JPH01261124A - Automatic delivery control system for reclaimer - Google Patents

Abstract

PURPOSE:To stabilize automatic step shift control by judging whether the revolving angle, which is set by calculating the width of a stack with the appropriate height from the lookup and lookdown angle of a boom conveyor, is in loaded condition on the basis of the both end revolutional position signal of the stack and the load current of a motor for driving bucket wheel, and performing necessary correction. CONSTITUTION:When a stack 33 placed in a yard 31 is sent out with rotation of a bucket wheel 35 and revolution of a boom 36, the out-of-cargo sensing for the stack 33 in revolving action of this boom 36 is made by first sensing the out-of-cargo condition of the stack 33 by a righthand stack sensor 10-1, and thereby revolutions are stopped with the delay time of boom 36 action taken into consideration. At the same time, a change in the load of the wheel 35 is sensed by the load current of a wheel driving motor, and when no load is attained, the revolving angle due to a revolving angle sensor is stored in memory. The revolving angle when no load is attained in revolving action is considered to be the out-of-cargo revolving angle for the stack 33. Thereby waste time is nullified at both extremities in revolution, which accomplishes constant delivery with good efficiency.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic discharge control system for a reclaimer that discharges various raw materials such as coal and iron ore that are piled up in a raw material yard such as a steel mill.

[Conventional technology]

In call centers, steel mills, etc., transported coal, iron ore, etc. are stacked and stored in raw materials yards.

When these raw materials are used, raw material discharging equipment called a reclaimer is generally used.

This reclaimer consists of a vehicle that runs on a running rail, a boom that is mounted on the vehicle so that it can be lifted up and down and rotated, a bucket wheel that is attached to the tip of the boom and that discharges raw materials from a pile, and a boom that transports the discharged raw materials. and a boom conveyor for conveying the vehicle along the vehicle. When discharging raw materials, the boom is rotated horizontally while rotating the bucket wheel, and the raw materials of the same height in the stack are discharged, and then the height of the boom tip is lowered, in other words, the next step is performed. The raw material is discharged to a height of 1, and when it has been discharged to the lowest level, the vehicle is moved forward and the same operation is repeated.

Conventionally, the automatic changeover control of this type of reclaimer requires that the reclaimer itself is an unstable balancing machine with a long material called a boom, and that the bucket foil is moved to the starting point for discharging the raw material attached to the raw material yard. The difficulty is that sensing technology for implantation has not been established.

Conventional technology has been proposed in which a large number of sensors are attached to the reclaimer, or the sensors are controlled vertically and horizontally, and a computer is applied to perform automatic operation while performing various calculations. If the control system is based on sensors and computers, the control system is complicated and expensive. Furthermore, human input signals from various sensors are used as calculation data, but due to control delays, turning and automatic gear changes cannot be performed efficiently, and in reality, the control relies on manual operations.

[Problem to be solved by the invention] A reclaimer has an important mission of continuously dispensing a fixed amount of various raw materials stacked in a raw material yard. This is achieved by adjusting the rotation speed of the boom. Then, the traveling body is moved in increments so that the amount of thrust into the raw material pile, which is generally determined by the shape and capacity of the bucket wheel, is constant, and the boom is rotated so that the power consumption of the bucket wheel drive motor is the set value. , or the speed is controlled to be based on l 2 /cos θ of the swing angle of the boom.

The cross-section of raw materials stacked in a raw material yard has a trapezoidal shape with a slope of a constant angle of repose determined by the characteristics of the raw materials being stacked. Normally, this trapezoidal pile is subject to landslides and the like due to weather conditions such as wind and rain, and the shape of the pile is partially deformed.

When dispensing a fixed amount of material during a swinging motion of the boom, if you do not predict that there will be no material to be dispensed at both ends of the swinging motion and rotate in the opposite direction to the current swing direction as soon as both ends are reached, the Payment cannot be made.

The present invention has been made in view of such conventional problems, and an object of the present invention is to perform automatic stage change control with high precision and stability.

[Means to solve the problem]

In order to achieve this purpose, the automatic dispensing control system of the glue claimer of the present invention consists of a boom conveyor that is installed so that it can travel along rails laid in a material yard, and that can be raised and rotated, and an electric motor-driven conveyor that is placed at the tip of the boom conveyor. In a reclaimer having a bucket wheel, a single peak detector and a reversible detector are attached to the tip of the boom conveyor, and means for detecting the load current of the bucket wheel driving motor is provided, and the elevation angle of the boom conveyor is The turning angle set by calculating the width of the pile at the relevant height,
A loaded state or an unloaded state is determined based on both end turning position signals of the pile detected by the pile detector and a load current of the bucket wheel driving motor, and the turning angle of the pile is corrected based on the determination result. It is characterized by controlling the transportation amount to be constant.

[Effect]

The present invention combines pile detection signals from two pile detectors attached to the bottom of the boom tip and load monitoring signals from the bucket wheel, predicts and corrects the boom rotation range, and controls the boom when the rotation is reversed. To prevent idle rotation and perform efficient automatic dispensing. In addition, automatic payout control is performed by using the detection signal of the role change detector for changeover control of the payout stack and adding backward stop control of travel.

