JP6648601B2 - Control method of continuous unloader - Google Patents

Description

  The present invention relates to a control method for a continuous unloader that scrapes and transports loose objects loaded in a hold by a bucket driven by a chain.

  An unloader called an unloader is known as a device that efficiently unloads and transports bulk materials such as coal and ore loaded in a hold. The type of the unloader varies depending on the use, the type and amount of the transferred object, and the like. For example, an unloader that grasps and transports a large amount of loose objects by using a large grab bucket suspended by a crane or the like is widely known. In addition, for example, a screw transport type continuous unloader that continuously transports loose materials using a vertical screw conveyor, or a plurality of small buckets driven by a chain scrapes and transports loose materials. A bucket type continuous unloader is widely known.

  When unloading bulk items from the hold using the unloader, care must be taken not to damage the bottom of the hold with the unloader. In particular, the ship rocks and moves up and down according to the movement of the tide and the waves on the sea, so when unloading, the unloader is brought into contact with the bottom of the hold (hereinafter sometimes referred to as the ship bottom). Great care must be taken not to hurt.

  Even in a continuous type unloader that scrapes and transports loose objects loaded in a hold by a bucket driven by a chain, it is necessary to take care that the bucket does not collide with the bottom of the hold that moves up and down. If the bottom of the hold moving up and down collides with the bucket, the bucket may be deformed or the bottom of the hold may be damaged, and various techniques have been proposed as means for avoiding the deformation.

  Patent Literature 1 discloses a technique for preventing a bucket from colliding with a ship bottom that moves up and down under the influence of the sea surface in a continuous unloader of a bucket type driven by a chain. I have. According to the technique disclosed in Patent Document 1, the thrust force acting on the bucket is detected using a strain gauge, and when the thrust force exceeds a set value, the unloader scrapes. The collector frame to be a part is quickly moved upward. The technique disclosed in Patent Literature 1 reduces the risk of damage due to collision between the bottom that moves up and down and the bucket due to the above-described configuration.

  When the collector frame, which is the scraping unit, is pulled up by the lifting cylinder, the orbit of the chain on which the bucket is mounted changes, and the chain may be loosened. In the prior art, generally, the tension of the chain to which the bucket is attached is maintained by extending the length of the scraping portion while keeping the pressure of the telescopic cylinder provided in the scraping portion constant. There are many cases.

JP-A-6-72561

  However, in the prior art, when the collector frame, which is the scraping portion, is raised in accordance with the rapid rise of the bottom of the ship, the extension of the telescopic cylinder cannot be made in time, and the tension of the chain may be reduced and loosened. Was. That is, in the method of extending the length of the scraping portion while keeping the pressure of the telescopic cylinder constant, there is a possibility that a problem may occur that the extension speed is not enough to maintain the tension of the chain. In particular, this problem is likely to occur in an unloader having a mechanism that can quickly move the scraping unit up using a sensor or the like, and the scraping unit that can be extended exactly according to the rising speed of the scraping unit. The expansion and contraction method was required.

  In the bucket type continuous unloader described above, the optimal value of the tension applied to the chain to which the bucket is attached may change when the length of the scraping portion changes. For example, assuming that a chain is laid with sprockets arranged at both ends of the scraping part, the optimal value of the tension to be added to the chain is not necessarily constant when the distance between the sprockets arranged at both ends is long and short. is not.

  The method of adjusting the tension of the chain by keeping the pressure of the telescopic cylinder constant according to the above-described conventional technique is an excellent method that has a simple configuration and is highly effective in that the tension of the chain can be stably maintained during operation. is there.

  However, on the other hand, when the distance between the sprockets arranged at both ends of the scraping portion greatly changes, and the length of the chain with the bucket between the sprockets greatly changes, for example, with the bucket supported between the sprockets There is a possibility that the slackness of the chain, that is, the state of the catenary formed by the chain, may change due to a change in the weight of the chain, etc., and as a result, the scraping state may be maintained in an optimum state depending on the situation. It was assumed that it was not possible.

