frame to rotate the rotor relative to the frame; a transmission side bevel gear supported by the frame and rotatable about the rotation axis; and a transmission fixed to the holder A holder side bevel gear that meshes with the side bevel gear, and an adjustment drive mode that rotates the holder relative to the rotor by rotating the transmission bevel gear fixed to the frame. Data and, together with having,
A differential mechanism that transmits rotation of the turning drive motor and rotation of the adjustment drive motor; and an adjustment angle sensor that transmits relative rotation between the rotation drive motor and the adjustment drive motor in the differential mechanism. Is desirable.
In the charging apparatus according to the present invention, it is desirable to have a turning angle sensor to which the rotation of the turning drive motor is transmitted.

  In the present invention, the rotor is supported by the frame, the holder is supported by the rotor, and the chute is fixed to the holder. By rotating the rotor with the swing drive motor, a basic swing operation is performed, and the angle of the chute can be changed by rotating the holder with respect to the rotor by the adjustment drive motor (adjustment mechanism).

  That is, since the adjustment axis intersects the pivot axis at a first angle and the chute intersects the adjustment axis at a second angle, when the holder and the rotor rotate relative to each other, the chute angle relative to the pivot axis becomes It varies from the difference (minimum value) between the first angle and the second angle to the sum (maximum value) of the first angle and the second angle. As a result, the angle of the chute with respect to the frame and the rotor can be arbitrarily selected in the range from the maximum value to the minimum value described above.

  Here, in the present invention, the holder-side bevel gear and the transmission-side bevel gear are always meshed even if the rotor rotates around the pivot axis, and the transmission-side bevel gear rotates around the pivot axis. Thus, the holder can be rotated around the adjustment shaft with respect to the rotor. Since the transmission-side bevel gear rotates around the pivot axis, the driving force can be transmitted from an adjustment drive motor fixed to the frame via a transmission path such as a gear train.

In the present invention, the swing drive motor rotates the rotor alone, and the adjustment drive motor rotates the transmission side bevel gear alone, that is, the rotor drive by the swing drive motor and the bevel gear drive by the adjustment drive motor are performed. Each is independent.
For this reason, at the normal time, by rotating the rotor and the transmission side bevel gear synchronously, the rotor, the holder, and the chute can be turned while the chute angle is constant. On the other hand, at the time of adjustment, the phase of the transmission bevel gear with respect to the rotor is changed by controlling the rotation speed of the adjustment drive motor so that the rotor and the transmission bevel gear rotate at different rotation speeds. A driving force is transmitted to the tooth gear, and the holder rotates about the adjustment shaft with respect to the rotor, and as a result, the angle of the chute is changed.

  Thus, in the present invention, the basic spraying operation is performed by turning the chute with the turning drive motor, and the phase of the rotor and the transmission bevel gear is adjusted with the adjustment drive motor, thereby The angle of the chute, that is, the angle of the holder and chute with respect to the frame and the rotor can be adjusted, and the radius of spraying by turning can be adjusted.

  In the present invention, since the angle of the chute can be adjusted while continuing the basic turning operation, the control is greatly simplified. Furthermore, in the method of electrically detecting the difference of each drive motor, in order to improve the reliability, it is necessary to devise such as providing a chute inclination angle preset sensor on the chute. It becomes unnecessary. Further, the rotor, the holder and its supporting structure, and the transmission path from the turning drive motor to the rotor are functionally simple, and the structure can be prevented from becoming complicated. The transmission path from the adjustment drive motor to the holder can also be realized with a simple configuration using the above-described bevel gear, and the complexity of the structure can be avoided.

In the charging device of the present invention, the charging device includes a control device that controls the adjustment drive motor while referring to an angle detected by the adjustment angle sensor when the inclination angle of the chute is set to a predetermined angle.
The control device includes:
An input unit capable of outputting a command corresponding to the input operation;
A first motor controller that rotates the swing drive motor based on a command that is input from the input unit and that represents a rotational speed set for the swing drive motor;
An adjustment angle detector that detects an inclination angle of the chute based on the relative rotation transmitted to the adjustment angle sensor;
Deviation calculation means for calculating a deviation between the predetermined angle input from the input unit and the inclination angle of the chute detected by the adjustment angle detector;
Correction speed calculation means for calculating a correction speed for changing the rotation speed of the adjustment drive motor based on the deviation calculated by the deviation calculation means;
An adder for adding the rotation speed based on the command from the input unit and the correction speed calculated by the correction speed calculation means;
A second motor controller that rotates the adjustment drive motor at a rotational speed obtained by the addition in the adder,
The correction speed calculation means calculates a correction speed such that a deviation newly calculated by the deviation calculation means after the rotation speed of the adjustment drive motor is smaller than a deviation calculated before the rotation speed change. It is desirable to do.

In the charging device control method of the present invention, based on a command representing a rotational speed set for the swing drive motor, which is input from an input unit capable of outputting a command corresponding to an input operation, the swing drive A first motor control step of rotating the motor;
An adjustment angle detection step of detecting an inclination angle of the chute based on the relative rotation transmitted to the adjustment angle sensor;
A deviation calculation step of calculating a deviation between the predetermined angle input from the input unit and the inclination angle of the chute detected in the adjustment angle detection step;
A correction speed calculation step for calculating a correction speed for changing the rotation speed of the adjustment drive motor based on the deviation calculated in the deviation calculation step;
An addition step of adding the rotation speed based on the command from the input unit and the correction speed calculated in the correction speed calculation step;
A second motor control step of rotating the adjustment drive motor at the rotational speed obtained by the addition in the addition step,
The correction speed calculation step calculates a correction speed such that the deviation newly calculated in the deviation calculation step after the change of the rotation speed of the adjustment drive motor is smaller than the deviation calculated before the rotation speed is changed. It is desirable to do.

  In the charging device and the charging device control method of the present invention, the adjustment drive motor calculates the deviation between the predetermined angle input from the input unit and the inclination angle of the chute detected by the adjustment angle detector. The correction speed is calculated to be smaller than that before the rotation speed is changed, and the adjustment drive motor is rotated at the rotation speed obtained by adding the correction speed and the rotation speed of the turning drive motor. It can be controlled to a certain angle. Further, the rotation speed of the adjustment drive motor can be determined by a simple calculation by simply adding the correction speed to the rotation speed of the turning drive motor, and an inexpensive configuration can be used.

In the charging apparatus according to the present invention, the correction speed calculation means may determine a maximum correction speed that is a fixed value when the deviation calculated by the deviation calculation means is greater than or equal to a preset threshold angle. When the angle is less than the threshold angle, it is desirable to calculate a deviation-corresponding correction speed that is different depending on the magnitude of the deviation and less than the maximum correction speed as the correction speed.
In the charging device control method of the present invention, in the correction speed calculation step,
When the deviation calculated in the deviation calculation step is equal to or greater than a preset threshold angle, a maximum correction speed that is a fixed value is calculated as the correction speed,
When the angle is less than the threshold angle, it is desirable that a deviation-corresponding correction speed that is different depending on the magnitude of the deviation and is less than the maximum correction speed is calculated as the correction speed.

  In the charging apparatus and the charging apparatus control method of the present invention, when the absolute value of the deviation is equal to or larger than the threshold angle, the maximum correction speed that is a fixed value is calculated as the correction speed. The maximum value of the rotation speed can be set to a predetermined speed or less, and the load on the adjustment drive motor can be suppressed. On the other hand, when the angle is less than the threshold angle, the deviation-corresponding correction speed that varies depending on the magnitude of the absolute value of the deviation is calculated as the correction speed, so that the deviation can be made substantially zero.

