JPH06298370A - Control for delivery amount of reclaimer - Google Patents

Abstract

PURPOSE:To always keep delivery amount constant by using both of travel inching action and elevating action of a reclaimer, correcting a travel inching reference value based on the initial actual travel inching value, and determining elevating height based on a total travel inching value for controlling subsequently cutting-out. CONSTITUTION:By adjusting the traveling action and elevating action of a reclaimer, two benches lot consisting of the fourth bench B4 and the third bench B3 of a raw material pile 6 are cut out at the same time. At this time, the boom 3 of the reclaimer is adjusted so that it may not be brought into contact with the angle X of a stack of the second bench B2. Cutting-out is controlled so that a bucket wheel 4 at the top end of the boom 3 in the final specified cutting-in position L may draw a locus of X-Y curve. To always cutting out the largest amount quantitatively, a travel inching distance (d) is made variable. In order to prevent the boom 3 from coming into contact with the angle X of the second bench B2, elevating control is carried out so as to increase elevating angle by interlocking it to respective travel inching controls.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a payout amount of a reclaimer, which is a model of a railroad machine having a role of cutting out ore, miscellaneous raw materials, coking coal, etc. accumulated in a vast yard.

[0002]

2. Description of the Related Art Conventionally, rail machines such as stackers and reclaimers have been used to handle raw materials such as ores, miscellaneous raw materials and coking coal in the steel industry, thermal power plants, mines and the like. The stacker is used to deposit raw materials in the raw material yard in the space state, and since it is relatively easy in terms of its role and function, remote automation has been attempted from an early stage, but the raw material deposited from the raw material yard is cut out. In the case of a reclaimer that is paid out by using the reclaimer, it is one of the difficult machines to perform remote automation because it targets the object called the pile of raw materials.

The remote automatic operation method of this reclaimer is described, for example, in Japanese Examined Patent Publication Nos. 61-16695 and 61-39255.
No. 60-137727, No. 1-2242322, No. 4-148731, and the like, various proposals have been made. Position information of the machine and sensors are installed to grasp the shape of the raw material pile. The technique of controlling by means is known. Briefly explaining the reclaiming work of the reclaimer, as shown in FIG. 2, a boom 3 whose angle is adjusted by a crane mechanism is swingably attached to a machine body 2 traveling on a rail 1, and a tip of the boom 3 is attached. Is provided with a bucket wheel 4 that rotates with a plurality of buckets, and a belt conveyor 5 is rotatably attached. The stored raw material pile 6 is normally formed into four benches (layers) as shown in the figure. By rotating the bucket wheel 4 and swinging the boom 3, the swing operation is performed, and the body 2 is moved in a slightly moving manner. The raw material pile 6 is cut out, and the belt conveyor 5
Payment is made via.

FIG. 3 is a diagram for explaining a method of paying out the raw material pile 6 by the reclaimer. In Fig. 3 (a), the straight line B between the semicircular arcs A and C shows the running locus of the machine body 2. The material pile 6 is cut out and swept while turning the angle θ, and the angle β is set. After turning and moving the boom 3 upside down, the machine body 2 is moved by a distance d and further cut out to pay out. This cutting operation is repeated until the specified cutting amount L is reached as shown in FIG. 3 (b).

The height of the boom 3 (depression angle) is kept constant until the cutting of the same bench is completed, and once the cutting of the bench is completed, the body 2 is once retracted in the direction of arrow G. After that, the boom 3 is descended and landed on the bench one step lower, and then the cutting is performed while repeating the turning and the traveling inching in the same manner as described above.

[0006]

However, the above-mentioned conventional reclaiming work has the following problems. As shown by the S mark in Fig. 4 (a), the depth of cut L cannot be large because it contacts the corner of the mountain of the lower bench. The cross-sectional shape of the raw material pile 6 as viewed from the reclaimer side has a narrow turning reversal range θ in the boom 3, and therefore the width W of the raw material pile 6 is restricted as shown in FIG. / H) is small. As a result, the equipment behind the reclaimer, such as the crushing equipment and compounding equipment, causes a temporary but significant reduction in capacity and efficiency. Especially when operating in the remote automatic mode, only the automatic sequence operation as usual for the operator's flexible technique in the on-board manual mode is performed, resulting in a significant decrease in capacity and efficiency. You are in a situation where you cannot use the remote automatic mode.

