JPH061448A - Automatic operation method for reclaimer - Google Patents
Automatic operation method for reclaimerInfo
- Publication number
- JPH061448A JPH061448A JP5113191A JP5113191A JPH061448A JP H061448 A JPH061448 A JP H061448A JP 5113191 A JP5113191 A JP 5113191A JP 5113191 A JP5113191 A JP 5113191A JP H061448 A JPH061448 A JP H061448A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- boom
- turning
- limit value
- turning speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Control Of Conveyors (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明はリクレーマの自動運転方
法に関するものであり、詳しくはリクレーマの自動運転
による定量払出制御を可能にしたリクレーマの運転方法
に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for automatically operating a reclaimer, and more particularly to a method for operating a reclaimer capable of performing a fixed amount dispensing control by the automatic operation of the reclaimer.
【０００２】[0002]
【従来技術】石炭や鉱石などの原料が積付けられた積付
山から必要量の原流を払い出すためにリクレーマが用い
られるが、このリクレーマは図３に示すように、原料が
積付けられた積付山に沿ってその側部に敷設したレール
１５上を移動するように設けられ、リクレーマ本体１６
には旋回可能にブーム１１が設けられ、このブーム１１
の先端部にホイールローダ１０が設けられている。ホイ
ールローダ１０の中央部には油圧モータ１が設けられ、
ブーム１１の後部には該油圧モータ１の駆動用油圧を発
生させる油圧ポンプ２が設けられ、この油圧ポンプ２は
油圧ポンプ駆動用電動機３により駆動される。2. Description of the Related Art A reclaimer is used to discharge a required amount of raw stream from a stacking pile in which raw materials such as coal and ore are loaded. As shown in FIG. The reclaimer main body 16 is provided so as to move on the rail 15 laid on the side of the stacking pile.
A boom 11 is rotatably provided on the boom 11.
A wheel loader 10 is provided at the tip of the. The hydraulic motor 1 is provided at the center of the wheel loader 10.
A hydraulic pump 2 for generating a hydraulic pressure for driving the hydraulic motor 1 is provided at a rear portion of the boom 11, and the hydraulic pump 2 is driven by a hydraulic pump driving electric motor 3.
【０００３】近時、省力化の観点からリクレーマの自動
運転が指向されているが、その運転方法として次の方法
が知られている。Recently, an automatic operation of a reclaimer has been aimed at from the viewpoint of labor saving, and the following method is known as the operation method.
【０００４】（１）ブーム旋回角度ごとに固定旋回速度
を設定してブームを旋回させる方法。 （２）下流側ベルトコンベア上の秤量値をある一定範囲
に制御する定量払出制御方法。(1) A method of turning a boom by setting a fixed turning speed for each boom turning angle. (2) A fixed amount payout control method for controlling the weighing value on the downstream belt conveyor within a certain fixed range.
【０００５】（３）油圧モータ１の油圧ポンプ駆動用電
動機３の電流値でブームの旋回速度を制御する方法（特
開昭４８−３５５５７号）。(3) A method of controlling the swing speed of the boom by the current value of the electric motor 3 for driving the hydraulic pump of the hydraulic motor 1 (JP-A-48-35557).
【０００６】[0006]
【発明が解決しようとする課題】前記（１）の方法で
は、鉱石等原料の比重，走行寸動（原料積付け山への噛
込深さ），山状況（山崩れやブル押し山等）が変化して
も旋回速度の変化が一定であるため、払出負荷（払出
量）がある量に制御しきれなくなることがある。例えば
前記走行寸動が小さいときは払出効率（平均払出Ｔ／
Ｈ）が小さく、逆に走行寸動が大きいときは払出効率が
高くなる。また、走行寸動が非常に大きいときはホイー
ルの払出能力を超え機体が停止し油圧ポンプ駆動用電動
機３の電流値が過大となることがある。In the method (1) described above, the specific gravity of the raw material such as ore, the running movement (the depth of biting into the raw material pile), and the mountain condition (landslide, bull push mountain, etc.) Since the change of the turning speed is constant even if it changes, the payout load (payout amount) may not be controlled to a certain amount. For example, when the running instability is small, the payout efficiency (average payout T /
When H) is small and, conversely, the travel movement is large, the payout efficiency is high. Further, when the travel inching is extremely large, the wheel may exceed the payout capacity, the machine body may stop, and the current value of the hydraulic pump driving electric motor 3 may become excessive.