In the charging device of the present invention, the control device includes:
A first switch provided between the adder and the deviation calculating means and capable of switching between an ON state in which the correction speed can be input to the adder and an OFF state in which the correction speed cannot be input;
A second switch provided between the adder and the input unit and capable of switching between an ON state in which a command from the input unit can be input to the adder and an OFF state incapable of input;
The adder is
When the first switch is set to the off state and the second switch is set to the on state, the rotational speed set for the turning drive motor is input from the input unit, and Adding the rotation speed for changing the tilt angle, and outputting the result to the second motor controller;
When the first switch is set to the on state and the second switch is set to the off state, the rotational speed set for the turning drive motor input from the input unit and the correction speed It is desirable to add the correction speed calculated by the calculation means and output the result to the second motor controller.

  In the present invention, by setting the off state by the first switch and setting the on state by the second switch, the inclination angle of the chute can be changed to the operator's desired inclination angle in a short time. . Further, when the first switch is set to the on state and the second switch is set to the off state, the inclination angle of the chute can be controlled to a substantially constant angle.

The perspective view which fractured | ruptured partially which shows 1st Embodiment of this invention. The longitudinal cross-sectional view which shows the AA cross section of the said FIG. The longitudinal cross-sectional view which shows the BB cross section of the said FIG. The perspective view which shows the drive system of the said 1st Embodiment. The top view which shows turning operation | movement with the largest spreading angle of the said 1st Embodiment. The side view which shows turning operation | movement with the largest spreading angle of the said 1st Embodiment. The top view which shows turning operation | movement with the intermediate | middle spreading angle of the said 1st Embodiment. The side view which shows turning operation | movement with the intermediate | middle spreading angle of the said 1st Embodiment. The top view which shows turning operation | movement with the minimum spreading angle of the said 1st Embodiment. The side view which shows turning operation | movement with the minimum spreading angle of the said 1st Embodiment. The partially broken perspective view which shows 2nd Embodiment of this invention. The longitudinal cross-sectional view which shows the AA cross section of the said FIG. The longitudinal cross-sectional view which shows the BB cross section of the said FIG. The partially broken perspective view which shows 3rd Embodiment of this invention. The longitudinal cross-sectional view which shows the AA cross section of the said FIG. The longitudinal cross-sectional view which shows the BB cross section of the said FIG. The model perspective view which shows 4th Embodiment of this invention. The schematic diagram which shows 5th Embodiment of this invention. The block diagram which shows the control apparatus of the said 5th Embodiment. The graph which shows the relationship between the synchronous correction speed of the said 5th Embodiment, and an amplification angle deviation. The block diagram which shows the control apparatus of 6th Embodiment of this invention. The graph which shows the relationship between the positioning correction speed and angle deviation of the said 6th Embodiment. The time chart showing the control state in the control apparatus of the Example of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
1 to 10 show a first embodiment of the present invention. Among these, FIG. 1 is a partially broken perspective view showing the charging device 1 of the present embodiment, and FIG. 2 is a longitudinal sectional view showing the AA cross section (cross section passing through a turning drive motor 70 described later) in FIG. 3 is a longitudinal sectional view showing a cross section taken along the line BB of FIG. 1 (a cross section passing through an adjustment drive motor 80 described later), and FIG. 4 is a perspective view showing a drive system of the present embodiment.

The charging device 1 according to the present embodiment is installed at the top of a blast furnace 2 and sprays a charge mainly composed of iron ore and coal into the furnace.
The top of the blast furnace 2 is formed in a truncated cone shape, and a frame 3 is installed in the upper opening. The frame 3 supports a rotor 4 as a turning portion, the rotor 4 supports a holder 5 as an adjustment mechanism, and the holder 5 supports a chute 6.

In the charging apparatus 1 of the present embodiment, the turning axis D1, the adjusting axis D2, and the chute center axis D3 are set, and the frame 3, the rotor 4, the holder 5, and the chute 6 described above are installed according to these axes ( 2 and 3).
The turning axis D <b> 1 is an axis in the vertical direction and coincides with the central axis of the blast furnace 2.
The adjustment axis D2 intersects the turning axis D1 at the intersection point O, and the intersecting angle with each other is the first angle A1.
The chute center axis D3 intersects the adjustment axis D2 at the intersection point O described above, and the intersecting angle with each other is the second angle A2.

  The chute center axis D3 defines the direction in which the charge sprinkled from the chute 6 is spread into the furnace, and is usually the bottom direction of the truncated cone shape of the chute 6.

  Although details will be described later, the holder 5 rotates around the adjustment axis D <b> 2 with respect to the rotor 4. With such rotation of the holder 5 with respect to the rotor 4, the chute center axis D3 rotates around the adjustment axis D2 while maintaining the second angle A2 with respect to the adjustment axis D2. By this rotation, the point P at the tip opening of the chute 6 moves in a circle along the locus L2.

  By such rotation, the direction of the chute center axis D3 with respect to the turning axis D1 (that is, the direction with respect to the frame 3) changes, and the chute center axis D3 in FIG. 2 and FIG. It swings to the left in the figure at the center.

  Although details will be described later, the holder 5 and the rotor 4 rotate around the turning axis D1 with respect to the frame 3 (turning portion). With such rotation of the rotor 4 and the holder 5, the point P at the tip of the chute 6 turns along the locus L1. 2 and 3, the chute center axis D3 has a maximum angle with respect to the turning axis D1, and the locus L1 is maximum.

  Here, by rotating the holder 5 with respect to the rotor 4 and rotating the chute center axis D3 around the adjustment axis D2, the angle of the chute center axis D3 with respect to the turning axis D1 decreases, and the locus L1 gradually increases. Get smaller. This makes it possible to adjust the swirl spray and the spray radius (adjustment mechanism).

In the present embodiment, the first angle A1 at which the turning axis D1 and the adjustment axis D2 intersect is 20 degrees, for example, and the second angle A2 at which the adjustment axis D2 and the chute center axis D3 intersect is 20 degrees, for example. That is, it is the same as the first angle A1. For this reason, in the state where the chute center axis D3 is at the leftmost position in FIGS. 2 and 3 due to the rotation of the holder 5, the chute center axis D3 coincides with the turning axis D1, and the radius of the locus L1 becomes zero.
With reference to the pivot axis D1, the adjustment axis D2, and the chute center axis D3 as described above, each part of the frame 3, the rotor 4, the holder 5, and the chute 6 and their drive mechanisms will be described below.

  The frame 3 includes a flat cylindrical case 30, an upper surface plate 31 that covers the upper surface, and a lower surface plate 32 that covers the lower surface. A supply pipe 33 is installed at the center of the upper surface plate 31, and the charge supplied from the supply pipe 33 is delivered to the chute 6 and dispersed from the chute 6 into the blast furnace 2. An opening 34 is formed at the center of the bottom plate 32, and the rotor 4 is held in the opening 34.

  The rotor 4 includes an upper case 41 having a cylindrical portion surrounding the outer periphery of the supply pipe 33, a lower case 42 connected to the lower side of the upper case 41 and accommodating the holder 5 therein, and an upper side of the upper case 41. And a mount 43 supported by a turning bearing 431.

The mount 43 is connected to the upper side of the upper case 41, is supported by a turning bearing 431, and rotatably supports the rotor 4 on the frame 3.
The turning bearing 431 is fixed to the lower surface side of the upper surface plate 31 of the frame 3 around the supply pipe 33, whereby the entire rotor 4 is supported so as to be rotatable about the turning axis D1.
An adjustment bearing 55 is fixed inside the rotor 4, and the holder 5 is supported by the adjustment bearing 55. Thereby, the holder 5 is supported by the rotor 4 so as to be rotatable about the adjustment axis D2.

As shown in FIGS. 2, 3, and 4, the chute 6 includes a cylindrical base end portion 60, a main body 61, and a connection portion 62.
The base end portion 60 has an upper end connected to the holder 5, and a central axis coincides with the adjustment axis D <b> 2 like the holder 5. The main body 61 is connected to the lower end of the base end portion 60, and the central axis thereof coincides with the chute central axis D3. The connection portion 62 connects the base end portion 60 and the main body 61 at a portion that is notched because the main body 61 and the opening 34 described above interfere with each other.

