JPH04328192A - Device of detecting charging hole cover of coal charging car - Google Patents

Abstract

PURPOSE:To accurately open and close charging hole covers and promote unmanned operation of automation of coal charging car by attaching air sensors to a lifting magnet and detecting the state of the charging hole covers by the sensors. CONSTITUTION:Air sensors 19 are attached to air sensor housing holes 30 formed at four positions in the peripheral direction of a lifting magnet 15. The air housing holes 30 are communicated with an air supply opening 31 and an air releasing groove 32 with depth of D communicating the air supply opening 31 and outside atmosphere is formed at the base of the lifting magnet 15. Since gap of only depth D can be made between the base of the lifting magnet 15 and the top of charging hole covers 6 by the air releasing groove 32, flow of spouting air is released to outer atmosphere and impossible detection is prevented even if the charging hole covers 6 are adsorbed and stuck fast to the base of the lifting magnet 15 during detection of adsorption state of the charging hole covers 6 by the air sensors 19.

Description

[Detailed description of the invention]

0001

[Industrial Field of Application] The present invention relates to a charging lid detection device for a coal charging vehicle, and is particularly capable of detecting the state of the charging lid during the work of attaching and detaching the charging lid using a lifting magnet. The present invention relates to a charging lid detection device for a coal charging vehicle that enables accurate opening and closing of the charging lid based on the detection results.

0002

2. Description of the Related Art An example of a conventional charging lid detection device for a coal charging car in a coke oven is disclosed in Japanese Utility Model Publication No. 57-9390. In such a detection device, a magnetic material, a limit switch, etc. are used to detect that the charging lid is attracted to a lifting magnet during the loading/unloading operation, and this is used as a reference for determining opening/closing. For coal charging vehicles that are operated by a man, the operator can judge the safety of the vehicle if necessary during the work process, and if the charging lid of the coal charging vehicle is not opened or closed properly, It was possible to modify it.

However, when unmanned and automated working machines around coke ovens are required, the following problems arise. That is, since the opening/closing of the charging lid is determined by adsorption of the charging lid to the lifting magnet, the opening/closing state of the charging lid may differ from the actual state. for example,
The core of the charging port of a coke oven generally varies due to aging of the coke oven, and if the core of the lifting magnet and the core of the charging lid do not match, contact between the lifting magnet and the charging lid may occur. Due to the small surface area, the lifting magnet's nominal electromagnetic force cannot be exerted, and it may attract the charging lid and make it impossible to lift it, or even if it can be lifted once, it may not be possible to lift the charging lid during work. It is unstable, with the lid sometimes falling off.

[0004] Furthermore, when the charging port is closed with the charging lid, the lifting magnet is demagnetized to allow the charging lid to fall freely, but in some cases, this free fall causes the charging lid to fall into the charging frame. The coke oven does not fit correctly, and as a result a gap is created between the coke oven and the charging frame, resulting in a pollution problem in which produced gas leaks from inside the coke oven. In other words, when the lifting magnet is demagnetized and the charging lid is allowed to fall freely, is the charging lid properly seated in the charging frame?
It is not possible to determine whether the material is placed eccentrically or if it has fallen outside the charging frame.

Furthermore, as a general condition, lifting magnets and the like that approach the vicinity of the charging port are exposed to high temperatures around coke oven work, high-temperature flames from the charging port, and coal dust; therefore, under these harsh conditions, electronic components There is a problem in that it is difficult for detection means using a sensor to fully demonstrate its function.

[0006]

[Problems to be Solved by the Invention] The present invention has been made in view of the above-mentioned problems, and is capable of eliminating the above-mentioned instability or indeterminability even under the poor environment of a coke oven. , it is possible to reliably detect the attachment/detachment status of the charging lid using the lifting magnet of the coal charging vehicle, the storage status of the charging lid in the charging frame, and the leveling status after installation of the charging lid. It is an object of the present invention to provide a charging lid detection device for a coal charging vehicle, which enables accurate opening and closing of the charging lid based on detection results and can promote unmanned coal charging vehicles and automation.