【０００７】前記（２）の方法では、払出部（ホイル
部）から秤量部（下流ベルト上またはブームコンベア
上）に原料が移動する時間遅れがあるため制御の整合性
がとれない状態が発生する。例えば秤量値が上限を超え
ていてホイル部は山崩れ等により無負荷に近い状態の場
合には、本来はブーム旋回速度を増速する必要があるの
に減速させてしまう。In the above method (2), there is a time delay in moving the raw material from the payout section (foil section) to the weighing section (on the downstream belt or on the boom conveyor), which causes a situation in which control consistency cannot be achieved. . For example, when the weighed value exceeds the upper limit and the wheel portion is in a state of almost no load due to landslides or the like, it is necessary to increase the boom turning speed, but the boom turning speed is decelerated.
【０００８】前記（３）の方法では、山崩れ等により無
負荷状態（油圧ポンプ駆動用電動機３の電流値が無負荷
電流値に近い状態）となった場合、ブーム旋回速度が最
大限まで上昇し、ホイールが原料積付山に再度噛み込む
ときに衝激的な噛み込みとなってリクレーマ設備の故障
につながるとともに衝撃的に負荷が増大し、電動機３の
電流値が上限を超えることになってブーム旋回速度を急
減速させてしまい、原料払出量の大幅な変動や動揺をも
たらし払出効率が低下する。In the above method (3), when the vehicle is in an unloaded state (state in which the current value of the hydraulic pump drive motor 3 is close to the unloaded current value) due to landslides, the boom turning speed increases to the maximum. When the wheel bites into the raw material pile again, it becomes an aggressive bite, which leads to the failure of the reclaimer equipment and the load is shocked, and the current value of the electric motor 3 exceeds the upper limit. The boom turning speed is suddenly decelerated, which causes large fluctuations and fluctuations in the amount of raw material dispensed, which reduces the dispense efficiency.
【０００９】本発明は上述したような従来技術がかかえ
る問題を有利に解決することを目的とするものである。An object of the present invention is to advantageously solve the above-mentioned problems associated with the prior art.
【００１０】[0010]
【課題を解決するための手段】本発明では、ブーム旋回
可能範囲を複数の変速域（Ｎｉ，ｉ＝１〜５）に区分し
てそれぞれの変速域にブームの最大旋回速度（Ｖｉ，ｉ
＝１〜５）を設定しておくと共に油圧ポンプ駆動用電動
機（３）の電流値に上限値（ＩH）及び下限値（ＩL）を
設定しておき、ブーム旋回時にはブーム旋回速度（Ｖ）
を当該変速域（Ｎｉ）における最大旋回速度（Ｖｉ）と
比較してブーム旋回速度（Ｖ）が該最大旋回速度（Ｖ
ｉ）を超えたとき減速を行い、ブーム旋回速度（Ｖ）が
該最大速度（Ｖｉ）以下のときは油圧ポンプ駆動用電動
機（３）の電流値（Ｉ）が該上限値（ＩH）と下限値
（ＩL）の範囲内にあるか否かの判定を行って電流値が
その上限値（ＩH）を超えたとき減速を行い、逆に下限
値（ＩL）に満たないときは増速を行う。According to the present invention, the boom swingable range is divided into a plurality of shift ranges (Ni, i = 1 to 5), and the maximum swing speed (Vi, i) of the boom is set in each shift range.
= 1 to 5) and the upper limit value (I H ) and the lower limit value (I L ) of the electric current value of the hydraulic pump driving electric motor (3) are set, and the boom turning speed (V) is set when the boom turns. )
Is compared with the maximum swing speed (Vi) in the speed change range (Ni), and the boom swing speed (V) is compared with the maximum swing speed (V).
When the boom swing speed (V) is equal to or lower than the maximum speed (Vi), the current value (I) of the hydraulic pump drive electric motor (3) becomes equal to the upper limit value (I H ) It is judged whether or not it is within the range of the lower limit (I L ), and when the current value exceeds its upper limit (I H ), deceleration is performed, and conversely, when it is below the lower limit (I L ), Accelerate.