  The present invention has been made in view of the above-described problems, and moves up and down in a bucket-conveying type continuous unloader that scrapes and conveys loose objects loaded in a hold with a bucket driven by a chain. It is an object of the present invention to provide a technique suitable for preventing the bottom of a hold and a bucket from colliding and being damaged.

In order to achieve the above object, a method for controlling a continuous unloader according to the present invention includes:
(1) A scraping frame and a tension rod that moves back and forth with respect to the scraping frame are provided. A continuous unloader that forms and mounts a chain with buckets attached to sprockets arranged at both ends of the scraping section, and scrapes and conveys loose objects loaded in the hold by a bucket that moves by driving the chain. In a control method, a support arm for supporting a scraping frame from above is formed by an upper arm and a lower arm, and an extendable adjusting cylinder is disposed between the upper arm and the lower arm, so that the length of the support arm is increased. Is formed so that it can expand and contract, and the bucket contacts the chain that drives the bucket below the scraping frame. A load sensor that detects the pressure received from the load sensor is arranged, and when the pressure detected by the load sensor rises from within the reference pressure range and becomes a value equal to or more than a preset range, the length of the adjustment cylinder is adjusted. By shortening and shortening the length of the support arm, the scraping frame is raised upward to reduce the pressure detected by the load sensor to the reference pressure range, and to scrape the predetermined length of the support arm. The length of the scraping section is extended based on the length of the section.

(2) The control method for a continuous unloader according to (1), wherein the tension cylinder is a hydraulic cylinder, and a length of the scraping unit is determined based on a length of the scraping unit with respect to a length of a support arm set in advance. After the extension, the pressure of the tension cylinder is controlled based on the pressure of the tension cylinder with respect to the preset length of the scraping section.

  ADVANTAGE OF THE INVENTION According to the control method of the continuous unloader according to the present invention, when scraping and transporting loose objects loaded in the hold, it is possible to prevent the collision between the bottom of the vertically moving hold and the bucket and to be located below the scraper. The operation and effect that the state of the chain with a bucket can be maintained in an optimal state is achieved.

FIG. 3 is a diagram illustrating a lower configuration of a continuous unloader according to the embodiment of the present invention. It is a figure explaining the whole continuous unloader composition concerning an embodiment of the present invention. It is a figure explaining operation behavior of a continuous unloader concerning an embodiment of the present invention. It is a figure explaining the hydraulic circuit of the adjustment cylinder allocated to the continuous unloader concerning the embodiment of the present invention. It is a figure explaining the hydraulic circuit of the tension cylinder allocated to the continuous unloader concerning the embodiment of the present invention. It is a figure explaining the control circuit of the continuous unloader concerning the embodiment of the present invention.

Hereinafter, examples of preferred embodiments of the present invention will be described in detail with reference to the drawings and the like.
FIGS. 1 to 6 relate to drawings for explaining an embodiment of the present invention and show preferred examples thereof. FIG. 1 is a diagram for explaining a lower configuration of a continuous unloader, and FIG. It is a figure explaining the whole continuous unloader composition. FIG. 3 is a diagram illustrating the operation behavior of the continuous unloader, FIG. 4 is a diagram illustrating a hydraulic circuit of the adjusting cylinder, and FIG. 5 is a diagram illustrating a hydraulic circuit of the tension cylinder. FIG. 6 is a diagram illustrating a control circuit of the continuous unloader.

  FIG. 2 shows the entire configuration of a continuous unloader 1 (hereinafter, sometimes abbreviated as unloader 1) used in the embodiment of the present invention. The unloader 1 is disposed at a traveling vehicle 62 having traveling wheels 63 at a plurality of locations, a support 64 installed on the traveling vehicle 62, a boom 61 pivotally supported by the support 64, and a tip of the boom 61 on the hold side. And a counter weight 65 attached to the opposite side of the boom 61 from the hold.

  As shown in FIG. 2, a boom cylinder 51 is provided between the boom 61 and the support column 64, and the elevator unit 60 is provided by using the counter weight 65 as a counter weight by expanding and contracting the boom cylinder 51. The tip of the boom 61 on the hold side can be moved in the vertical direction.