[0007]

[Means for Solving the Problems] That is, the present invention employs an air sensor as a charging lid detection means, and includes a lid removing device that is movably attached to a coal charging vehicle in horizontal and vertical directions, and A charging lid detection device for a coal charging vehicle, which includes a lifting magnet that is attached to a lid removal device and that allows a charging lid of a coal charging port to be attached and detached,
A charging lid detection device for a coal charging vehicle is characterized in that an air sensor is attached to the lifting magnet, and the state of the charging lid is detected based on a detected value from the air sensor.

[0008] By forming an air relief groove on the air sensor mounting surface of the lifting magnet,
The detection function of the air sensor can be guaranteed.

Furthermore, by setting a tolerance value for the dimension between the lifting magnet and the charging lid, and comparing the set tolerance value with the detected value from the air sensor, the suction state of the charging lid can be determined. By providing a control means for checking this, the adsorption effect by the lifting magnet can be ensured.

[0010] Furthermore, the lifting magnet is provided with a plurality of the air sensors, and control means for checking the horizontal state of the charging lid and the relative deviation state with respect to the lifting magnet by comparing detection values from the respective air sensors. It is also possible to provide

Furthermore, the control means detects and compares the dimensions between the lifting magnet and the charging lid before and after demagnetizing the lifting magnet, thereby adjusting the horizontal alignment of the charging lid to the charging port. You can check the containment status.

Furthermore, the control means can output a drive signal for moving the lid removing device based on the comparison result.

Furthermore, the control means may memorize the movement stroke of the lifting magnet and reproduce it to align the charging lid with respect to the charging port.

[0014]

[Operation] In the charging lid detection device for a coal charging car according to the present invention, an air sensor is adopted as the detection means, and the state of the charging lid is detected based on the detected value from this air sensor. Reliable detection function can be guaranteed even under poor surrounding conditions.

[0015] Furthermore, a detection value from the air sensor,
A wider range of decisions can be made through control such as comparing with a set tolerance value, comparing detected values from multiple air sensors, or comparing detected values before and after demagnetizing a lifting magnet. It is possible to perform detailed detection and drive control.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, a charging lid detection device for a coal charging vehicle according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view of a coal charging truck 1, which moves along a coke oven 2 in the left and right horizontal directions in the figure, and loads coal from a charging port 4 by a coal charging mechanism 3. Enter. A charging lid 6 is removably attached to the charging frame 5 of the charging port 4.

The lid removal device 7 for attaching and detaching the charging lid 6 is as follows:
The trolley 8 is suspended and supported by wheels 9 so as to be movable in the left and right horizontal directions in the figure. The movement of the lid removing device 7 is performed by a hydraulic cylinder 10 for forward and backward movement equipped with a linear sensor. This hydraulic cylinder for forward and backward movement with a linear sensor 10
is one whose expansion and contraction strokes can be detected.

The lid removing frame 11 of the lid removing device 7 is vertically movable by four-side links 12, and is equipped with a lifting magnet vertical hydraulic cylinder 1 equipped with a linear sensor.
This is driven by 3. This lifting magnet up/down hydraulic cylinder 13 with a linear sensor is capable of detecting its expansion/contraction stroke.

Hydraulic cylinder 1 for forward and backward movement with linear sensor
0 and the hydraulic cylinder 13 for lifting magnet up and down with a linear sensor, the stroke detection of the cylinder was integrated with the hydraulic cylinder, but this stroke detection mechanism is arbitrary.

A retaining ring 14 is attached to the tip of the lid removal frame 11, and a lifting magnet 15 is supported by the retaining ring 14. The lifting magnet 15 is excited and demagnetized to attract and separate the charging lid 6, thereby attaching and detaching the charging cap 6.

Note that the lower part of the lid removal frame 11 is shown in FIG.
A lifting magnet rocking motor 1 with a cyclo reducer is provided with a cam link mechanism 16 as shown in plan.
7 enables the swing lever 18 to reciprocate.