【００１１】[0011]
【作用】 図１に本発明の自動運転制御の内容を示し、
図２に変速域区分を示し、図３に自動運転を行なうリク
レーマを示す。図１〜図３に示すように、本発明はリク
レーマのブーム１１が旋回できる旋回可能範囲１７（θ
1〜θ6）を複数の変速域Ｎ１（θ1〜θ2）〜Ｎ５（θ5
〜θ6）に区分して、区分されたそれぞれの変速域Ｎ
ｉ，ｉ＝１〜５にブーム１１の最大旋回速度Ｖｉ，ｉ＝
１〜５を設定しておくと共に、ホイールローダ１０を回
転させる油圧を得るために駆動する油圧ポンプ２の駆動
用電動機３の電流値Ｉに上限値ＩHと下限値ＩLを設定し
ておき、ブーム１１を旋回させたときはブーム１１の旋
回角度θを旋回角度検出器５により検出すると共に旋回
速度Ｖを旋回速度検出器１３により検出する。また油圧
ポンプ２を駆動する電動機３の電流値Ｉを電流検出器９
により検出する。旋回角度検出器５により検出した旋回
角度θがどの変速域Ｎｉにあるかを判定し、判定した変
速域Ｎｉにおけるブームの最大旋回速度Ｖｉと現在の旋
回速度Ｖを比較して、Ｖ＞Ｖｉのとき旋回速度Ｖを減速
し、Ｖ≦Ｖｉのときは該電流値Ｉが上限値ＩHと下限値
ＩLの範囲内にあるかどうかを判断し、範囲内にあれば
何のアクションもとらずに元に戻るが、電流値Ｉが上限
値ＩH又は下限値ＩLを外れたときは、Ｉ＞ＩHの場合旋
回速度の減速を行い、Ｉ＜ＩLの場合は増速を行った後
元に戻り、前記検出した旋回角度θに基づいた、現在の
ブ−ム位置（θ）が属する変速域Ｎｉの判定および判定
した変速域Ｎｉに割り当てられているＶｉの特定（図１
の「旋回角度θでのＶｉの決定」）以下の一連の判断及
び処置を繰返す。FIG. 1 shows the contents of the automatic driving control of the present invention,
FIG. 2 shows shift range divisions, and FIG. 3 shows a reclaimer for automatic operation. As shown in FIGS. 1 to 3, according to the present invention, a revolvable range 17 (θ
1 to θ 6 ) to a plurality of shift ranges N1 (θ 1 to θ 2 ) to N5 (θ 5
~ Θ 6 ) and each of the divided speed ranges N
i, i = 1-5, the maximum turning speed Vi, i = of the boom 11
1 to 5 are set, and an upper limit value I H and a lower limit value I L are set to the current value I of the driving electric motor 3 of the hydraulic pump 2 that is driven to obtain the hydraulic pressure for rotating the wheel loader 10. When the boom 11 is turned, the turning angle θ of the boom 11 is detected by the turning angle detector 5 and the turning speed V is detected by the turning speed detector 13. In addition, the current value I of the electric motor 3 that drives the hydraulic pump 2 is measured by the current detector 9
To detect. It is determined in which speed change range Ni the turning angle θ detected by the turning angle detector 5 is present, the maximum turning speed Vi of the boom in the determined speed change range Ni and the current turning speed V are compared, and V> Vi At this time, the turning speed V is decelerated, and when V ≦ Vi, it is determined whether the current value I is within the range between the upper limit value I H and the lower limit value I L , and if it is within the range, no action is taken. When the current value I deviates from the upper limit value I H or the lower limit value I L , the turning speed is decelerated if I> I H , and the speed is increased if I <I L. Returning to the original, determination of the shift range Ni to which the current boom position (θ) belongs based on the detected turning angle θ and identification of Vi assigned to the determined shift range Ni (see FIG. 1).
“Determination of Vi at turning angle θ”) The following series of determinations and actions are repeated.
【００１２】図３に示す４は自動運転制御装置であり、
６は旋回制御装置，７はホイール回転制御装置，８は旋
回駆動装置である。Reference numeral 4 shown in FIG. 3 denotes an automatic operation control device,
Reference numeral 6 is a turning control device, 7 is a wheel rotation control device, and 8 is a turning drive device.