  Further, in the unloader 1, a swing cylinder 52 is disposed between the boom 61 and the elevator unit 60, and the lower end of the elevator unit 60 swings back and forth with respect to the boom 61 by expanding and contracting the swing cylinder 52. Moving.

  With the above configuration, the unloader 1 can control the elevator unit 60 to be vertical by expanding and contracting the swing cylinder 52 when the boom 61 is tilted by expanding and contracting the boom cylinder 51, for example.

Next, the elevator section 60 and the scraping section 20 will be described with reference to FIGS.
In the elevator section 60, a drive chain 82 formed in an annular shape and driven to rotate is disposed in an elevator section cover 90 extending in the vertical direction.

  The drive chain 82 is driven by a driving device (not shown) provided in the upper cover 92 and rotates from a sprocket to first ends provided on both ends of a scraping unit 20 provided at a lower end of an elevator unit 60 described later. It is configured so as to be bridged between the sprocket 25 and the second sprocket 26 and circulate. A plurality of buckets 80 are regularly arranged on the drive chain 82 at regular intervals, and the plurality of buckets 80 move between the aforementioned sprockets in accordance with the orbital movement of the drive chain 82.

  As will be described in detail later, the bucket 80 circulated by the drive chain 82 moves under the scraping section 20 at the lower end of the elevator section 60 and scrapes and loads loose objects from the hold when passing through. , Move upward in the elevator unit 60 in accordance with the rotation of the drive chain 82. The loose objects conveyed upward by the bucket 80 are conveyed in the direction of the traveling vehicle 62 by a horizontal conveyance device such as a belt conveyor (not shown) disposed in the boom 61, and are transferred to a second conveyance device (not shown) there. Unloaded.

  As shown in FIG. 1, the scraping section 20 includes a scraping frame 22 and a tension rod 24. As shown in FIG. 5, a tension cylinder 21 is attached and arranged as a telescopic cylinder of the scraping section 20 inside the scraping frame 22. Then, by attaching the rod 21A of the tension cylinder 21 to the tension rod 24, the tension rod 24 moves back and forth with respect to the scraping frame 22, and projects or retracts from the scraping frame 22. The length of the take-up portion 20 was configured to be able to expand and contract.

  That is, in the present embodiment, the length of the scraping section 20 expands and contracts as the tension rod 24 moves back and forth with respect to the scraping frame 22 by expanding and contracting the tension cylinder 21. The distance between the first sprocket 25 and the second sprocket 26 disposed at both ends of the first and second sprockets is configured to expand and contract. Then, the above-described drive chain 82 is stretched and bridged between the first sprocket 25 and the second sprocket 26.

Next, the configuration of the scraping unit 20 and the support arm 3 that supports the scraping unit 20 will be described.
In the present embodiment, the upper arm 5 and the lower arm 6 form the support arm 3, and the upper arm 5 is inserted into the track of the drive chain 82 that orbits by a support member fixed to the elevator unit cover 90 of the elevator unit 60. Are arranged and fixed, and the lower end of the lower arm 6 is attached to the upper portion of the scraping frame 22 to support the scraping section 20.

  In this embodiment, the lower end of the upper arm 5 and the upper end of the lower arm 6 are slidably fitted. That is, in the present embodiment, the support arm 3 is formed by the upper arm 5 and the lower arm 6 and is slidably fitted to form the support arm 3 which can be extended and contracted. It is configured to support the taking section 20.

  In the present embodiment, as shown in FIG. 1, the first adjustment cylinder 11 and the second adjustment cylinder 12 are arranged on the side surfaces of the upper arm 5 and the upper arm 6. The attachment positions are two positions before and after with respect to the longitudinal direction of the scraping section 20, and are arranged at positions where the side surfaces of the lower arm 6 and the upper arm 5 are equally divided in the circumferential direction (split at 180 degrees). did.

FIG. 4 conceptually shows how to attach the first adjustment cylinder 11 and the second adjustment cylinder 12.
The first adjustment cylinder 11 is mounted on a mounting base 5A provided on the side surface of the upper arm 5, and the rod 11A is mounted on a mounting base 6A provided on the side surface of the lower arm 6.