The tip of the swinging lever 18 is attached to the lifting magnet 15, and the lifting magnet 15 is rotated by the reciprocating movement of the swinging lever 18.
A seal made of mortar or the like between the charging lid 6 and the charging frame 5 is cut to enable the charging lid 6 to be removed from the charging frame 5.

An air sensor 19 is attached to the lifting magnet 15 so as to face the charging lid 6, and an air injection line 20 and a detection air line 21 are connected to the air sensor 19.

FIG. 3 is a perspective view showing the entire system of the charging lid detection device 22, which includes an indicator unit (control means) 23 having an amplifier and an arithmetic circuit, and an air/electricity converter. A tuned circuit unit 24 having
It has an air sensor 19, an air purifying and stabilizing unit 25, and an air compressor 26.

The air cleaning and stabilizing unit 25 cleans the compressed air supplied by the air compressor 26,
The air is converted into dry clean air and supplied to the air sensor 19.

As shown in an enlarged view in FIG. 6, the air sensor 19 has a tip nozzle portion 27 and two air lines, namely an injection air line 20 and a detection air line 21.
and has.

In this air sensor 19, air is always injected at a predetermined pressure from the injection port 28 of the injection air line 20 of one system, and the charging lid 6 facing the injection port 28 is connected to the injection port 28 of the other system. This is taken as a change in the back pressure at the sensing port 29 of the detection air line 21. In this way, the distance between the charging lid 6 and the air sensor 19 can be detected and the presence or absence of the charging lid 6 can be confirmed at the same time.

The tuned circuit unit 24 converts this back pressure into an electrical signal and transmits it to the indicator unit 23.

The indicator unit 23 detects the charging lid 6 based on the received signal, determines the adsorption state of the charging lid 6 to the lifting magnet 15 and other states according to predetermined criteria, and determines the adsorption state of the charging lid 6 to the lifting magnet 15 and other conditions based on such determination. It is assumed that a drive control signal is output to the forward/reverse hydraulic cylinder 10 with a linear sensor, the lifting magnet up/down hydraulic cylinder 13 with a linear sensor, and the lifting magnet 15, respectively.

Next, the mounting state of the air sensor 19 will be explained based on FIGS. 4 to 7. FIG. 4 is a longitudinal sectional view of the lifting magnet 15, FIG. 5 is a bottom view thereof,
6 is an enlarged view of a portion of VI in FIG. 4, and FIG. 7 is an enlarged view of a portion of VII in FIG.
(Fig. 4) Attach the air sensor 19 inside.

As shown in FIG. 6, the air sensor housing hole 30 is communicated with the air outlet 31. As shown in FIGS. 6 and 7, an air outlet 31 and an air escape groove 32 communicating with the outside atmosphere are formed on the bottom surface of the lifting magnet 15. Let D be the depth of this air relief groove 32. Installation dimensions of air sensor 19, that is, air outlet 31
Let the length of be H.

This air escape groove 32 allows a gap of depth D to be provided between the bottom surface of the lifting magnet 15 and the top surface of the charging lid 6, so that the air sensor 19
Even if the charging lid 6 is closely adsorbed to the bottom surface of the lifting magnet 15 during measurement, the ejected air flow is released into the outside atmosphere and the ejected air is not clogged, thereby preventing detection failure.

As mentioned above, since the lifting magnet 15 is only equipped with air piping such as the injection air line 20 and the detection air line 21, the sensing port 29, and the air outlet 31, the air sensor 19 If the material is metal, even if it is exposed to the high temperature flame near the charging port 4, it will not be subject to temperature restrictions like conventional electrical parts.

Furthermore, by constantly blowing out air from the air outlet 31 of the air sensor 19, the air outlet 31 and the sensing port 29 can be protected from dust adhesion.

Furthermore, by installing the indicator unit 23, tuning circuit unit 24, air purifying and stabilizing unit 25, air compressor 26, etc. in the driver's cab or machine room (not shown) of the coal charging vehicle 1, these Even if electronic parts are used in the unit, etc., it can be operated without being affected by environmental conditions.