As a countermeasure for the above problem, it is conceivable to install a surge bin or the like having a capacity for compensating for a temporary deterioration of the payout capacity as a relay of the rear equipment on the downstream side of the reclaimer, but enormous investment is required. Therefore, it is difficult to realize. The present invention has been made in order to solve the problems of the above-described conventional techniques, and an object of the present invention is to provide a highly efficient reclaimer payout amount control method that does not reduce the payout capacity.

[0008]

SUMMARY OF THE INVENTION The present invention is a method for cutting out and discharging a raw material pile using a reclaimer, which comprises a first step of presetting a running inching amount reference value and a cutting amount set value, and running of the reclaimer. The second step of cutting out two benches at the top and the next step of the raw material pile at the same time by manually adjusting the inching and the elevation and the traveling based on the actual traveling inching value in the second step. The third step of correcting the reference value of the amount of movement and the amount of movement of the reclaimer from the next time onward were adjusted based on the corrected value of the amount of movement, and the elevation was adjusted based on the accumulated value of the amount of movement. It is characterized by comprising a fourth step of performing cutting control from the next time onward and subsequent steps, and a fifth step of performing step change control when the running inching amount cumulative value and the cutting amount set value match. .

[0009]

[Operation] According to the present invention, the traveling inching motion and the elevation motion of the reclaimer are used together, the traveling inching amount reference value is corrected based on the first traveling inching value, and the traveling inching amount accumulated value is used. Since the height of depression and elevation is determined and cutting out from the next time is controlled to cut out two benches of four benches and three benches at the same time, the payout amount can be constantly maintained. The concept of the present invention will be specifically described below with reference to the drawings.

As shown in FIG. 5, when cutting out from the four benches B ₄ of the raw material pile 6, the traveling motion and the elevation motion of the reclaimer are adjusted so that the two benches of 4 benches B ₄ and 3 benches B ₃ can be separated. Try to cut out at the same time. At that time, the boom 3 of the reclaimer is the corner X of the pile of two benches B _2.
It is necessary to adjust it so that it does not come into contact with. Then, the cutting is controlled so that the bucket wheel 4 at the tip of the boom 3 at the final specified cutting position L has a locus of a curve XY.

In order to quantitatively cut out the maximum amount at all times, it is necessary to make the cross-sectional area cut out for each running inching constant, so that the running inching amount d must be variable.
That is, if cutting is performed n times to the specified cutting position L, d ₁ , d ₂ , ... D _i , ... D _n must be different and gradually increased. further,
As described above, in order to prevent the boom 3 from coming into contact with the corner X of the two benches B ₂ , the elevation control is executed so as to increase the elevation amount in cooperation with each travel inching amount control.

The travel inching amount control and the elevation raising amount control will be described in more detail. First, assuming that the position of the rotation center of the boom 3 of the reclaimer is point A and point B is the cutout position of the bucket wheel 4, the length of the boom 3 is increased. Sa straight line A
It can be represented as B. Therefore, as shown in FIG. 6, when the straight line AB passes through the point C which is the corner of the two benches B ₂ , the locus of the point B is elliptical as shown in the drawing (different from the so-called geometrical ellipse). Will be drawn.

This elliptical shape is a special function, and it is difficult to formulate the whole as a mathematical expression, but the loci of C to B to D corresponding to the payout of the raw material pile are as shown in FIG. 7, for example. It can be expressed as a quadratic function represented by the following equation (1) or a cubic function represented by the following equation (2) as shown in FIG. Note that these functions are not related to the turning angle.