  The chute 6 is in a state in which the distal end of the supply pipe 33 is introduced into the proximal end portion 60 when the proximal end portion 60 is connected to the holder 5 and the holder 5 is accommodated in the rotor 4. In this state, when the charge is supplied from the supply pipe 33, the charge is sprayed into the blast furnace 2 from the tip through the chute 6. At this time, the direction of the charge when released into the blast furnace 2 is set along the direction D3 ′ of the bottom surface of the chute 6, and by adjusting the direction of the chute 6, the state of spraying into the blast furnace 2 can be changed. Can be controlled.

  More specifically, the charge discharged into the blast furnace 2 is sent to the tip along the direction D3 ′ of the bottom surface of the chute 6. Therefore, the direction of the charge discharged into the blast furnace 2 is the direction along the inner surface of the chute 6. Here, the angle formed by the central axis of the chute 6 and the inner surface of the chute 6 is the third angle A3, and the sum of the first angle A1, the second angle A2, and the third angle A3 is the maximum required for the chute 6. The inclination angle is set. In the present embodiment, the angle A1 and the angle A2 are the same angle.

  The charging device 1 according to the present embodiment is configured to rotate the rotor 4 and the holder 5 or the chute 6 together to spread the charging material into the blast furnace 2 in order to spread the charging material from the chute 6 as described above. In addition to spraying around the circumference of the radius, the rotor 4 and the holder 5 are rotated relative to each other to adjust the inclination of the chute 6, thereby changing the spraying radius and spraying the charge throughout the blast furnace 2. be able to.

For this purpose, the charging device 1 includes a turning drive mechanism 7 that rotationally drives the rotor 4 and an adjustment drive mechanism 8 that rotationally drives the holder 5.
Further, in order to grasp the turning angle and the inclination angle of the chute 6 for spraying, a posture detecting mechanism 9 for detecting the turning angle and the inclination angle of the chute 6 from the rotation of the turning drive mechanism 7 and the adjustment drive mechanism 8 is provided.

A gear 71 is formed on the outer periphery of the turning bearing 431, a gear 72 is meshed with the gear 71, and a gear 73 is meshed with the gear 72, and the gear 73 is arranged on the upper surface of the upper surface plate 31 of the frame 3. It is rotationally driven by the installed turning drive motor 70.
The turning drive mechanism 7 is configured by the turning drive motor 70 and the gears 71, 72, 73.

A holder side bevel gear 81 is formed on the outer periphery of the adjustment bearing 55, and a transmission side bevel gear 82 is meshed with the holder side bevel gear 81.
The transmission side bevel gear 82 is supported by an adjustment power transmission bearing 84 fixed to the frame 3 by a support member 83 extending from the lower surface of the upper surface plate 31 of the frame 3, and is rotatable about the turning axis D <b> 1. The holder-side bevel gear 81 rotates about the adjustment axis D2 integrally with the holder 5, but the holder-side bevel gear 81 and the transmission-side bevel gear 82 can transmit rotational force to each other by using the bevel gear. is there.

  The holder-side bevel gear 81 is housed in the rotor 4 and the transmission-side bevel gear 82 is installed outside the rotor 4, but the upper case 41 of the rotor 4 is formed with a transmission opening. Is ensured.

A gear 85 is formed on the outer periphery of the adjustment power transmission bearing 84, and a gear 86 is meshed with the gear 85. A gear 87 is meshed with the gear 86, and the gear 87 is meshed with the upper surface plate 31 of the frame 3. Is driven to rotate by an adjustment drive motor 80 installed on the upper surface.
These adjustment drive motor 80, holder side bevel gear 81, transmission side bevel gear 82, and gears 85, 86 and 87 constitute an adjustment drive mechanism 8.

  The posture detection mechanism 9 is installed on the upper surface of the upper surface plate 31 of the frame 3, has a turning angle sensor 91 and an adjustment angle sensor 92 on its upper surface, has a differential mechanism 93, A rotation shaft 94 for inputting rotation of the turning drive motor 70 and a gear 95 are provided, and a rotation shaft 96 for inputting rotation of the adjustment drive motor 80 to the differential mechanism 93.

  The turning angle sensor 91 and the adjustment angle sensor 92 are general rotary encoders, detect rotation transmitted to the rotation shaft, and output an electrical signal indicating the rotation angle. Therefore, the rotation angle transmitted to the rotating shaft can be detected by processing the signal output by the detection circuit.

  The differential mechanism 93 is a general planetary gear device, and includes a sun gear 93S arranged in the center, a plurality of planetary gears 93P arranged around the sun gear 93P, a carrier 93C that supports the axis of the planetary gear 93P, An outer peripheral gear 93E is provided outside the planetary gear 93P. In the differential mechanism 93, the rotation of the sun gear 93S and the rotation of the outer peripheral gear 93E are input, and the rotation of the carrier 93C is output. By properly selecting the reduction ratio of each gear, the relative rotation of the rotation of the turning drive motor 70 and the rotation of the adjustment drive motor 80 is output to the carrier 93C.

  The rotating shaft 96 of the sun gear 93S of the differential mechanism 93 extends into the frame 3 and is fixed to the gear 86 at the tip thereof. The gear 86 is meshed with the gear 85 of the adjustment drive mechanism 8. As a result, the rotation of the gear 85 based on the rotation of the adjustment drive motor 80 is transmitted to the rotation shaft 96.

  The rotation shaft 94 of the turning angle sensor 91 is extended into the frame 3, and a gear 95 is fixed in the middle thereof, and is fixed to the gear 72 at the tip thereof. The gear 72 is meshed with the gear 71 of the turning drive mechanism 7. Thereby, the rotation of the gear 71 based on the rotation of the turning drive motor 70 is transmitted to the rotating shaft 94. The gear 95 is meshed with the external teeth of the outer peripheral gear 93 </ b> E of the differential mechanism 93, and transmits the rotation of the turning drive motor 70 to the differential mechanism 93. The adjustment angle sensor 92 is connected to the rotation shaft of the carrier 93 </ b> C of the differential mechanism 93.

  As described above, in the posture detection mechanism 9, the rotation of the turning drive motor 70 is transmitted to the turning angle sensor 91, and the turning operation based on the rotation of the turning drive motor 70 (the rotor with respect to the frame 3) is transmitted to the differential mechanism 93. 4) and the rotation of the adjustment mechanism based on the rotation of the adjustment drive motor 80 (the rotation of the gear 85 with respect to the frame 3) are transmitted, and the rotation of the turning drive motor 70 and the rotation of the adjustment drive motor 80 are relative ( Rotation of the gear 85 with respect to the rotor 4) is transmitted to the adjustment angle sensor 92.

Accordingly, the rotation angle of rotation about the turning axis of the chute 6 can be determined from the rotation angle detected by the turning angle sensor 91.
In addition, the rotation angle of rotation about the adjustment axis D2 of the holder 5 can be determined from the rotation angle detected by the adjustment angle sensor 92, and corresponds to the rotation angle of rotation about the adjustment axis D2 of the holder 5. The inclination angle of the chute 6 (angle A1-A2 to angle A1 + A2) can be read.

The charging device 1 of the present embodiment performs swirling spraying around the swivel axis D1 by the cooperative operation of the swivel drive mechanism 7 and the adjustment drive mechanism 8 as described above.
Then, by rotating the rotor 4 and the holder 5 relative to each other about the adjustment axis D2, the distribution radius of the charged material is adjusted by adjusting the inclination angle of the chute 6, and swirling is repeated to form a plurality of concentric circles. Go.
At this time, in the cooperative operation of the turning drive mechanism 7 and the adjustment drive mechanism 8 described above, the attitude detection mechanism 9 detects the inclination angle of the chute 6 and performs control so that the chute 6 has an inclination angle necessary for spraying. .