Next, FIG. 8 shows the air sensor 1 as described above.
9 is a cross-sectional view showing the relative positional relationship between the lifting magnet 15 equipped with the charging cap 6 and the charging lid 6. As an example, the center 6C of the charging lid 6 and the center 15C of the lifting magnet 15 are slightly shifted, and as a result, This shows a case in which one of the air sensors 19, 19D, has come off the charging lid 6 (for convenience, each air sensor is 19A, 19B, 19C).
, 19D). In the present invention, even when there is such a shift, it is possible to detect that the shift has occurred (described later).

Next, the detection signal from the air sensor 19 will be explained. First, the detection of suction confirmation of the charging lid 6 will be described. When there is no object to be detected such as the charging lid 6 facing the air sensor 19, the air sensor 19 detects the point at infinity (actually the detection limit value or the detection capability value F), and the detected value at this time, Adsorption of the charging lid 6 is determined by comparing the detected values when there is an object to be detected.

Specifically, the lifting magnet 15
Let L be the minimum approach distance at which the charging lid 6 can be adsorbed. This minimum approach distance L is the lifting magnet 1
It is a value that can be calculated based on the shape and capacity of 5, the shape and weight of charging lid 6, or it can also be determined by actual measurement. Further, as described above, the length of the air outlet 31 is assumed to be H. These dimensions H and L are registered in the indicator unit 23 to determine whether they are larger or smaller than the values detected during actual work.

That is, if the value detected by the air sensor 19 is set to Alternatively, it indicates a state in which adsorption is not possible. Also, H≦X<L...Formula (2
), the lifting magnet 15 is attached to the charging lid 6.
Indicates a state in which it is adsorbing or a state in which it can be adsorbed.

By making such a determination, even if there is foreign matter such as dust on the contact surface between the lifting magnet 15 and the charging lid 6, even if it is possible to attract it, lifting will not occur during the operation of the charging lid 6. It is possible to prevent the charging lid 6 from falling while the magnet 15 is being excited.

Furthermore, if the charging lid 6 is not installed horizontally with respect to the charging frame 5, even if the lifting magnet 15 attracts the charging lid 6, each air sensor 19A, 19B, 19C, The detected value Make a judgment.

That is, each air sensor 19A, 19B,
Relative difference of detected value X from 19C and 19D |Xi-Xj|
(However, regarding i, j = a, b, c, d),
|Xi−Xj|≦R1 ・
...If the formula (3) is used, it means that the charging lid 6 is mounted horizontally to the charging frame 5. The constant value R1 is a value that can be calculated based on the shape and capacity of the lifting magnet 15, the shape and weight of the charging lid 6, similar to the minimum approach distance L, or it can also be determined by actual measurement. The constant value R1 is also registered in the indicator unit 23.

When all the conditions of the above formulas (1), (2) and (3) are satisfied, the lifting magnet 1
5, it is determined that suction of the charging lid 6 has been completed.

Furthermore, it is necessary to detect the amount of deviation between the core 6C of the charging lid 6 and the core 15C of the lifting magnet 15. That is, four air sensors 19A, 19B, 19 arranged on the bottom surface of the lifting magnet 15
If the detected values from C and 19D are Xa, Xb, Xc, and Xd, then assuming that the lifting magnet 15 and the charging lid 6 have landed in the relative positional relationship as shown in FIG. 8, the air sensors 19A, 19B, 19C Xa, Xb
, Xc detect significant dimensions, but since there is generally a level difference between the surface of the charging lid 6 and the surface of the charging frame 5, only Xd of the air sensor 19D may show an extremely different detected value. Become.

By comparing and evaluating the differences between the detected values Xa, Xb, Xc, and Xd in the indicator unit 23, the center 15C of the lifting magnet 15 and the charging lid 6 are
It is possible to detect the misalignment with the center 6C.