〔Example〕

Hereinafter, the present invention will be specifically described based on embodiments shown in the drawings.

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention. Prior to explaining this embodiment, an outline of the reclaimer and the arrangement of the main position detectors will be explained based on FIG. FIG. 2(a) is a plan view showing the arrangement of the reclaimer in the raw material yard, and FIG. 2(b) is a side view. A traveling rail 32 is laid in a raw material yard 31 in which a pile 33 of raw materials is stacked, and a reclaimer 34 is installed on this rail 32 so as to be movable. The reclaimer 34 is equipped with a boom 36 that can be elevated and rotated, and a bucket wheel 35 is attached to the tip of the boom 36.
A boom conveyor 37 is installed along the longitudinal direction. The reclaimer 34 includes a boom elevation angle detector 7.
A turning angle detector 8 and a traveling position detector 9 are each provided.

The top view of FIG. 3 [a] and (
As shown in the side view of 5), a right pile detector 10-1 and a left pile detector 10-2 are used to realize automatic dispensing.
, right stage change detector 11-1 and left stage change detector 11
-2 are attached respectively. In Figure 3,
The direction of the apex angle of the triangle of each detector indicates the respective detection direction.

The pile detectors 10-1 and 10-2 are connected to the boom 3, respectively.
This detection section is attached to the lower part of the tip of the bucket wheel 35, and this detection section is configured to detect the position of the pile 33 below the center of the bucket foil and at the same distance from the center of the packet of the bucket foil 35.

Bucket foil 3
When discharging by rotating the boom 36 and rotating the boom 36, the detection of the stack 33 being out of stock during the swinging operation of the boom 36 is performed by the right stack detector l shown in FIG.
With 0-1, the out-of-load state of the pile is detected in advance.

As a result, the rotation of the boom 36 is stopped taking into consideration the operation delay time. At the same time, changes in the load on the bucket wheel 35 are detected by monitoring the load current of the bucket wheel drive motor (not shown), and when the load becomes unloaded, the swing angle detected by the swing angle detector 8 is detected. Make me remember. Then, in the turning operation, control is performed to set the turning angle at the time when there is no load as the unloading turning angle of the pile 33. This prevents the stack detectors 10-1 and 10-2 from malfunctioning, eliminates wasted time at both extremes of turning, and realizes efficient fixed-quantity dispensing.

The stage change detector in Fig. 3 is installed at the bottom of the boom, the right stage change detector 11-1 is diagonally lower right, and the left side stage change detector 11-1 is installed at the bottom of the boom.
-2 detects the height of the pile 33 at the lower left side diagonally, applies it as a traveling backward stop control signal during automatic stage change, and in combination with the pile detector, automatically starts dispensing the next stage of the pile. - Next, an embodiment of the present invention shown in FIG. 1 will be described.

As shown in the figure, the reclaimer includes a variable speed drive unit 1 that rotates the boom, a travel drive unit 3 equipped with a travel speed controller 4 that allows the reclaimer to travel at high or low speeds, and a travel drive unit 3 that removes raw materials from a pile of raw materials. It has a machine such as a bucket wheel drive machine 5 for scraping.

7. To detect the boom elevation and rotation position, the elevation angle 7.
A turning angle 8 and a traveling position detector 9 attached to the traveling body are provided. Dispensing start storage tube 1 that stores set values set in advance by dispensing start position setting device 13
The travel control device 20 compares the data of step 6 with the travel position detected by the travel position detector 9, and automatically runs the reclaimer to a predetermined payout start position. Next, after the bucket wheel is placed on the dispensing start point, the boom starts to rotate, and automatic dispensing is started. When the boom starts turning in a predetermined direction, constant transport amount control is performed based on the following principle.

That is, as shown in FIG. 4, the amount of inching of the reclaimer 34 is d Cm) (=the amount of thrust into the pile 33 l),
The payout height is h [m], and the length of the boom 36 is L (m
], the turning angular velocity of the boom 36 is s [radian/
sec], and the angle formed by the boom 36 and the rail 32 is θ, the transportation amount of raw material Q (m'/sea, ) is expressed as the product of the cross-sectional area of the raw material to be cut and the cutting speed, so
The following formula is derived.

Q=(khd-cosθ)Xs However, k is a constant resulting from the cross-sectional shape of the bucket foil.

Therefore, the swing angular velocity S of the boom 36 is s = Q
/(kh - dcos θ), and the turning angular velocity S for keeping the transport amount Q constant may be controlled according to the magnitude of θ.

Based on this principle, control is carried out so that the load on the bucket and the foil 35 is constant. Simultaneous 1 B turning speed calculator 2
1, the swinging operation is performed while outputting the swinging speed based on the output signal of the bucket wheel load monitoring device 6-1.

This control is performed continuously to continue the turning operation.