  Similarly, the second adjustment cylinder 12 is mounted on a mounting base 5A provided on the side surface of the upper arm 5 (the side surface opposite to the side on which the first adjustment cylinder is mounted), and the rod 12A is mounted on the side surface of the lower arm 6. It is mounted on the provided mounting base 6A.

  The support arm 3 can expand and contract the length of the support arm 3 formed by the upper arm 5 and the lower arm 6 by simultaneously expanding and contracting the first adjustment cylinder 11 and the second adjustment cylinder 12 with the above-described configuration. Is possible.

In the present embodiment, two first adjustment cylinders 11 and second adjustment cylinders 12 are arranged at positions equally divided in the circumferential direction with respect to the side surfaces of the lower arm 6 and the upper arm 5.
However, the mounting method of the adjusting cylinder in the present embodiment is not limited to this, and may be one, or three or four. It is preferable to arrange | position to. For example, in the case of three, it is preferable to divide in the circumferential direction at 120 degrees, and in the case of four, it is preferable to divide in the circumferential direction at 90 degrees.

  In the present embodiment, as shown in FIG. 1, the tilt cylinder 8 is disposed between the upper portion of the scraping frame 22 and the vicinity of the upper end of the lower arm 6. The tilting of the scraping frame 22 from the horizontal direction can be performed.

Next, the outline of the hydraulic circuit used in the present embodiment will be briefly described.
FIG. 4 shows an outline of a hydraulic circuit diagram used for the first adjustment cylinder 11 and the second adjustment cylinder 12. The rod-side lines L3 and L4 of the first adjustment cylinder 11 and the second adjustment cylinder 12 are merged, and the head-side lines (cap-side lines) L1 and L2 are merged and connected to the servo valve 111, respectively. The servo valve 111 controls the pressing force of the rod 11A of the first adjustment cylinder 11 and the rod 12A of the second adjustment cylinder 11 in response to a signal from the control device 300 described later.

  In the present embodiment, the first adjusting cylinder 11 and the second adjusting cylinder 12 each include a stroke sensor (not shown), and will be described later based on an average value of stroke amounts (rod protrusion amounts) detected by the two stroke sensors. The length of the support arm 3 can be calculated by detecting the amount of expansion and contraction of the support arm 3.

  An outline of a hydraulic circuit diagram used for the tension cylinder 21 is shown in FIG. A rod-side line L6 and a head-side line (cap-side line) L5 of the tension cylinder 21 are connected to a servo valve 211, and control described later is performed based on information from a stroke position sensor (not shown) provided on the tension cylinder 21 and the like. In response to a signal from the device 300, the stroke position and pressure of the tension cylinder 21 are controlled.

  Here, in the present embodiment, below the scraping frame 22 provided in the scraping unit 20, the pressure applied to the bucket 80 from below by contacting the drive chain 82 for driving the bucket 80 is described. A possible load sensor S1 is provided.

FIG. 1 shows an arrangement of the load sensor S1. The drive chain 82 is arranged in contact with a horizontally extending member attached to the scraping frame 22 via a support member. Then, the load sensor S1 is attached to the aforementioned member with which the drive chain 82 contacts.
In the present embodiment, the pressure that the bucket 80 receives from below is detected by receiving the pressure from the lower part via the drive chain 82 with the above-described member that extends in the horizontal direction.

Next, FIG. 6 shows an outline of the control circuit used in the present embodiment.
Although a detailed control method will be described later, a pressure value received by the bucket 80 from below is detected by the load sensor S1, and the detected value is transmitted to the control device 300 and input.
The control device 300 transmits a command signal to the servo valve 111 or 211 provided in the hydraulic unit 303 based on the input detection value of the load sensor S1, and outputs the first adjustment cylinder 11, the second adjustment cylinder 12, and , The operation of the tension cylinder 21 is controlled.

Hereinafter, a control method of the unloader 1 according to the present embodiment will be described.
The traveling trolley 62 of the unloader 1 travels and is disposed on the side of the boat 101 moored at the wharf. After disposing the unloader 1 on the side surface of the boat 101, the boom cylinder 51, the swing cylinder 52, and the like are expanded and contracted, and the boom 61 and the elevator section 60 are operated, so that the scraper 20 is placed in the hold of the boat 101. Move and place.