Furthermore, air sensor 19B and air sensor 1
9D is the same as the operating direction of the forward/reverse hydraulic cylinder 10 equipped with a linear sensor, when such misalignment is detected, based on the calculation result of the indicator unit 23, for example, the cylinder equipped with a linear sensor By extending the forward/reverse hydraulic cylinder 10, the lifting magnet 15 can completely cover the charging lid 6.

[0047] By performing the detection operation again in this covered state and detecting significant dimensions for both the air sensor 19B and the air sensor 19D, it is determined that the lifting magnet 15 can reliably attract the charging lid 6 without misalignment. Can be done.

Note that it is also possible to evaluate and adjust the direction in which the air sensors 19A and 19C are connected using the same procedure as described above. Thus, the relative positional relationship between the lifting magnet 15 and the charging lid 6 can be determined based on the contents of the detected values Xa, Xb, Xc, and Xd at the four points.

Next, by demagnetizing the lifting magnet 15, it is also possible to detect whether or not the charging lid 6 has been horizontally dropped onto the charging frame 5. That is, before the lifting magnet 15 is demagnetized, the adsorption state of the charging lid 6 is measured using the air sensor 19. Each detection value X by measurement
out・a, Xout・b, Xout・c, Xout・
d is virtually the same as each detected value Xa, Xb, Xc, and Xd when the charging lid 6 is adsorbed when it is opened. These detected values before falling Xout・a, Xout・b, Xout・
c and Xout·d are recorded in the indicator unit 23.

Next, after the cart 8 of the lid removing device 7 is lowered by a predetermined distance, the lifting magnet 15 is demagnetized, and the charging lid 6 falls into the charging frame 5. Detection values (fall amount) Xin・a, Xin・b after dropping this charging lid 6 from each air sensor 19A, 19B, 19C, 19D
, Xin・c, Xin・d relative difference | Xin・i−Xi
Regarding n・j|, similarly to the above equation (3),
|Xin・i−Xin・j|≦R1
...Determine equation (4).

[0051] Also, each air sensor 19A, 19B, 19C
, 19D, the detection value Xou before the charging lid 6 falls (adsorbed to the lifting magnet 15)
t, and after the charging lid 6 falls (lifting magnet 15
Relative difference from the detected value Xin (in the disconnected state) |
Regarding i−Xout・i|, respectively |Xin・i−
Xout・i｜≧R2・
...Determine equation (5). Note that the constant value R2 is the charging lid 6.
This constant value R2 corresponds to the size of the drop into the charging frame 5.
This is also registered in the indicator unit 23.

If both the conditions of equations (4) and (5) are satisfied, it can be determined that the charging lid 6 has been horizontally installed in the charging frame 5.

The operation will be explained based on the flowcharts shown in FIGS. 9 and 10. In Figure 9, the charging lid 6 is opened.
The work procedure is shown, and the parts related to the detection of the charging lid 6 are shown surrounded by blocks with two-dot chain lines. In step S1, the cart 8 of the lid removing device 7 is moved forward, and in step S2, air is blown out from the tip nozzle portion 27 of the air sensor 19, and the air sensor 19 detects infinity. Specifically, X=F(∞) is detected in equation (1). This point at infinity is used as the air detection reference value.

In step S3, the cart 8 of the lid removing device 7 is lowered, and the lifting magnet 15 is placed on the loading lid 6.
to implant. Next, in step S4, the lifting magnet 15 is excited to attract the charging lid 6. In this state, in step S5, the lifting magnet swing motor 17 is driven, and the cam link mechanism 1
6 and the swinging lever 18, the seal on the charging lid 6 is broken by swinging the lifting magnet 15.

At step S6, the distance to the charging lid 6 is measured using the air blown out from the air sensor 19. In the next step S7, equation (2) H≦
It is determined that X<L, and if "NO", it is determined in step S8 that there is an abnormality in suction of the charging lid 6. If “YES”, in step S9, formula (3) |Xi−Xj|≦R1
If the determination is "NO", it is determined that there is an abnormality in suction of the charging lid 6 in step S8. If "YES", the charging lid 6 is lifted together with the lifting magnet 15 by raising the cart 8 of the lid removing device 7 in step S10.

