JPH0431977B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a bucket-type continuous unloader used for unloading bulk materials such as ore from a ship or the like, and particularly to a bucket-type continuous unloader having a quantitative dispensing control device.

The unloader is equipped with a boom that performs movements such as turning and elevating, and a plurality of buckets attached to a chain etc. from this boom. During cargo handling work, the buckets are guided into the ship's hatch and then The bucket is raised and lowered to excavate and cut out cargo.

In this type of bucket type continuous unloader,
If the amount of cargo to be delivered is irregular, equipment installed behind the unloader such as a conveyor must be enlarged, which increases the cost of the equipment.

However, when unloading bulk materials such as coal and ore that have been transported by ship, etc., the bulk materials are excavated by the bucket of the unloader, which may cause problems such as the amount of thrust of the bucket into the bulk materials and the collapse of the bulk materials. As a result, there is a problem in that the amount of dispensing becomes irregular, and conventionally, it has been common to have a buffer device such as a surge hopper for quantifying the amount of dispensing.

An object of the present invention is to provide a bucket-type continuous unloader equipped with a control device that can quantify the amount of cargo to be discharged without requiring a buffer device such as a surge hopper.

According to the present invention, there is provided a bucket elevator in which a plurality of bucket trucks are connected, a first driving device for moving the bucket elevator in a predetermined direction, and a first driving device for rotating the bucket elevator. The bucket type continuous unloader has a second drive device and a conveyance device for conveying the cargo excavated and discharged continuously by the rotation of the bucket elevator, wherein the second drive device includes the second drive device. an input amount corresponding to the total amount of cargo of the bucket elevator; a first detection means for detecting the input amount to obtain a first detection signal; and a rotation speed of the second drive device. a second detection means for detecting and obtaining a second detection signal; a measuring means for measuring a discharge amount of the cargo transported by the transport device and obtaining a discharge amount detection signal; It has an oscillator that generates an angle detection signal representing the rotation angle of the bucket elevator in synchronization with the rotation speed of the bucket elevator, and a calculation means constituted by a first and a second calculation section, The first and second detection signals and the payout amount detection signal are input to the first calculation section, and a first calculation section is inputted to the first calculation section for setting the total amount of cargo loaded on each bucket of the bucket elevator. 1 setting signal is input, and these four signals are used to match the set total amount of cargo loaded on the bucket of the bucket elevator with the input amount given to the second drive device. A first correction signal for correcting and controlling the first drive device is sent out in real time, and the second calculation section is connected to the first calculation section and receives the angle detection signal and the second calculation section. receiving a second setting signal for setting the amount of cargo to be delivered by the bucket elevator;
generating a second correction signal for controlling the output rotational speed of the second drive device; controlling the amount of input given to the second drive device by the second correction signal; A bucket continuous unloader equipped with a fixed quantity dispensing control device is obtained, which is characterized in that the amount of cargo disbursed is constant.

The present invention will be described below with reference to embodiments of the drawings.

First, referring to FIGS. 1a and 1b, the bucket type continuous unloader 1 includes a traveling truck 11 and a rotating section
2 and is laid along the quay.
At the same time, the rotating part 12 runs horizontally on the traveling trolley 11 in the left and right directions in FIG. 1a,
Moreover, it is designed to be able to turn in the plane shown in FIG. 1b. A boom 13 connected to the rotating section 12 is capable of vertically raising and lowering.
The drive unit for these traveling, traversing, turning, and up-and-down operations is herein referred to as a first drive unit. Further, the bucket type continuous unloader can rotate the bucket elevator 14 attached to the tip of the boom 13 along an endless track. The drive unit for rotating the bucket elevator 14 is herein referred to as a second drive unit.

A plurality of bucket belts 16 are attached to a chain 15 of the bucket elevator 14. The ore 22 stored in the hatch 21 of the ship 20 is excavated by the rotation of the bucket 16, as shown in FIG. 1a, and transported to the outside of the hatch 21.
The ore 22 carried out of the hatch 21 is carried out by a belt conveyor or the like (not shown) provided on the boom 13.