Y = 0.46247 −0.15535 x −3.012210 ⁻² x ² (1) where R ² = 0.962 y = 0.24314 −0.44241 x −5.242610 ⁻² x ² +2.897910 ⁻³ x ³ …. (2) Here, R ² = 0.987 Next, referring to FIG. 6, the cross section CBDE of the raw material pile is shown.
The case where the maximum amount is quantitatively paid out on the tracks C to B to D of the bucket wheel will be described.
For example, when E is divided into five and paid out, the trajectory of the bucket wheel is →→→→→ as shown in the figure. In this example, slope E without considering the angle of repose of Sekiyama
C is assumed to be vertical.

Further, in FIG. 6 above, when the travel distance is represented on the X axis with the origin at the point C and the elevation height is represented by an unknown number on the Y axis, the travel distance and the elevation height corresponding to each step are represented. Changes as shown in FIG. The horizontal axis is the travel distance and the vertical height is the elevation height.
When is plotted, it becomes like Fig.10. From these two figures, it can be seen that in order to make a fixed amount payout, the amount of travel inching and the height of depression must be sequentially increased according to the progress of steps. Therefore, based on the functions shown in FIGS. 9 and 10, 2 of 4 bench B ₄ and 3 bench B ₃ is used.
It would be better to cut out the bench portion at the same time.

When the cumulative value Σd _i of the running amount of movement d reaches the specified cutting position L, it is necessary to perform the reclaimer stage changing control. At that time, the following equation (3) L = Σd _i + x ... (3) However, it suffices to shift to the stage change control when the condition of x <d _{n + 1} is satisfied.

[0017]

Embodiments of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a schematic diagram showing the configuration of an embodiment of the present invention. In the figure, the same members as those in the conventional example are designated by the same reference numerals and the description thereof will be omitted. As shown in the figure, a travel distance detector 7 for detecting travel distance is attached to the machine body 2, and a boom height detector 8 and a boom 3 for detecting the elevation height are attached to the boom 3 of the lower bench. Boom contact detectors 9 for detecting contact with the corners are attached, and respective detection signals are input to the arithmetic and control unit 10. In addition, in the arithmetic and control unit 10, the travel inching amount d ₁ at the time of the first cutting is set via the travel inching amount manual setting device 11 and the elevation of the first boom 3 is set in the elevation direction manual setting device 12. The height h is set, and the specified cutting position L is also set separately.

Therefore, in the arithmetic and control unit 10, the travel inching control and the elevation height control of the reclaimer are performed in the following procedure. The travel inching amount reference table from the first time to the n-th time is input and stored as a reference value in advance. In addition, these travel distance reference values are shown in Fig. 9 and 10 above.
Then, the actual performance value of the manual operation is set as a reference.

Further, the elevation height table of the boom 3 (the horizontal axis is the cumulative value of the amount of travel movement and the vertical axis is the elevation height) is preset. The values of this elevation table are shown in Fig. 9 and 10 above.
The actual value of actual on-machine operation is set as a reference, and the abdomen of the boom 3 of the reclaimer is 2
The height is sufficiently high so that it does not come into contact with the corner of the bench B ₂ . Then, the operator sets 1 on the travel distance manual setting device 11.
The travel distance d ₁ for the second time is set, and the elevation height h of the first boom 3 is set in the elevation height setting device 12, so that the reclaimer simultaneously operates the uppermost stage of the raw material pile and the two benches of the next stage. cut. Using the actual value of the travel inching amount at the time of cutting in step, the travel inching amount reference table set in step is proportionally corrected by the following calculation and stored in the travel inching amount correction table.