At this time, in step S11, the cylinder contraction margin is detected by the lifting magnet up/down hydraulic cylinder 13 with a linear sensor, and the upward stroke detection value M is sent to the indicator unit 23 and stored.

In step S12, the truck 8 of the lid removal device 7 is moved backward by driving the hydraulic cylinder 10 for forward and backward movement equipped with a linear sensor, and the cylinder contraction allowance is also detected (step S13), and the backward stroke is detected. The value N is stored in the indicator unit 23. Thus, in step S14, the operation of opening the charging lid 6 is completed.

Next, FIG. 10 shows the procedure for closing the charging lid 6. In step S20, a forward command signal is sent to the forward/reverse hydraulic cylinder 10 with a linear sensor based on the backward stroke detection value N. Indicator unit 23
is output, and in step S21, the cart 8 of the lid removing device 7 is advanced. When the forward/reverse hydraulic cylinder 10 with a linear sensor is extended, its actual forward stroke is measured, and when this matches the backward stroke detection value N, the forward movement of the truck 8 of the lid removing device 7 is stopped.

In step S22, the distance to the charging lid 6 is measured using the air blown out from the air sensor 19. These detected values before falling Xout・a, Xout・b,
Store Xout・c and Xout・d.

Next, in step S23, the indicator unit 23 outputs a descending command signal to the lifting magnet vertical hydraulic cylinder 13 with a linear sensor based on the detected upward stroke value M, and in step S24, the indicator unit 23 outputs a descending command signal to the lifting magnet vertical hydraulic cylinder 13, and in step S24, the carriage 8 of the lid removing device 7 is moved. lower it.

By the position control in steps S21 and S24, the charging lid 6 that is attracted to the lifting magnet 15 returns to the center of the charging port 4 or the charging frame 5 as before.

When the lifting magnet 15 is demagnetized in step S25, the charging lid 6 falls toward the charging frame 5 and is housed within the charging frame 5.

In step S26, the air sensor 19 measures the distance to the charging lid 6. This detected value Xi
n・a, Xin・b, Xin・c, Xin・d, and the detected value Xou before falling measured in step S22
Based on t・a, Xout・b, Xout・c, and Xout・d, in the next step S27, equation (5)
It is determined that |Xin·i−Xout·i|≧R2. If “NO”, it is determined in step S28 that the charging lid 6 is attached abnormally. If “YES”,
In the next step S29, equation (4) |Xin
・i−Xin・j|≦R1 is determined, and if “NO”, it is determined that the charging lid 6 is attached abnormally in step S28. If “YES”,
It is determined that the horizontal landing of the charging lid 6 is complete.

In the next step S30, the cart 8 of the lid removing device 7 is raised, in step S31 the cart 8 of the lid removing device 7 is moved backward, and in step S32, the loading lid 6 closing operation is completed.

[0065]

Effects of the Invention As described above, according to the present invention, since the charging lid is detected using an air sensor, detection is possible without being affected by poor environmental conditions such as high temperature and dust around the coke oven. It is possible to perform the operation and improve the reliability of detection.

Furthermore, by installing air sensors at multiple locations on the bottom of the lifting magnet and comparing the detected values, it is possible to determine not only the above-mentioned adsorption state but also the relative relationship between the lifting magnet and the charging lid, and the mounting of the charging lid. It becomes possible to accurately and reliably judge the state of installation or accommodation in the inlet frame and its leveling state, which is effective for unmanned and automated work machines around coke ovens.

[0067]

[Brief explanation of the drawing]

FIG. 1 is a side view of a coal charging vehicle 1 equipped with a charging lid detection device 22 according to an embodiment of the present invention.

[Fig. 2] Cam link mechanism 16 and swing lever 18
FIG.

FIG. 3 is a perspective view showing the entire system of the charging lid detection device 22 in the same embodiment.