In order to keep the above-mentioned conveyance amount, that is, the payout amount by the bucket, constant, the amount of thrust of the bucket elevator 14 into the hatch 21, the speed of the traveling cart 11,
The ups and downs of the boom 13 and the rotational speed of the bucket 16 must be determined appropriately, and the collapse of the ore 22 and the shaking of the ship 20 must also be taken into consideration.

Referring to FIG. 2, there is shown a dispensing path of a bucket-type continuous unloader according to the present invention. In this case, the bucket elevator draws a rectangular delivery path on the orthogonal coordinate system. First, origin A (X ₀ ,
The excavation depth is determined at A (X 0 , y ₀ ), and when the excavation is completed, the excavation depth is determined at A (X ₀ , y ₀ ).
When it travels from B (x ₀ , y ₀ ) to B (x ₁ , y ₀ ), the bucket elevator starts lateral movement,
C(x ₁ , y ₁ ) is reached. Next, it travels from C (x ₁ , y ₁ ) to D (x ₀ , y ₁ ), returns from D (x ₀ , y ₁ ) to the origin (x ₀ , y ₀ ) again by lateral movement, and One cycle of payout is completed.

Next, the fixed amount dispensing control device will be explained with reference to FIG.

A hydraulic motor 31 is disposed within the bucket elevator 14 and rotates the bucket truck 16. The rotational speed of the hydraulic motor 31 is controlled by the discharge amount of the hydraulic pump 38.

On the primary side of the hydraulic motor 31, the hydraulic motor 31
A pressure detector 32 for detecting the primary side pressure is connected. Further, a speed detector 33 for detecting the rotation speed of the hydraulic motor 31 and an oscillator 41 for sending out a detection signal according to the rotation angle are connected to the rotation shaft of the hydraulic motor 31. In addition, as mentioned above, the cargo discharged by the bucket elevator 14 is transported to the rear equipment by a belt conveyor or the like. The conveyor is provided with a delivery amount measuring device (for example, a conveyor scale) 39. This payout amount measuring device 39 is composed of, for example, a load cell, and measures and detects the pressure due to the amount of cargo being transported on the belt conveyor, and sends out a payout amount detection signal according to this pressure. .

The output side of these pressure detector 32, speed detector 33, and dispensing amount measuring device 39 is connected to the first
The first calculation unit 341 is connected to the first calculation unit 341.
is connected to a first setting device 40 for inputting the total amount of cargo loaded on each bucket of the bucket elevator, which is calculated from a preset payout amount.

The output of the first calculation section 341 is
7. Connected to the levitation device and the arithmetic device 3
It is connected to the second arithmetic unit 342 of No. 4. The output of the traveling control device 37 is connected to a traveling device for controlling the traveling section of the unloader.

As mentioned above, the output of the first calculation section 341 is input to the second calculation section 342, and the second calculation section 342 also has a second calculation section 342 for setting the payout amount by the bucket-type continuous unloader. The second setting device 35 is connected, an oscillator 41 that sends out an angle detection signal corresponding to the rotation angle of the bucket elevator is connected, and the output of the second calculation section 342 is connected to the hydraulic control device 36. The output of this hydraulic control device 36 is fed back to a hydraulic pump 38 to control the output rotation speed of the hydraulic motor 31.

Next, with reference to FIGS. 1 to 4, a case will be described in which the bucket-type continuous unloader is controlled to dispense a fixed amount.

Set an arbitrary payout amount Q ₂ on the second setting device 35,
It is input to the second arithmetic unit 342. In addition, the total amount Q ₁ of cargo loaded on each bucket 16 of the bucket elevator 14 (this amount can also be automatically calculated from the second setting device 35) is calculated by the first setting device 40. is input to the first calculation unit 341. Next, the bucket type continuous unloader 1 is operated, the bucket 16 excavates ore 22, and the bucket elevator 14 discharges ore.