In this turning operation, if the boom is turning to the right, there is a bucket wheel 3 on the right side as seen from the stacking boom.
5, the pile detector 10-1 on the right side first detects that the pile is out of stock. However, at this time, the bucket wheel 35 is still scraping and discharging the raw material.

Based on the out-of-load detection signal from the pile detector 10-1, the bucket wheel 35 starts rotating idly and at the same time the reverse direction 0,
Since the dispensing efficiency will decrease unless the robot rotates in the opposite direction, preparations for rotating in the opposite direction to that currently being rotated are started. That is, it is predicted how many seconds it will take for the bucket wheel to spin idly after the load detector l〇-1 detects that the load is out of stock, and after the predicted time, the bucket wheel starts turning in the opposite direction. At the same time, the load monitoring device 6-1 of the bucket wheel 35 detects no load, reads the turning angle at this time, and transmits a signal to the turning range calculating device 18-1. The turning range calculating device 18-1 stores turning data for several times, calculates the average value thereof, and stores the turning angle at which the cargo runs out. After the average value is determined, the rotation controller 18-2 corrects the predicted time and always performs control to prevent the bucket wheel 35 from spinning idly. This control is performed in the same way for left and right turns.

When one turning operation is completed, the traveling body plunges into the raw material pile by the amount of inching set by the inching amount setting device 14,
A turning operation is performed in the opposite direction to the previous turning direction, and this turning operation is performed the number of times set by the turning number setting device 12. After completing the set number of turning operations, the reclaimer moves backward by the initial payout start position + α (determined by the angle of repose). At this time, when the payout start position is near, the vehicle is driven at a low speed to ensure accurate positioning, and the stage change detector 11-
1°11-2 is detected, and after a predetermined period of time, the traveling body is stopped, the next stage is automatically put out, and the same operation as the turning control described above is repeated.

The above operation is shown in the 70-chart of FIGS. 5A to 5. Note that r(T) J in the fifth diagram indicates that the operation starts after a predetermined period of time has elapsed since the m-age signal was generated.

〔Effect of the invention〕

As explained above, the present invention calculates the width of the pile at the height based on the elevation angle of the boom conveyor, and calculates the width of the pile and sets the turning angle to the both end turning position signals of the pile detected by the pile detector and the bucket. Determine whether the wheel is in a loaded state or a no-load state based on the load current of the wheel drive motor,
Based on the determination result, the turning angle of the pile is corrected to control the transport amount to be constant. Since the pile detector is attached to the tip of the boom conveyor, automatic discharge of the reclaimer can be efficiently achieved without using a special detector or large-scale control equipment such as a combinator as in the past. This can contribute to stable transportation of raw materials and labor savings.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing a configuration example of a control device to which the control method of the present invention is applied, Fig. 2 is an explanatory diagram showing the relationship between the raw material yard and the reclaimer, and Fig. 3 is a packet conveyor at the tip of the boom and each detection An explanatory diagram explaining the installation position of the device,
Figure 4 is an explanatory diagram showing the principle for quantitative transportation, Figure 5A
Figures 5 to 5 are flowcharts showing the control procedure of the present invention. 1: Swing drive machine 2: Swing speed controller 3: Travel drive machine 4: Travel speed controller 5: Bucket wheel 6; Bucket wheel load detector 6-1: Bucket wheel load monitoring device 7: Elevation angle detector 8: Turning angle detector 9: Traveling position detector 10-1.10-2: Stacking pile detector 11-1.11-2: Role change detector 12: Turning number setting device 13: Dispensing start position setting device 14: Inching amount Setting device 15: Turning number setting memory device 16
: Dispensing start position memory 17 : Dimension setting memory 18 : Turning control device 18-1 : Turning range calculating device 18-2 : Turning controller 19 : Turning number storing device 20
: Travel control device 21: Swinging speed calculator 22: Swinging command device 23: Traveling command device 24: Traveling speed controller 31: Raw material yard 32: Rail 33: Stacking pile 34: Reclaimer 35: Bucket foil 36: Boom 37: Boom conveyor Patent Applicant Yasuyo Electric Manufacturing Co., Ltd. Representative Masu Kobori (and 2 others) Figure 5 Figure 2 (b) Figure 3 (a) (b) b Figure 4 Figure 5 A Figure 5B Figure 5C

Claims (1)

[Claims] 1. In a reclaimer that is installed to be able to travel along rails laid in a raw material yard and has a boom conveyor that can be raised and rotated, and a motor-driven bucket wheel placed at the tip of the boom conveyor, a pile is detected at the tip of the boom conveyor. A means for detecting the load current of the motor for driving the bucket wheel is installed, and the set turning angle is determined by calculating the width of the pile at the height based on the elevation angle of the boom conveyor. , determining whether the pile is in a loaded state or an unloaded state based on both end turning position signals of the pile detected by the pile detector and the load current of the bucket wheel driving motor, and determining a turning angle of the pile based on the determination result. An automatic reclaimer dispensing control system that is characterized by correcting and controlling the transportation amount to a constant level.