  After arranging the scraping unit 20 in the hold of the boat 101, the drive chain 82 is driven to rotate around by a driving device (not shown), and the boom cylinder 51 and the swing cylinder 52 are expanded and contracted to lower the position of the scraping unit 20. , Gradually approach the roses stacked in the hold from above.

  The position of the scraping unit 20 is gradually lowered, and the bucket 80 below the scraping unit 20 is brought into contact with the loose objects from above the loose objects. In the present embodiment, the pressure at this time is detected by the load sensor S1, and while the scraping unit 20 is lowered to a position within the reference pressure range, the loose objects loaded on the hold are scraped and the bucket is removed. 80 and transported.

Note that the reference pressure range at this time varies depending on the size of the unloader 1, the transport amount, the type of loose objects, and the like. If the lower limit of the pressure range is too small, it is not possible to efficiently scrape loose objects loaded in the hold by the bucket 80, and if the upper limit is too large, the bucket 80 is strongly pushed from below. May be damaged.
Therefore, the bucket 80 can efficiently scrape loose objects piled up in the hold, and a range of pressure that is not damaged by the bucket 80 of the scraping unit 20 being strongly pushed from below is selected and set in advance. You.

  The loose items loaded in the bucket 80 are transported upward in the elevator unit 60 in accordance with the rotation of the drive chain 82. The loose objects conveyed upward by the bucket 80 are conveyed in the direction of the traveling vehicle 62 by a horizontal conveying device such as a belt conveyor (not shown) disposed in the boom 61 and transferred to a second conveying device (not shown) there. And is unloaded at the wharf.

  As described above, the ship 101 may move up and down in the sea in accordance with the movement of the tide and the movement of the waves. That is, even if the scraping unit 20 is arranged at an appropriate position and scraps are efficiently scraped and conveyed and unloaded, the position of the bottom of the ship changes, and as a result, the bucket 80 is pushed from below. Is changed, it may be out of the reference pressure range. In particular, if the bottom of the ship suddenly rises, unless the position of the scraping section 20 is raised quickly, problems such as damage to the scraping section 20 or deformation of the bucket may occur.

FIG. 3 shows the operation behavior of the scraping unit 20 and the support arm 3. FIG. 3A shows the behavior before receiving a force from below, and FIG. 3B shows the behavior when receiving a force from below.
In the present embodiment, when the pressure detected by the load sensor S1 rises from the reference pressure range and becomes equal to or greater than a preset value, the lengths of the first adjustment cylinder 11 and the second adjustment cylinder 12 are reduced. The length of the support arm 3 is shortened by shortening, and the scraping frame 22 is raised upward.

  Specifically, the length of the support arm 3 is reduced so that the pressure detected by the load sensor S1 decreases. Therefore, the servo valve 111 is operated in a direction to shorten the lengths of the first adjustment cylinder 11 and the second adjustment cylinder 12. As the length of the support arm 3 is shortened and the scraping frame 22 is raised, the pressure received by the bucket 80 from the loose object that moves around below the scraping unit 20 is reduced. Then, the pressure detected by the load sensor S1 is reduced to the reference pressure range.

  The control device 300 previously provides the optimum length of the scraper 20 with respect to the length of the support arm 3, that is, the first sprocket 11 and the first sprocket 12 with the optimum length of the support arm 3. The distance between them is selected and input in advance. Further, the optimum pressure of the tension cylinder 21 with respect to the length of the scraping section 20 is input.

  When the scraping section 20 is inclined by the tilt cylinder 8, when the scraping section 20 is inclined, the optimum value of the length of the scraping section 20 with respect to the length of the support arm 3, and This can be dealt with by inputting the optimum pressure value of the tension cylinder 21 with respect to the length of the take-up portion 20 to the control device 300 in advance.