At this time, the pressure on the primary side of the hydraulic motor 31 operating the bucket elevator 14 is detected by the pressure detector 3.
2, a pressure signal P corresponding to the primary side pressure is output from the pressure detector 32, and the first
is input to the calculation unit 341. Further, the rotational speed of the hydraulic motor 31 is detected by the speed detector 33, and a speed signal V corresponding to the rotational speed is outputted and inputted to the first calculation section 341.

On the other hand, since the primary side pressure of the hydraulic motor 31 and the total amount of cargo loaded on each bucket 16 of the bucket elevator 14 have a linear relationship as shown by the solid line in FIG. The total amount of cargo loaded on each bucket 16 of the bucket elevator 14 is determined by the side pressure. Furthermore, if the rotational speed of the hydraulic motor 31 is obtained, the amount of payout from the bucket elevator can be calculated.

However, it is generally unavoidable that loose objects adhere to the bucket 16 of the bucket elevator 14.
Therefore, a difference (error) occurs in the relationship between the payout amount calculated from the primary side pressure of the hydraulic motor 31 and the payout amount of the bucket elevator. Furthermore, errors due to differences in pressure loss due to changes in the oil temperature of the hydraulic motor 31 and differences in excavation resistance depending on the type of cargo may cause differences between the payout amount calculated from the primary pressure of the hydraulic motor 31 and the bucket elevator 14. A difference (error) occurs in the payout amount. With this in mind, as described above, the payout amount actually measured by the payout amount measuring device 39 is input to the first calculation unit 341 by the payout amount detection signal W.

In the first calculation unit 341, the traveling speed corresponding to the total amount of cargo _Q1 set by the first setting device 40 is calculated with respect to the pressure signal P,
A travel speed signal corresponding to this travel speed is input to the travel control device 37, and the travel control device 37 sends out a travel correction signal T to control the travel device. In this way, the total amount of cargo loaded on the bucket elevator is always controlled to be the set amount _Q1 . Further, in the first calculation unit 341, the total amount u of cargo loaded in each bucket 16 of the bucket elevator 14 is calculated from the pressure signal P and corrected by the discharge amount detection signal W. It is sent to the second arithmetic unit 342.

The second calculation unit 342 individually monitors a predetermined number of buckets 16. That is, in synchronization with a pulse oscillator that generates one pulse for each bucket 16, the amount of change in the total amount of cargo sent out from the first calculating section 341 is calculated based on the amount of change in the total amount of cargo loaded on each bucket 16. It is possible to calculate the amount of cargo present. Furthermore, if one pulse of the synchronization pulse is generated for a plurality of bucket carts 16, the total amount of cargo loaded on the plurality of bucket carts 16 can be calculated.
For this reason, the second calculation section 342 is supplied with an angle detection signal from the oscillator 41. Furthermore, the amount of cargo loaded on one bucket truck calculated as described above is determined by using a shift register or the like using the angle detection signal from the oscillator 41 as a shift pulse.
Each bucket 16 moves from the bottom of the bucket elevator to the top (chute part) according to the actual movement of the bucket elevator.
When the bucket 16 moves to the upper part (chute part), the second setting device 3 sets the amount of cargo loaded on the bucket 16 and the amount of cargo to be discharged.
5 is calculated, and a bucket elevator speed correction signal corresponding to the speed of the bucket elevator 16 is inputted to the hydraulic control device 36.
6 sends out an oil flow correction signal R to control the speed of the hydraulic motor 31.

That is, an oil flow correction signal R is sent to the hydraulic pump so as to adjust the rotational speed of the hydraulic motor 1. The relationship between the total amount of cargo and the primary pressure of the hydraulic motor 31 shown in FIG. 5 is corrected, for example, as shown by the broken line, based on the actual amount measured by the amount measuring device 39. Further, when the actual dispensing amount and the set dispensing amount Q are significantly different, the boom 13 is raised and lowered by the raising and lowering device to eliminate the difference between the set dispensing amount and the actual dispensing amount.