  Hereinafter, the control operation of the inclination angle of the chute in the present embodiment will be described with reference to FIGS.

5 and 6, in the state where the chute 6 is most inclined with respect to the turning axis D1 (angle A1 + A2), the tip P of the chute 6 is in the state farthest away from the turning axis D1 (radius Rx). When the rotor 4 and the holder 5 are rotated together in this state, the tip P of the chute 6 turns along a locus L1 having a radius Rx.
In order to rotate the rotor 4 and the holder 5 integrally, the adjustment drive motor 80 is controlled so that the angle detected by the adjustment angle sensor 92 is constant, and the turning drive mechanism 7 and the adjustment drive mechanism 8 are synchronized. The rotor 4 and the holder 5 may be rotated at the same speed.

In order to rotate the holder 5 relative to the rotor 4, the rotation of the turning drive mechanism 7 and the adjustment drive mechanism 8 is shifted, for example, the rotational speed of the holder 5 is made slower than the rotational speed of the rotor 4 or temporarily. For example, it may be stopped. Conversely, the rotational speed of the holder 5 may be made faster than the rotational speed of the rotor 4. At this time, the adjustment drive motor 80 is controlled so that the angle detected by the adjustment angle sensor 92 changes to a desired angle.
When stopping the chute 6 at a specific rotation angle about the turning axis, the turning drive motor 70 is controlled so that the chute 6 stops at a specific angle of the turning angle sensor 91.

  7 and 8, the tip P of the chute 6 is moved along the locus L2, and the inclination angle between the chute 6 and the turning axis D1 is reduced, whereby the distance from the turning axis D1 of the tip P of the chute 6 ( The radius Rt) is also reduced. By rotating the rotor 4 and the holder 5 integrally in this state, the tip P of the chute 6 turns along a locus L1 having a radius Rt.

9 and 10, the tip P of the chute 6 is further moved along the locus L2, and the chute 6 and the turning axis D1 are made to coincide with each other, so that the inclination angle of each other becomes 0, and the turning of the tip P of the chute 6 turns. The distance (radius) from the axis D1 is also zero. In this state, the tip P of the chute 6 turns at the position of the turning axis D1.
In this way, the turning radius of the tip P of the chute 6 can be adjusted, and the charge can be distributed uniformly in the blast furnace 2 or distributed in an arbitrary distribution by spreading the charge while turning at each turning radius. Can be sprayed.

As described above, in the present embodiment, the swivel drive mechanism 7 and the adjustment drive mechanism 8 are cooperatively operated, and the holder 5 and the rotor 4 are integrally rotated, so that the charge can be swirled and distributed. By adjusting the relative angle by relative rotation between the rotor 5 and the rotor 4, the inclination of the chute 6 with respect to the turning axis D1 can be arbitrarily adjusted, and the spraying radius of the charge in the blast furnace 2 can be freely adjusted. Can do.
In the present embodiment, the adjustment of the inclination of the chute 6 is easily performed by switching the rotor 4 and the holder 5 from the synchronous rotation state to the relative rotation state by speed control of the turning drive mechanism 7 and the adjustment drive mechanism 8. be able to.

In the present embodiment, the above-described inclination settings for the rotor 4, the holder 5, and the chute 6 (the first angle A1 between the turning axis D1 and the adjustment axis D2 and the second angle A2 between the adjustment axis D2 and the chute center axis D3). Therefore, since the inclination of the chute 6 is adjusted, it is not necessary to provide a complicated support mechanism for each rotation direction, and the configuration can be simplified.
In particular, since the turning and the angle adjustment can be freely performed by the speed control of the turning drive mechanism 7 and the adjustment drive mechanism 8, various operations can be freely set by the control design in the control device.

At this time, the posture detection mechanism 9 can appropriately detect a state quantity necessary for controlling the turning drive mechanism 7 and the adjustment drive mechanism 8. Specifically, the turning angle sensor 91 can detect the rotation angle of rotation of the chute 6 around the turning axis D1. The adjustment angle sensor 92 can detect the rotation angle of rotation about the adjustment axis D <b> 2 of the holder 5.
Accordingly, the inclination angle (angle A1-A2 to angle A1 + A2) of the chute 6 can be read, and the chute 6 can be turned around the turning axis D1 while accurately controlling the inclination angle of the chute 6.

  Furthermore, in the charging device of this embodiment, neither the turning drive mechanism 7 from the turning drive motor 70 to the rotor 4 nor the adjustment drive mechanism 8 from the adjustment drive motor 80 to the holder 5 requires a differential mechanism. Since it is not necessary to install a complicated planetary gear or the like in the middle of the drive path that requires these large driving forces, it is possible to avoid an increase in the size and cost of the device due to the differential mechanism in the drive path. .

  On the other hand, in the present embodiment, the posture detection mechanism 9 uses the differential mechanism 93 together with the turning angle sensor 91 and the adjustment angle sensor 92. However, the differential mechanism 93 only needs to be able to transmit the rotation operation to each sensor, and is driven. Since transmission of force is not required, it is possible to use a planetary gear or the like that is small and light, and the device can be reduced in size and cost.

[Second Embodiment]
11 to 13 show a second embodiment of the present invention.
The basic configuration of the present embodiment is the same as that of the first embodiment described above, and overlapping description of common portions is omitted, and different portions are described below.
In the present embodiment, the rotation of the carrier 93C is transmitted to the adjustment angle sensor 92 via gears 97A and 97B, and the rotation of the rotation shaft 94 is transmitted to the turning angle sensor 91 via gears 98A and 98B.

  The reduction ratio of the gears 97A and 97B is selected so that the adjustment angle sensor 92 makes one rotation when the holder 5 makes one rotation about the adjustment axis D2. As a result, the rotation angle detected by the adjustment angle sensor 92 matches the rotation angle of rotation about the adjustment axis D2 of the holder 5, so that the rotation angle of rotation about the adjustment axis D2 of the holder 5 is determined. Calculation can be omitted.

The reduction ratio of the gears 98A and 98B is selected so that the turning angle sensor 91 makes one rotation when the rotor 4 makes one rotation about the turning axis D1. Accordingly, the rotation angle detected by the turning angle sensor 91 coincides with the rotation angle of the rotation about the turning axis D1 of the rotor 4, and therefore the rotation angle of the rotation about the turning axis D1 of the rotor 4 is determined. Calculation can be omitted.
In this embodiment as well, the same effects as those of the first embodiment described above can be obtained, and calculation of the rotation angle can be omitted by setting the gear ratio to a specific value.

[Third Embodiment]
14 to 16 show a third embodiment of the present invention.
The basic configuration of the present embodiment is the same as that of the first embodiment described above, and overlapping description of common portions is omitted, and different portions are described below.
In the present embodiment, the gear 73 </ b> A fixed to the turning drive motor 70 and the gear 73 </ b> B fixed to the rotating shaft 94 are engaged with each other, whereby the turning operation of the turning drive mechanism 7 is transmitted to the rotating shaft 94. Further, the gear 87A fixed to the adjustment drive motor 80 and the gear 87B fixed to the rotary shaft 96 are engaged with each other, whereby rotation about the turning axis of the adjustment drive mechanism 8 is transmitted to the rotary shaft 96. The

  In this embodiment as well, the same effects as those of the first embodiment described above can be obtained, and calculation of the rotation angle can be omitted by setting the gear ratio to a specific value.

[Fourth Embodiment]
FIG. 17 shows a fourth embodiment of the present invention.
In the first to third embodiments described above, the rotor 4 is provided as a turning portion that turns together with the chute 6, the holder 5 is provided as an adjustment mechanism for adjusting the inclination angle of the chute 6, and the rotor 4 and the holder 5 are Although the method of adjusting the inclination of the chute 6 by rotating it relative to the inclined surface, the present invention supports the adjusting mechanism described in Patent Document 1, that is, the chute 6 and is transmitted by a gear. The tilt angle may be adjusted by rotation.