In the present embodiment, at the same time when the support arm 3 is raised and the scraping section 20 is raised, the length of the scraping section 20 with respect to the length of the support arm 3 is determined, and the servo cylinder 211 is operated to set the The stroke amount of the tension cylinder 21 is controlled so that the length of 20 becomes an optimum value.
That is, by adjusting the stroke amount of the tension cylinder 21 on the basis of the length of the scraping section 20 with respect to the preset three lengths of the support arm, the moving amount of the tension rod 24 is adjusted and the scraping section 20 is moved. Extend the length.

  According to the present embodiment, the length of the scraping section 20 can be quickly and accurately extended even when the scraping section 20 is rapidly raised in accordance with the rapid rise of the ship bottom. Therefore, it is possible to reduce the possibility that the problem that the tension of the drive chain 82 cannot be maintained because the elongation speed is not enough to occur.

  In the present embodiment, the length of the support arm 3 is calculated from the stroke sensors provided in the first adjustment cylinder 11 and the second adjustment cylinder 12. However, a sensor is separately attached to the support arm 3 and the support arm 3 is directly operated. May be measured.

  Further, in the present embodiment, after the length of the scraping section 20 is extended, the pressure of the tension cylinder 21 is controlled based on the preset pressure of the tension cylinder 21 with respect to the length of the scraping section 20, and the scraping is performed. The tension of the drive chain 82 below the take-off frame 22 is set to an optimal state.

  When the length of the scraping section 20 is extended by adjusting the amount of movement of the tension rod 24, some trouble may occur. For example, when an unexpectedly large pressure is applied to the tension cylinder 21 and an extremely large tension is applied to the drive chain 82, there is a risk that the drive chain 82 may be broken. Therefore, in the hydraulic circuit for operating the tension cylinder 21, it is preferable to set an upper limit pressure so that an unexpectedly large pressure is not applied to the tension cylinder 21.

  As described above, according to the present embodiment, in the unloader 1 that scrapes and transports loose objects loaded in the hold by the bucket 80 driven by the drive chain 82, the bottom of the vertically moving hold and the bucket 80 collide. This has the effect of preventing the drive chain 82 under the scraping section 20 from being kept in an optimal state.

  In addition, when the position of the ship descends and the ship bottom descends, the value of the load sensor S1 falls below the reference pressure range. At this time, the support arm 3 is extended to lower the scraping unit 20, or the entire elevator unit 60 is lowered as needed to adjust the scraping unit 20 to be within the reference pressure range.

When the value of the load sensor S1 falls below the reference pressure range due to the lowering of the ship bottom, the control device 300 extends the support arm 3 to lower the scraping section 20, and sets the support arm 3 set in advance. The amount of movement of the tension cylinder 21 is adjusted based on the length of the scraping unit 20 with respect to the length to shorten the length of the scraping unit 20.
Then, after extending the length of the scraping unit 20, the pressure of the tension cylinder 21 is controlled based on the preset pressure of the tension cylinder 21 with respect to the length of the scraping unit 20, and the pressure is adjusted below the scraping frame 22. Control may be performed so that the tension of a certain drive chain 82 is set to an optimal state.

  Meanwhile, as a method of avoiding collision with the ship bottom, there is a method of raising the entire elevator frame to which the scraping unit is attached when the ship bottom rises rapidly. However, since it is difficult to quickly move a large member such as the entire elevator frame in accordance with a sudden rise of the ship, there is a high possibility that the sudden rise of the ship bottom cannot be dealt with. For example, the technique disclosed in Patent Document 1 described above has a mechanism that moves up and down only the scraping portion partially quickly in addition to a mechanism that moves up and down the elevator frame. However, according to the technique disclosed in Patent Document 1, the guide rail portion or the collector elevating cylinder (scraping frame elevating cylinder) and the like are completely exposed outside the cover, and are in a state of being very easily contaminated. . A large amount of dust may be generated when scraping loose objects stored in the hold, and if dust adheres to the guide rails etc. due to long-term use, operation may be defective .

In this embodiment, the first adjustment cylinder 11 and the second adjustment cylinder 12 for adjusting the length of the support arm 3 are both in a state in which the side surface is surrounded by the cover above the scraping unit 20.
Therefore, the risk of dust adhering when scraping loose objects loaded in the hold can be reduced as compared with the prior art.