FIG. 4 is a vertical cross-sectional view of the lifting magnet 15 in the same embodiment.

5 is a bottom view of the same lifting magnet 15. FIG.

FIG. 6 is a partially enlarged view of VI in FIG. 4;

FIG. 7 is a partially enlarged view of VII in FIG. 5;

FIG. 8 is a cross-sectional view showing the relative positional relationship between the lifting magnet 15 equipped with the air sensor 19 and the charging lid 6.

FIG. 9 is a flowchart showing the procedure for opening the charging lid 6 in the same example.

FIG. 10 is a flowchart showing the procedure for closing the charging lid 6 in the same example.

[Explanation of symbols]

1 Coal charging car 2 Coke oven 3 Coal charging mechanism 4 Charging port 5 Charging frame 6 Charging lid 6C Center of charging lid 6 7 Lid removal device 8 Lid removal device 7 cart 9 Wheels 10 Forward and backward movement with linear sensor hydraulic cylinder 11
Lid removal frame 12 Four-side links 13 Hydraulic cylinder for lifting magnet up and down with linear sensor 14 Retaining ring 15 Lifting magnet 15C Center 16 of lifting magnet 15
Cam link mechanism 17 Lifting magnet swing motor with cyclo reducer 18 Swing lever 19 (19A, 19B, 19C, 19D) Air sensor 20 Injection air line 21 Detection air line 22 Charging lid detection device 23 Amplifier and arithmetic circuit Indicator unit (control means) having 24 Tuned circuit unit 2 having an air-to-electricity conversion section
5 Air purifying and stabilizing unit 26 Air compressor 27 Tip nozzle part 28 of air sensor 19 Injection port 29 of injection air line 20 Detection air line 21
Sensing port 30 Air sensor housing hole 31 Air outlet 32 Air relief groove D Depth H of air relief groove 32 Installation dimensions of air sensor 19 (air outlet 31
Length) F Detection amount at infinite point by air sensor 19 (detection limit value or detection ability value) L Minimum approach distance R1, R2 at which lifting magnet 15 can adsorb charging lid 6 Constant value X (Xa, Xb, Xc , Xd, Xin, Xout)
Detection value by air sensor 19

Claims (7)

[Claims] [Claim 1] A coal charging vehicle has a lid removal device that is movably attached to the coal charging vehicle in the horizontal and vertical directions, and a lifting magnet that is attached to the lid removal device and that is capable of attaching and detaching the charging lid of the coal charging port. A charging lid detection device for a coal charging vehicle, characterized in that an air sensor is attached to the lifting magnet, and the state of the charging lid is detected based on a detected value from the air sensor. charging lid detection device. 2. The charging lid detection device for a coal charging vehicle according to claim 1, wherein an air escape groove is formed on the air sensor mounting surface of the lifting magnet. 3. A tolerance value is set for the dimension between the lifting magnet and the charging lid, and the suction state of the charging lid is determined by comparing the set tolerance value with a detected value from the air sensor. 2. The charging lid detection device for a coal charging vehicle according to claim 1, further comprising a control means for checking. 4. Control means for providing a plurality of air sensors on the lifting magnet, and for checking the horizontal state of the charging lid and the relative deviation state with respect to the lifting magnet by comparing detection values from the respective air sensors. A charging lid detection device for a coal charging vehicle according to claim 1, further comprising: 5. The control means detects and compares dimensions between the lifting magnet and the charging lid before and after demagnetizing the lifting magnet, thereby horizontally storing the charging lid in the charging port. The charging lid detection device for a coal charging vehicle according to any one of claims (3) and (4), characterized in that the state is checked. 6. The coal equipment according to claim 3, wherein the control means outputs a drive signal for moving the lid removal device based on the comparison result. Loading lid detection device. 7. The control means stores the movement stroke of the lifting magnet and reproduces the movement stroke to align the charging lid with respect to the charging port. 3) or the charging lid detection device for a coal charging vehicle according to any one of (4).