In FIG. 17, the frame 3 and the supply pipe 33 are the same as those in the first embodiment described above, and the supply pipe 33 can pivot integrally with the gear 71 via a configuration not shown.
A rotating shaft 6A in the diametrical direction is disposed at the lower end of the supply pipe 33, and the chute 6 has a base end fixed to the rotating shaft 6A, and an inclination angle can be adjusted.
A fan-shaped partial gear 6B is fixed to the end of the rotating shaft 6A. A gear 6C is meshed with the partial gear 6B, and a worm gear 6E is meshed with the gear 6C. The worm gear 6E is rotatably supported by the supply pipe 33, and a gear 6F is fixed to the worm gear 6E. The gear 6F is meshed with the gear 85.

The gear 71 is connected to the turning drive mechanism 7 similar to that of the first embodiment, and the gear 71 and the supply pipe 33 are driven to turn by the driving force of the turning drive motor 70, whereby the chute 6 turns.
The gear 85 is connected to the adjustment drive mechanism 8 similar to that of the first embodiment. The gear 85 is rotationally driven by the driving force of the adjustment drive motor 80, and the relative rotation with the gear 71 is extracted to the worm gear 6E. This is transmitted as the rotation of the rotation shaft 6A, and the inclination of the chute 6 is changed.
Between the turning drive mechanism 7 and the adjustment drive mechanism 8, an attitude detection mechanism 9 including a differential mechanism 93 similar to that of the first embodiment described above is installed.

Also in this embodiment, the chute 6 is turned by the synchronous rotation operation of the turning drive mechanism 7 and the adjustment drive mechanism 8, and the chute 6 is inclined by the relative rotation of the turning drive mechanism 7 and the adjustment drive mechanism 8. The angle is adjusted, and this is the same as the first embodiment described above.
Also in the present embodiment, the posture detection mechanism 9 including the differential mechanism 93 can appropriately detect the state quantities necessary for controlling the turning drive mechanism 7 and the adjustment drive mechanism 8.

[Fifth Embodiment]
18 and 19 show a fifth embodiment of the present invention.
This embodiment has the same basic configuration as that of the fourth embodiment described above, and redundant description of common parts is omitted, and different parts will be described below.
In FIG. 18, the charging device 1 includes a frame 3 having a supply pipe 33. The supply pipe 33 can pivot integrally with the gear 71 via a configuration not shown.
A rotating shaft 6A in the diametrical direction is disposed at the lower end of the supply pipe 33, and the chute 6 has a base end fixed to the rotating shaft 6A so that the inclination angle A4 can be adjusted.
A fan-shaped partial gear 6B is fixed to the end of the rotating shaft 6A. A gear 6C is meshed with the partial gear 6B, and a worm gear 6E is meshed with the gear 6C. The worm gear 6E is rotatably supported by the supply pipe 33, and a gear 6F is fixed to the worm gear 6E. The gear 6F is meshed with the gear 85.

The gear 71 is connected to the turning drive mechanism 7 similar to that of the first embodiment, and the gear 71 and the supply pipe 33 are driven to turn by the driving force of the turning drive motor 70, whereby the chute 6 turns. In the present embodiment, the gear 73 provided in the turning drive motor 70 directly meshes with the gear 71.
The gear 85 is connected to the adjustment drive mechanism 8 similar to that of the first embodiment. The gear 85 is rotationally driven by the driving force of the adjustment drive motor 80, and the relative rotation with the gear 71 is extracted to the worm gear 6E. This is transmitted as the rotation of the rotation shaft 6A, and the inclination of the chute 6 is changed. In the present embodiment, the gear 87 provided in the adjustment drive motor 80 directly meshes with the gear 85.
Between the turning drive mechanism 7 and the adjustment drive mechanism 8, an attitude detection mechanism 9A including a differential mechanism 93 similar to that of the first embodiment described above is installed.
The posture detection mechanism 9A includes an adjustment angle sensor 92 and a differential mechanism 93A. The differential mechanism 93A includes a sun gear 93S, a plurality of planetary gears 93P supported by a carrier 93C, and an outer peripheral gear 93E. A gear 86 is fixed to the tip of the rotating shaft 96 of the sun gear 93S. The gear 86 meshes with a gear 88 </ b> A that meshes with the gear 85. As a result, the rotation of the gear 85 based on the rotation of the adjustment drive motor 80 is transmitted to the rotation shaft 96.
As the differential mechanism, a differential gear may be used. Further, as the differential mechanism, encoders for detecting the rotational speeds of the gears 71 and 85 are provided, respectively, and a pulse signal from the encoder is input to a deviation counter, so that the rotational speed difference between the turning drive motor 70 and the adjustment drive motor 80 is increased. (Motor rotational speed difference) may be detected.

Also in this embodiment, the chute 6 is turned by the synchronous rotation operation of the turning drive mechanism 7 and the adjustment drive mechanism 8, and the chute 6 is inclined by the relative rotation of the turning drive mechanism 7 and the adjustment drive mechanism 8. The angle A4 is adjusted, and this is the same as the first embodiment described above.
Also in the present embodiment, the state quantity necessary for controlling the turning drive mechanism 7 and the adjustment drive mechanism 8 can be appropriately detected by the attitude detection mechanism 9A including the differential mechanism 93A.
In the charging device 1 shown in FIG. 18, the inclination angle A4 becomes smaller when the rotation speed of the adjustment drive motor 80 is made faster than the rotation speed of the turning drive motor 70, and the inclination angle becomes smaller when the rotation speed is slower. A4 is configured to be large.

In FIG. 19, the charging device 1 includes a control device 10A that operates in a synchronous mode.
In the synchronous mode, when the inclination angle A4 deviates from a desired angle (chute inclination angle reference) (when the angle deviation (°) is not 0), the rotational speed between the turning drive motor 70 and the adjustment drive motor 80 Control is performed to always reduce the angle deviation by causing a difference, and the adjustment drive motor 80 is controlled with the goal of reducing the angle deviation to zero, so that the rotation between the turning drive motor 70 and the adjustment drive motor 80 is achieved. This means feedback control that eliminates the speed difference (synchronizes the turning drive motor 70 and the adjustment drive motor 80).

The control device 10A includes an input unit 100A, a first motor controller 101A, an adjustment angle detector 102A, a deviation calculation unit 103A, a speed limiter 106A as a correction speed calculation unit, an adder 107A, and a second A motor controller 108A.
Note that the posture detection mechanism 9A, the adjustment angle detector 102A, the deviation calculation means 103A, the speed limiter 106A, the adder 107A, the second motor controller 108A, and the adjustment drive motor 80 form a synchronous mode loop that realizes the operation in the synchronous mode. It is composed.

A turning speed command having a magnitude corresponding to the rotational speed of the turning drive motor 70 is input to the first motor controller 101A from the input unit 100A. Then, the first motor controller 101A rotates the turning drive motor 70 at a rotation speed (command turning speed) G based on the turning speed command.
Based on the electrical signal from the adjustment angle sensor 92, the adjustment angle detector 102A detects the inclination angle A4 of the chute center axis D3 with respect to the turning axis D1 as a chute inclination angle actual value, and this chute inclination angle actual value is detected. Output to deviation calculation means 103A.

The deviation calculating means 103A includes a subtractor 104A and an error amplifier 105A.
The subtractor 104A receives, from the input unit 100A, a shoot inclination angle reference (shoot inclination angle REF) Er that is a target value of the inclination angle A4, and receives an actual shoot inclination angle value from the adjustment angle detector 102A. Then, the subtractor 104A calculates an angle deviation obtained by subtracting the actual shoot inclination angle value from the shoot inclination angle reference, that is, a deviation of the actual value from the target value of the inclination angle A4, and outputs the result to the error amplifier 105A.
The error amplifier 105A amplifies the electrical signal corresponding to the angular deviation input from the subtractor 104A and outputs it to the speed limiter 106A. Specifically, the error amplifier 105A outputs an electrical signal corresponding to the amplification angle deviation (°) obtained by multiplying the angle deviation of the inclination angle A4 and a value corresponding to the gain of amplification.