In the above-described embodiment, the first and second adjusting cylinders 11 and 12 are provided at two positions with respect to the side surfaces of the lower arm 6 and the upper arm 5. At two locations before and after with respect to the longitudinal direction.
With this arrangement, for example, forces of different magnitudes are applied from below on the first sprocket 11 side and the second sprocket side of the scraping unit 20, and as a result, a force in the direction of tilting the scraping unit 20 back and forth is generated. It is easy to respond as well.

  Further, in the present embodiment, an example in which the first and second adjusting cylinders 11 and 12 are controlled by one servo valve 111 has been described. However, two servo valves 111 are prepared to perform the first and second adjusting cylinders. If the individual positions of the cylinders 11 and 12 are controlled, the ability to respond to the forward and backward inclination is further enhanced. Specifically, the stroke amounts of the first and second adjustment cylinders 11 and 12 are detected and taken into the control device 300, and the stroke amounts of the first and second adjustment cylinders 11 and 12 are set to be the same. By controlling the respective servo valves 111, for example, forces having different magnitudes are applied from below to the first sprocket 25 side and the second sprocket 26 side of the scraping unit 20, and the scraping unit 20 is tilted back and forth. Even if a force is generated, it is possible to cope so that the scraping unit 20 does not tilt.

Similarly, if four adjustment cylinders are arranged on the side surfaces of the lower arm 6 and the upper arm 5 so as to be equally divided in the circumferential direction, for example, with a phase shift of 90 degrees, scratching can be achieved. Even if a force in the direction of inclining the take-out portion 20 in the front-rear and left-right directions is easily handled.
Further, if four servo valves 111 are prepared and the four adjustment cylinders are individually position-controlled, the ability to respond to the front, rear, left and right tilts is further enhanced.

  This is a technology that can be used effectively in a continuous unloader that scrapes and transports loose objects loaded in a hold by a bucket.

Reference Signs List 1 continuous unloader 3 support arm 5 upper arm 6 lower arm 11 first adjusting cylinder 12 second adjusting cylinder 20 scraping unit 21 tension cylinder 22 scraping frame 24 tension rod 25 first sprocket 26 second sprocket 51 boom cylinder 52 swing Cylinder 60 Elevator part 61 Boom 62 Traveling trolley 63 Traveling wheel 64 Post 65 Counter weight 80 Bucket 82 Drive chain 90 Elevator cover 92 Upper cover 300 Control device 303 Hydraulic unit 21A Tension cylinder rod S1 Load sensor

Claims (2)

With a scraping frame and a tension rod that moves back and forth with respect to the scraping frame, a tension cylinder arranged on the scraping frame moves the tension rod back and forth to form a scraping portion whose length expands and contracts. ,
The present invention relates to a method of controlling a continuous unloader in which a chain having buckets attached to sprockets arranged at both ends of a scraping section is arranged, and the buckets moving by driving the chain scrape and transport loose pieces loaded in a hold. hand,
The support arm that supports the scraping frame from above is formed by an upper arm and a lower arm, and an extendable adjusting cylinder is arranged between the upper arm and the lower arm, so that the length of the support arm can be extended and contracted Along with
A load sensor is provided below the scraping frame to contact the chain driving the bucket and detect the pressure received by the bucket from below.
When the pressure detected by the load sensor rises from the reference pressure range and becomes a value equal to or more than a preset range,
By shortening the length of the adjusting cylinder and shortening the length of the support arm, the scraping frame is raised upward, and the pressure detected by the load sensor is reduced to the reference pressure range,
A method for controlling a continuous unloader that extends the length of a scraping unit based on a length of the scraping unit with respect to a length of a support arm set in advance.   The tension cylinder is a hydraulic cylinder, and after extending the length of the scraping section based on the length of the scraping section with respect to the length of the support arm set in advance, the tension cylinder is set to the length of the preset scraping section. The control method for a continuous unloader according to claim 1, wherein the pressure of the tension cylinder is controlled based on the pressure of the unloader.

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