【００１３】[0013]
【実施例】 図２において、リクレーマ走行用レール１
５側から原料積付山１８の原料を払い出す場合、変速域
Ｎ１〜Ｎ５を表１に示す角度範囲に設定し、それぞれの
変速域におけるブームの最大旋回速度Ｖｉについても同
表に示すように設定してリクレーマの自動運転を行っ
た。ここで図２と表１との対応を示すと、θ1＝７°，
θ2＝２０°，θ3＝３５°，θ4＝５２°，θ5＝７０
°，θ6＝８６°である。[Example] In FIG. 2, a reclaimer traveling rail 1
When the raw material of the raw material pile 18 is discharged from the 5 side, the shift ranges N1 to N5 are set to the angular ranges shown in Table 1, and the maximum swing speed Vi of the boom in each shift range is also set as shown in the same table. After setting, the reclaimer was operated automatically. Here, when the correspondence between FIG. 2 and Table 1 is shown, θ 1 = 7 °,
θ 2 = 20 °, θ 3 = 35 °, θ 4 = 52 °, θ 5 = 70
And θ 6 = 86 °.
【００１４】[0014]
【表１】 [Table 1]
【００１５】そのときのブーム旋回位置θと旋回速度Ｖ
及びモ−タ電流値Ｉとの関係を図４に示す。図４に示す
ように、変速域Ｎ２において電動機３の負荷電流値Ｉが
下限値ＩL未満となったのでブーム旋回速度Ｖを増速し
た（図４のＡ点）。ブーム旋回速度Ｖが変速域Ｎ２の最
大旋回速度Ｖ2を超えたので減速を行い（Ｂ点）、Ｔ時
間経過後に旋回速度Ｖが最大旋回速度Ｖ2以下となった
（Ｃ点）が、この時点で負荷電流値Ｉが下限値ＩL未満
となっていたので旋回速度Ｖを微増させた。以後Ｄ点及
びＥ点で負荷電流値Ｉが上限値ＩHを超えたのでいずれ
も旋回速度Ｖを減速する処置をとり自動運転を継続し
た。Boom turning position θ and turning speed V at that time
And the relationship with the motor current value I are shown in FIG. As shown in FIG. 4, the load current value I of the motor 3 in the shift region N2 has accelerated the so boom turning speed V becomes less than the lower limit value I L (A point in FIG. 4). Since the boom turning speed V exceeds the maximum turning speed V 2 in the speed change range N2, deceleration is performed (point B), and the turning speed V becomes equal to or less than the maximum turning speed V 2 after the lapse of time T (point C). load current value I was slightly increased the turning speed V so had become less than the lower limit value I L at this point. After that, the load current value I exceeded the upper limit value I H at the points D and E, so that the turning speed V was decelerated and the automatic operation was continued.
【００１６】[0016]
【効果】 以上述べたように本発明によれば、原料積付
け山の比重，走行寸動，山崩れやブル押し山等で積付け
山の状況が変化してもリクレーマの自動運転が可能であ
り、原料の払出効率の低下も回避することが可能である
等の効果が期待できる。[Effect] As described above, according to the present invention, it is possible to automatically operate the reclaimer even if the condition of the stacking pile changes due to the specific gravity of the stacking pile of the raw material, the travel inching, the landslide, the bull pushing pile, etc. In addition, it is possible to expect an effect that it is possible to avoid a decrease in raw material delivery efficiency.
【図１】 本発明の自動運転制御の内容を示すフロ−チ
ャ−トである。FIG. 1 is a flowchart showing the contents of automatic driving control according to the present invention.
【図２】 図１に示す制御における、ブ−ム旋回角度の
領域区分を示す平面図である。FIG. 2 is a plan view showing a region division of a boom turning angle in the control shown in FIG.
【図３】 図１の制御を行なうリクレーマの側面図であ
る。FIG. 3 is a side view of a reclaimer that performs the control of FIG.