Based on the relationship shown in FIG. 20, the speed limiter 106A outputs the maximum correction speed or the deviation corresponding correction speed to the adder 107A as a synchronization correction speed.
The synchronization correction speed is generally set to a higher speed within a range where control is not distorted, and corresponds to a rotation speed at which the position control error is reduced.

  Specifically, when the absolute value of the amplification angle deviation is greater than or equal to the threshold angle S, the speed limiter 106A outputs the maximum correction speed, which is the maximum value that can be calculated as the synchronization correction speed, as the synchronization correction speed. When the absolute value of the amplification angle deviation is greater than 0 and less than the threshold angle S, a deviation corresponding correction speed proportional to the magnitude of the amplification angle deviation is output as a synchronization correction speed. The deviation corresponding correction speed may be a speed that increases stepwise as the amplification angle deviation increases.

  When the amplification angle deviation is a positive value, the actual chute inclination angle value is smaller than the chute inclination angle reference, so that the rotation speed of the adjustment drive motor 80 is slower than the rotation speed of the turning drive motor 70, It is necessary to increase the inclination angle A4. For this reason, the speed limiter 106A outputs a positive synchronization correction speed. On the other hand, when the amplification angle deviation is a negative value, the inclination angle A4 needs to be reduced, so that a negative synchronization correction speed is output.

The adder 107A receives a turning speed command from the input unit 100A and a synchronization correction speed from the speed limiter 106A. Then, the adder 107A outputs a rotation speed (command tilt speed) Gb obtained by adding the command swing speed of the turn speed command and the synchronization correction speed to the second motor controller 108A as a tilt speed command. At this time, the command tilting speed is slower than the command turning speed when the synchronization correction speed is a negative value, and is faster than the command turning speed when the synchronization correction speed is a positive value.
The second motor controller 108A rotates the adjustment drive motor 80 at the command tilt speed based on the tilt speed command from the second adder 107A.

With the above configuration, the control device 10A operates as follows.
When the actual shoot inclination angle value differs from the shoot inclination angle reference, the angle deviation calculated by the subtractor 104A of the control device 10A is a value other than zero. For this reason, the positive or negative maximum correction speed and the deviation-corresponding correction speed output as the synchronization correction speed are also values other than zero. Then, the command tilting speed is faster or slower than the command turning speed, and the rotation speed of the turning drive motor 70 does not change, and only the rotation speed of the adjustment drive motor 80 changes.
As a result, the motors 70 and 80 rotate at different rotational speeds, and are adjusted so that the inclination angle A4 approaches the chute inclination angle reference, that is, the angle deviation approaches zero.
If, as a result of this adjustment, the actual chute inclination angle value is not equal to the actual chute inclination angle reference, the adjustment drive motor 80 is again set at a command tilt speed different from the command turning speed based on the actual chute inclination angle value. Rotate to adjust the tilt angle A4.
On the other hand, when the actual value of the chute inclination angle becomes equal to the chute inclination angle reference, the angle deviation is zero, so that the command tilt speed and the command turning speed are equal. As a result, the turning drive motor 70 and the adjustment drive motor 80 are synchronized.

According to the present embodiment, the control device 10A calculates the synchronization correction speed that makes the amplified angle deviation calculated based on the actual value of the chute inclination angle and the chute inclination angle reference smaller than before, and this synchronization. The adjustment drive motor 80 is rotated at a command tilting speed obtained by adding the correction speed and the command turning speed. For this reason, the inclination angle A4 of the chute 6 can be accurately controlled to a constant angle.
In particular, since the command tilting speed can be set by a simple calculation that simply adds the synchronization correction speed to the command turning speed, the control device 10A can be configured at low cost.

  Further, based on the relationship shown in FIG. 20, when the absolute value of the amplification angle deviation is equal to or greater than the threshold angle S, the control device 10A outputs the maximum correction speed as the synchronous correction speed, so that the command turning speed is set to the predetermined speed. The load on the adjustment drive motor 80 can be suppressed. When the angle is less than the threshold angle S, the deviation-corresponding correction speed is output as the synchronous correction speed, so that the angle deviation can be made substantially zero by changing the rotation speed.

  Then, the deviation calculating means 103A amplifies the angular deviation obtained by the subtractor 104A by the error amplifier 105A and outputs it to the speed limiter 106A. For this reason, the detection sensitivity of the angle deviation can be increased, and the inclination angle A4 can be controlled to a constant angle with high accuracy.

[Sixth Embodiment]
FIG. 21 shows a sixth embodiment of the present invention.
The present embodiment has the same basic configuration as that of the fifth embodiment described above, and redundant description of common parts is omitted, and different parts will be described below.
In FIG. 21, the control device 10B controls the charging device 1 shown in FIG. Specifically, the control device 10B operates in the same synchronization mode, positioning mode, and manual mode as in the fifth embodiment.

In the positioning mode, as in the synchronous mode, when the angular deviation is not zero, the rotational speed of the adjustment drive motor 80 is changed to control to reduce the angular deviation, and after the angular deviation becomes zero, the turning drive is performed. This means feedback control that synchronizes the motor 70 and the adjustment drive motor 80.
In addition, the positioning mode has a feature that the time until the angle deviation is set to 0 can be shortened compared to the synchronization mode. Specifically, in the synchronous mode, when the angular deviation becomes small, the deviation-corresponding correction speed calculated as the synchronous correction speed also becomes small, so that the time until the angular deviation becomes zero becomes long. Therefore, in the positioning mode, even when the angle deviation is small, a correction speed of a certain magnitude is given to the adjustment drive motor 80, thereby shortening the time until the angle deviation becomes zero.

  The manual mode is not feedback control as in the synchronization mode or positioning mode, but is control in which the rotational speed of the adjustment drive motor 80 is changed only once so that the inclination angle A4 is based on the setting input by the operator. means.

  The control device 10B includes the components 101A to 108A provided in the control device 10A of the fifth embodiment, the synchronous mode switch 110B as the first switch, the multistage speed positioner 111B, and the positioning as the second switch. A mode switch 112B, a manual high speed switch 113B, a manual forward rotation switch 114B, a manual low speed switch 115B, a manual reverse rotation switch 116B, and a multiplier 117B are provided.

  The synchronous mode switch 110B is provided between the speed limiter 106A and the adder 107A. When the synchronous mode switch 110B is turned on and the switches 112B to 116B are turned off, the attitude detection mechanism 9A, the adjustment angle detector 102A, the subtractor 104A, the error amplifier 105A, the speed limiter 106A, the adder 107A, the second A synchronous mode loop composed of the motor controller 108A and the adjustment drive motor 80 becomes effective, and control in the synchronous mode becomes possible.

The multistage speed positioner 111B is provided between the connection point of the subtractor 104A and the error amplifier 105A and the connection point of the adder 107A and the synchronous mode switch 110B. This multi-stage speed positioner 111B calculates one of a high speed correction speed, a medium speed correction speed, and a low speed correction speed based on the relationship shown in FIG. 22, and sends it to the adder 107A as a positioning correction speed. Output.
As the positioning correction speed, when the angle deviation is equal to or larger than the positioning completion angle, one of the high speed correction speed, the medium speed correction speed, and the low speed correction speed is selected according to the magnitude of the angle deviation. If it is less than 0, 0 is selected and the positioning operation is completed.