As explained above, in the bucket type continuous unloader according to the present invention, the primary side pressure and rotational speed of the hydraulic motor of the bucket elevator are detected, the actual discharge amount is measured, and the discharge amount and the primary side of the hydraulic motor are detected. The rotational speed of the hydraulic motor, the traveling device, the traversing device, or the elevating device are controlled by correcting the relationship with pressure. Furthermore, the amount of cargo loaded on each bucket of the bucket elevator is always known. The rotation speed of the hydraulic motor of the bucket elevator is controlled according to the amount of cargo. Therefore, poor controllability due to time delays caused by the height of the bucket elevator is eliminated, it is possible to deal with short-term fluctuations in cargo, and the predetermined set amount and actual amount to be delivered can be adjusted with extreme precision. Quantitative control is possible. Further, according to the present invention, it is possible to eliminate errors in the payout amount caused by errors in the excavation depth of the bucket elevator or installation errors in the traveling rail, and the configuration of the control device is also simple.

Note that the pressure signal, speed signal, dispensing amount setting signal, and dispensing measured amount detection signal may be always input to the arithmetic device, or may be input to the arithmetic device at regular intervals. moreover,
The pressure difference between the primary pressure and the secondary pressure of the hydraulic motor may be used as the pressure signal. Furthermore, when excavating while the boom is rotating, the rotation speed of the boom may be corrected. Furthermore, the present invention is applicable not only to hydraulic motors but also to electric motors.

[Brief explanation of drawings]

FIG. 1a is a side view of a bucket-type continuous unloader according to the present invention, FIG. 1b is a top view of a bucket-type continuous unloader according to the present invention, and FIG. 2 is a diagram showing a bucket-type continuous unloader according to the present invention. FIG. 3 is a block diagram showing the fixed amount dispensing control device used in the bucket type continuous unloader according to the present invention, FIG. 4 is a simplified diagram of the bucket elevator, and FIG. 5 is a diagram showing the hydraulic system. FIG. 3 is a diagram showing the relationship between the primary side pressure of the motor and the total amount of cargo. In the figure, 1... bucket type continuous unloader, 10... track, 11... traveling trolley, 12... revolving section, 13... boom, 14... bucket elevator,
15...Chain, 16...Bucket, 20...Ship,
21... hatch, 22... ore, 31... hydraulic motor,
32...Pressure detector, 33...Speed detector, 34...Arithmetic device, 35...Second setter, 36...Hydraulic control device, 37...Travel control device, 38...Hydraulic pump, 3
9... Dispensing amount measuring device, 40... First setting device, 41...
oscillator.

Claims (1)

[Claims] 1. A bucket elevator that connects a plurality of bucket elevators, a first drive device for moving the bucket elevator in a predetermined direction, and a second drive device for rotating the bucket elevator. , a bucket type continuous unloader having a conveying device for transporting the cargo excavated and discharged continuously by the rotation of the bucket elevator, wherein the second drive device carries the cargo of the bucket elevator. An input amount corresponding to the total amount of cargo is given, a first detection means for detecting the input amount to obtain a first detection signal, and a first detection means for detecting the rotational speed of the second drive device. a second detection means for obtaining a second detection signal; a second detection means for measuring the amount of the cargo transported by the conveyance device to obtain a detection signal of the amount of the cargo being discharged; and a rotation of the bucket elevator. an oscillator that generates an angle detection signal representing a rotation angle of the bucket elevator in synchronization with the speed; and a calculation means constituted by a first and a second calculation section, the first calculation section The first and second detection signals and the payout amount detection signal are input to the first and second detection signals, and a first setting signal for setting the total amount of cargo loaded on each bucket of the bucket elevator is input. These four signals are used to match the set total amount of cargo loaded on the bucket of the bucket elevator with the input amount given to the second drive device. The second calculation section is connected to the first calculation section and outputs a first correction signal for correction control of the drive device of the bucket elevator in real time. receives a second setting signal for setting the amount of cargo to be discharged by the second drive device, generates a second correction signal for controlling the output rotational speed of the second drive device; 2. A bucket type continuous system equipped with a fixed amount dispensing control device, characterized in that the amount of input given to the second drive device is controlled by the correction signal of No. 2, so that the amount of cargo disbursed is constant. Unloader.