１：油圧モータ ２：油圧ポンプ ３：電動機 ５：旋回角度検出器 ８：旋回駆動装置 ９：電流検出器 １０：ホイールローダ １１：ブーム １７：旋回可能範囲 1: Hydraulic motor 2: Hydraulic pump 3: Electric motor 5: Swing angle detector 8: Swing drive device 9: Current detector 10: Wheel loader 11: Boom 17: Swingable range
─────────────────────────────────────────────────────
─────────────────────────────────────────────────── ───
【手続補正書】[Procedure amendment]
【提出日】平成５年２月１７日[Submission date] February 17, 1993
【手続補正１】[Procedure Amendment 1]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】図面の簡単な説明[Name of item to be corrected] Brief description of the drawing
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【図面の簡単な説明】[Brief description of drawings]
【図１】 本発明の自動運転制御の内容を示すフロ−チ
ャ−トである。FIG. 1 is a flowchart showing the contents of automatic driving control according to the present invention.
【図２】 図１に示す制御における、ブ−ム旋回角度の
領域区分を示す平面図である。FIG. 2 is a plan view showing a region division of a boom turning angle in the control shown in FIG.
【図３】 図１の制御を行なうリクレーマの側面図であ
る。 FIG. 3 is a side view of a reclaimer that performs the control of FIG.
【図４】 本発明の一実施例におけるブ−ム旋回位置θFIG. 4 is a boom turning position θ according to an embodiment of the present invention.
と旋回速度Ｖおよびモ−タ電流値Ｉの関係を示すグラフAnd graph showing the relationship between the turning speed V and the motor current value I
である。Is.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 尾 島 公 紀 東京都千代田区大手町２−６−３ 新日本 製鐵株式会社内 (72)発明者 吉 永 志 郎 大分市大字西ノ洲１番地 新日本製鐵株式 会社大分製鐵所内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Koki Ojima 2-6-3 Otemachi, Chiyoda-ku, Tokyo Within Nippon Steel Corporation (72) Inventor Shiro Yoshinaga 1st Nishinozu, Oita-shi Nippon Steel Co., Ltd. Oita Works
Claims (1)
ぞれの変速域にブームの最大旋回速度を設定しておくと
共に油圧ポンプ駆動用電動機の電流値に上限値及び下限
値を設定しておき、ブーム旋回時にはブーム旋回速度を
当該変速域における最大旋回速度と比較してブーム旋回
速度が該最大旋回速度を超えたとき減速を行い、ブーム
旋回速度が該最大速度以下のときは油圧ポンプ駆動用電
動機の電流値が該上限値と下限値の範囲内にあるか否か
の判定を行って電流値がその上限値を超えたとき減速を
行い、逆に下限値に満たないときは増速を行うことを特
徴とするリクレーマの自動運転方法。The swingable range of the boom is divided into a plurality of shift ranges, the maximum swing speed of the boom is set in each shift range, and the upper limit value and the lower limit value are set for the current value of the hydraulic pump drive electric motor. At the time of boom turning, the boom turning speed is compared with the maximum turning speed in the speed change range, deceleration is performed when the boom turning speed exceeds the maximum turning speed, and when the boom turning speed is less than or equal to the maximum speed, the hydraulic pump drive electric motor. The current value is within the range between the upper limit value and the lower limit value, deceleration is performed when the current value exceeds the upper limit value, and conversely, acceleration is performed when the current value is less than the lower limit value. A method for automatically operating a reclaimer, which is characterized in that
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5113191A JPH0796410B2 (en) | 1991-03-15 | 1991-03-15 | Automatic operation method of reclaimer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5113191A JPH0796410B2 (en) | 1991-03-15 | 1991-03-15 | Automatic operation method of reclaimer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH061448A true JPH061448A (en) | 1994-01-11 |
| JPH0796410B2 JPH0796410B2 (en) | 1995-10-18 |
Family
ID=12878262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5113191A Expired - Lifetime JPH0796410B2 (en) | 1991-03-15 | 1991-03-15 | Automatic operation method of reclaimer |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0796410B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL2020366A (en) * | 2017-02-03 | 2018-08-14 | Vale Sa | "reclaimer control system and method" |
-
1991
- 1991-03-15 JP JP5113191A patent/JPH0796410B2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL2020366A (en) * | 2017-02-03 | 2018-08-14 | Vale Sa | "reclaimer control system and method" |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0796410B2 (en) | 1995-10-18 |
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