Specifically, when the absolute value of the angle deviation is greater than or equal to the high speed threshold angle, the multistage speed positioner 111B outputs a high speed correction speed that is the maximum value that can be calculated as the positioning correction speed as the positioning correction speed.
If the absolute value of the angle deviation is less than the high speed threshold angle and greater than or equal to the medium speed threshold angle, the medium speed correction speed is set. Output as speed.

  Note that when the angular deviation is a positive value, the multistage speed positioner 111B outputs a positive positioning correction speed because it is necessary to increase the tilt angle A4. On the other hand, when the angle deviation is a negative value, the inclination angle A4 needs to be reduced, so that a negative positioning correction speed is output.

  The positioning mode switch 112B is provided between the connection point of the adder 107A and the synchronous mode switch 110B and the multistage speed positioner 111B. When the positioning mode switch 112B is turned on and the switches 110B, 113B to 116B are turned off, the attitude detection mechanism 9A, the adjustment angle detector 102A, the subtractor 104A, the multistage speed positioner 111B, the adder 107A, the second A control loop (positioning mode loop) composed of the motor controller 108A and the adjustment drive motor 80 becomes effective, and control in the positioning mode becomes possible.

  The manual high speed switch 113B and the manual forward rotation switch 114B are provided between the connection point of the synchronous mode switch 110B and the positioning mode switch 112B and the input unit 100A capable of inputting the manual high speed setting speed. The manual high speed switch 113B is provided closer to the input unit 100A than the manual forward rotation switch 114B.

  Manual low speed switch 115B, manual reverse switch 116B, and multiplier 117B are provided between the connection point of positioning mode switch 112B and manual forward rotation switch 114B and input unit 100A capable of inputting a manual low speed set speed. Yes. The manual low speed switch 115B is provided closer to the input unit 100A than the manual reverse rotation switch 116B. The manual reverse switch 116B is provided closer to the manual low speed switch 115B than the multiplier 117B. Furthermore, the manual high speed switch 113B and the manual forward rotation switch 114B, and the manual low speed switch 115B and the manual reverse rotation switch 116B are electrically connected.

  The manual high speed setting speed is set faster than the manual low speed setting speed. The manual high speed setting speed and the manual low speed setting speed are both set as positive values.

  The multiplier 117B multiplies the manual high speed setting speed and manual low speed setting speed input as positive values by “−1” to obtain a negative manual high speed setting speed and a manual low speed setting speed, and calculates the obtained speed. The result is output to the adder 107A.

  Table 1 shows the relationship between the on / off states of the switches 113B to 116B and the manual mode when the synchronous mode switch 110B and the positioning mode switch 112B are off.

Here, the high-speed normal rotation mode and the low-speed normal rotation mode are modes in which the inclination angle A4 is reduced by increasing the rotation speed of the adjustment drive motor 80. The high-speed reverse rotation mode and the low-speed reverse rotation mode are modes in which the tilt angle A4 is increased by decreasing the rotation speed of the adjustment drive motor 80.
The high-speed forward rotation mode and the high-speed reverse rotation mode are used when it is desired to change the inclination angle A4 in a short time. The low-speed forward rotation mode and the low-speed reverse rotation mode are used when it is desired to change the inclination angle A4 over a period of time in order to reduce the load on the adjustment drive motor 80.

With the above configuration, the control device 10B operates as follows.
The operation in the synchronous mode is the same as that in the fifth embodiment, and a description thereof will be omitted.

(Operation in positioning mode)
When the actual value of the shoot inclination angle is different from the reference of the shoot inclination angle and the angle deviation calculated by the subtractor 104A of the control device 10B is equal to or larger than the positioning completion angle, the positioning correction speed is positive or negative depending on the angle deviation amount. A negative high speed correction speed, a medium speed correction speed, and a low speed correction speed are selected. The command tilting speed is faster or slower than the command turning speed, and only the rotational speed of the adjustment drive motor 80 changes.
As a result, the motors 70 and 80 rotate at different rotational speeds, and the inclination of the chute 6 is adjusted so that the angle deviation approaches zero.
When the angle deviation is less than the positioning completion angle, the positioning mode switch 112B is turned off and the synchronous mode switch 110B is turned on to perform control in the synchronous mode.
On the other hand, when the actual value of the chute inclination angle becomes equal to the chute inclination angle reference, the angle deviation becomes zero, so that the command tilt speed and the command turning speed become equal, and the turning drive motor 70 and the adjustment drive motor 80 are ,Synchronize.

(Operation in manual mode)
In this case, a positive or negative manual high speed setting speed or a manual low speed setting speed is input to the adder 107A of the control device 10B. The adder 107A outputs a command tilt speed obtained by adding the input set speed and the command swing speed of the swing speed command to the second motor controller 108A as a tilt speed command. Then, under the control of the second motor controller 108A, the rotation speed of the adjustment drive motor 80 changes for a predetermined time, and the inclination angle A4 changes.
The tilt angle A4 after the change is detected by the adjustment angle detector 102A as a chute tilt angle actual value and set as a new chute tilt angle reference.

According to the present embodiment, the control device 10B operates in the positioning mode that calculates the high speed correction speed, the medium speed correction speed, and the low speed correction speed as the positioning correction speed, so that the angle deviation is set to 0 as compared with the synchronous mode. The time to do can be shortened.
Further, since the control device 10B operates even in the manual mode, it is possible to respond quickly when it is desired to greatly change the inclination angle A4.

Next, as an example of the present invention, a control state in the control device of the sixth embodiment will be described.
FIG. 23 shows a time chart showing a control state in the control device of the embodiment, where (A) shows the turning speed of the turning drive motor 70, (B) shows the turning angle of the chute 6, and (C). Is the tilting speed of the adjustment drive motor 80, and (D) is the tilt angle of the chute 6. In FIG. 23B, the chute 6 is located at the same place when the turning angle is 0 ° and 360 °.

First, various parameters in this example were set as follows.
・ High speed correction speed: 150rpm
・ Medium speed correction speed: 70rpm
・ Low speed correction speed: 40rpm
-Initial tilt angle: 40 °
And control of inclination-angle A4 was performed in the state shown in the following Table 2. The elapsed time in Table 2 represents an approximate time.

  As a result, as shown in FIG. 23, it was confirmed that the inclination angle A4 can be accurately changed to a desired angle by switching between the synchronization mode and the positioning mode in the control device 10B.

[Modification]
The present invention is not limited to the above-described embodiments, and specific configuration of each part and the like can be modified as appropriate in implementation.
In each of the above-described embodiments, as shown in FIG. 1, FIG. 11, or FIG. 14, the turning drive motor 70 and the adjustment drive motor 80 are installed adjacent to each other, but the turning drive motor 70 and the adjustment drive motor 80 are installed separately. May be.

In the above-described embodiment, a drive system including the turning drive mechanism 7 from the turning drive motor 70 to the rotor 4 and the adjustment drive mechanism 8 from the adjustment drive motor 80 to the holder 5 is provided. Although the rotation of the holder 5 is taken out, the rotation of the rotor 4 and the holder 5 to the posture detection mechanism 9 may be taken out by another part in the path of the turning drive mechanism 7 and the adjustment drive mechanism 8.
Furthermore, the turning drive mechanism 7 and the adjustment drive mechanism 8 may be configured using a path from the attitude detection mechanism 9 to the rotor 4 and the holder 5.

In the embodiment described above, the holder-side bevel gear 81 is an external gear and the transmission-side bevel gear 82 is an internal gear, but other gears may be used.
For example, the holder-side bevel gear 81 may be an internal gear, and the transmission-side bevel gear 82 may be an external gear. With such a configuration, the same effects as those of the above-described embodiment of FIG. 1 can be obtained.

Further, in the fifth and sixth embodiments described above, without providing the error amplifier 105A, the angle deviation calculated by the subtractor 104A is directly input to the speed limiter 106A, and the speed limiter 106A is based on the angle deviation. Thus, the synchronization correction speed may be calculated.
Furthermore, in the fifth and sixth embodiments described above, an amplifier that can change the gain may be provided as the error amplifier 105A.

  In addition, the detailed configuration and the like of each of the embodiments described above may be changed as appropriate, and the inclination setting described above (the first angle A1 between the turning axis D1 and the adjustment axis D2 and the second angle between the adjustment axis D2 and the chute center axis D3). Any structure capable of obtaining A2) can be used as appropriate in the present invention.

  The present invention relates to a charging device and can be used as a charging device for charging a charged material into a vessel such as a blast furnace.

DESCRIPTION OF SYMBOLS 1 ... Charging device 2 ... Blast furnace 3 ... Frame 4 ... Rotor which is a turning part 5 ... Holder which is an adjustment mechanism 6 ... Chute 7 ... Turning drive mechanism 8 ... Adjustment drive mechanism 9 ... Attitude detection mechanism 10A, 10B ... Control device 70 Rotation drive motor 80 ... Adjustment drive motor 81 ... Holder side bevel gear 82 ... Transmission side bevel gear 91 ... Rotation angle sensor 92 ... Adjustment angle sensor 93 ... Differential mechanism 100A ... Input section 101A ... First motor controller 102A ... Adjustment angle detector 103A ... Deviation calculation means 106A ... Speed limiter 107A as correction speed calculation means 107A ... Adder 108A ... Second motor controller 110B ... Synchronous mode switch as first switch 112B ... Positioning mode switch as second switch A1 ... 1st angle A2 ... 2nd angle A3 ... 3rd angle D1 ... Turning axis D2 Adjustment shaft D3 ... shoot the central axis

Claims (10)

A turning drive motor that rotates a turning part including a chute around a turning axis, an adjustment mechanism that changes an inclination angle of the chute according to relative rotation with respect to the turning part, and an adjustment that rotates the adjustment mechanism around the turning axis A drive motor and
A differential mechanism that transmits rotation of the swing drive motor and rotation of the adjustment drive motor; and an adjustment angle sensor that transmits relative rotation between the swing drive motor and the adjustment drive motor in the differential mechanism. A charging device characterized by that.   The charging device according to claim 1, wherein a transmission ratio of a transmission path including the differential mechanism is set so that one cycle of the adjustment angle sensor corresponds to one cycle of the inclination adjustment of the chute. A charging device characterized by that. The charging device according to claim 1 or 2,
A frame, a turning axis set in the frame, a rotor supported by the frame and rotatable about the turning axis, and an adjustment axis set in the rotor and intersecting the turning axis at a first angle A holder supported by the rotor and rotatable about the adjustment shaft, a chute fixed to the holder and extending in a direction intersecting the adjustment shaft at a second angle, and a rotor fixed to the frame. A rotation drive motor that rotates relative to the frame; a transmission side bevel gear that is supported by the frame and is rotatable about the rotation axis; and a holder side that is fixed to the holder and meshes with the transmission side bevel gear A bevel gear, and an adjustment drive motor that is fixed to the frame and rotates the transmission-side bevel gear to rotate the holder relative to the rotor;
A differential mechanism that transmits rotation of the swing drive motor and rotation of the adjustment drive motor; and an adjustment angle sensor that transmits relative rotation between the swing drive motor and the adjustment drive motor in the differential mechanism. A charging device characterized by that.   The charging device according to any one of claims 1 to 3, further comprising a turning angle sensor to which rotation of the turning drive motor is transmitted. The charging device according to claim 1,
A control device for controlling the adjustment drive motor while referring to an angle detected by the adjustment angle sensor when the inclination angle of the chute is set to a predetermined angle;
The control device includes:
An input unit capable of outputting a command corresponding to the input operation;
A first motor controller that rotates the swing drive motor based on a command that is input from the input unit and that represents a rotational speed set for the swing drive motor;
An adjustment angle detector that detects an inclination angle of the chute based on the relative rotation transmitted to the adjustment angle sensor;
Deviation calculation means for calculating a deviation between the predetermined angle input from the input unit and the inclination angle of the chute detected by the adjustment angle detector;
Correction speed calculation means for calculating a correction speed for changing the rotation speed of the adjustment drive motor based on the deviation calculated by the deviation calculation means;
An adder for adding the rotation speed based on the command from the input unit and the correction speed calculated by the correction speed calculation means;
A second motor controller that rotates the adjustment drive motor at a rotational speed obtained by the addition in the adder,
The correction speed calculation means calculates a correction speed such that a deviation newly calculated by the deviation calculation means after the rotation speed of the adjustment drive motor is smaller than a deviation calculated before the rotation speed change. A charging device characterized by that. The charging device according to claim 5, wherein
The correction speed calculation means includes
When the deviation calculated by the deviation calculating means is greater than or equal to a preset threshold angle, a maximum correction speed that is a fixed value is calculated as the correction speed,
When the angle is less than the threshold angle, a charging device that calculates a deviation-corresponding correction speed that is different depending on the magnitude of the deviation and that is less than the maximum correction speed is used as the correction speed. The charging device according to claim 5 or 6,
The control device includes:
A first switch provided between the adder and the deviation calculating means and capable of switching between an ON state in which the correction speed can be input to the adder and an OFF state in which the correction speed cannot be input;
A second switch provided between the adder and the input unit and capable of switching between an ON state in which a command from the input unit can be input to the adder and an OFF state incapable of input;
The adder is
When the first switch is set to the off state and the second switch is set to the on state, the rotational speed set for the turning drive motor is input from the input unit, and Adding the rotation speed for changing the tilt angle, and outputting the result to the second motor controller;
When the first switch is set to the on state and the second switch is set to the off state, the rotational speed set for the turning drive motor input from the input unit and the correction speed A charging device characterized by adding the correction speed calculated by the calculation means and outputting the result to the second motor controller. A turning drive motor that rotates a turning part including a chute around a turning axis, an adjustment mechanism that changes an inclination angle of the chute according to relative rotation with respect to the turning part, and an adjustment that rotates the adjustment mechanism around the turning axis A method for controlling a charging device having a drive motor,
A differential mechanism that transmits rotation of the swing drive motor and rotation of the adjustment drive motor, and an adjustment angle sensor that transmits relative rotation between the swing drive motor and the adjustment drive motor in the differential mechanism are used. ,
A control method for a charging device, wherein the adjustment drive motor is controlled with reference to an angle detected by the adjustment angle sensor when the inclination angle of the chute is set to a predetermined angle. In the control method of the charging device according to claim 8,
A first motor control step of rotating the swing drive motor based on a command representing a rotational speed set for the swing drive motor, which is input from an input unit capable of outputting a command corresponding to an input operation;
An adjustment angle detection step of detecting an inclination angle of the chute based on the relative rotation transmitted to the adjustment angle sensor;
A deviation calculation step of calculating a deviation between the predetermined angle input from the input unit and the inclination angle of the chute detected in the adjustment angle detection step;
A correction speed calculation step for calculating a correction speed for changing the rotation speed of the adjustment drive motor based on the deviation calculated in the deviation calculation step;
An addition step of adding the rotation speed based on the command from the input unit and the correction speed calculated in the correction speed calculation step;
A second motor control step of rotating the adjustment drive motor at the rotational speed obtained by the addition in the addition step,
The correction speed calculation step calculates a correction speed such that the deviation newly calculated in the deviation calculation step after the change of the rotation speed of the adjustment drive motor is smaller than the deviation calculated before the rotation speed is changed. A method for controlling a charging device. In the control method of the charging device according to claim 9,
In the correction speed calculation step,
When the deviation calculated in the deviation calculation step is equal to or greater than a preset threshold angle, a maximum correction speed that is a fixed value is calculated as the correction speed,
When the angle is less than the threshold angle, a deviation-corresponding correction speed that varies depending on the magnitude of the deviation and is less than the maximum correction speed is calculated as the correction speed. Control method.

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