[0020] Here, the reason for this correction will be explained because the actual travel amount of the reclaimer cannot be determined only by the above-mentioned travel amount reference table. That is, the height of the raw material pile 6 is not always constant, and therefore the height of the four benches B ₄ also fluctuates. Therefore, it is necessary to perform fine adjustment (in inverse proportion) according to the height of the four benches B _4. . For example, when the height of the four benches B ₄ is low, it is necessary to upwardly correct the values in the reference table described above. A control signal is output to the machine 2 of the reclaimer on the basis of the values in the travel displacement correction table to control the travel displacement d each time the cutting is performed from the next time onward. On the other hand, when the running amount of the first reclaimer detected by the running amount detector 7 is input, the actual values are sequentially added to calculate the running amount cumulative value Σd _i , and the running amount cumulative value is calculated. The depression height h corresponding to Σd _i is obtained from the depression height table, and the depression height of the boom 3 of the reclaimer from the next time onward is controlled. After that, cutout control from the next time is performed.

Since the elevation height of the boom 3 is detected and input by the elevation height detector 8, the control state can be confirmed. In addition, when a signal indicating that the boom contact detector 9 has been operated during operation, the boom height h of the boom 3 is unconditionally increased by + Δh. As a result, it is possible to prevent contact with the corners of the pile and to ensure the safety of the boom 3. When the running amount accumulated value Σd _{i of the} reclaimer coincides with the specified cutting position L, it is determined that the cutting of the uppermost stage has been completed, and a stage change signal is output to the machine body 2. In this way, the reclaimer stage change control is performed, and the cutting out from the two benches B ₂ is performed in the normal control mode.

In the above embodiment, the number of benches for the raw material piles is four, but the present invention is not limited to this, and it can be similarly applied to the case of five or more benches. There is no end.

[0023]

As described above, according to the present invention, the cutting out control for two benches is performed by the reclaimer, so it is possible to prevent a temporary decrease in the payout amount caused by the cutting out restriction due to the contact of the boom. This makes it possible to improve the remote automatic operation rate of the reclaimer.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a configuration of an exemplary embodiment of the present invention.

FIG. 2 is a side view showing a configuration of a conventional example.

FIG. 3A is a plan view and FIG. 3B is a side view illustrating a cutting operation of the reclaimer.

[FIG. 4] Explains the problems during cutting (a) side view, (b)
It is a front view.

FIG. 5 is a side view illustrating the concept of the present invention.

FIG. 6 is a characteristic diagram showing a trajectory of a boom tip.

FIG. 7 is a characteristic diagram in which the locus of the boom tip is approximated by quadratic regression.

FIG. 8 is a characteristic diagram in which the trajectory of the boom tip is approximated by cubic regression.

FIG. 9 is a characteristic diagram showing a step change in the amount of travel movement and the elevation height.

[Fig. 10] Fig. 10 is a characteristic diagram showing a relationship between a running amount of movement and an elevation height.

[Explanation of Codes] 1 Rail 2 Aircraft 3 Boom 4 Bucket Wheel 5 Belt Conveyor 6 Raw Material Pile 7 Traveling Distance Detector 8 Depression Height Detector 9 Boom Contact Detector 10 Calculation Controller 11 Traveling Distance Manual Setting Device 12 Boom Depression height manual setting device

Claims (2)

[Claims] 1. A method of cutting out and discharging a raw material pile using a reclaimer, wherein a first step of presetting a travel inching amount reference value and a cut amount setting value, and a running dimension of the reclaimer and a vertical height are manually set. The second step of cutting out the two benches of the uppermost stage and the next stage of the raw material pile at the same time by adjusting with the second step, and correcting the traveling inching amount reference value based on the traveling inching actual value in this second step. The step 3 and the travel distance of the reclaimer from the next time onward are adjusted on the basis of the corrected travel inching value, and the elevation height is adjusted on the basis of the accumulated travel amount of travel, and the cutout control from the next time onward is performed. A method for controlling the payout amount of a reclaimer, comprising a fourth step and a fifth step of performing a step change control when the traveling inching amount accumulated value and the cutting amount set value match. 2. In the control of the elevation height in the fourth step, when the boom of the reclaimer comes into contact with the corner of the raw material pile, the elevation height of the boom is controlled so as not to come into contact. 2. The method for controlling the payout amount of a reclaimer according to claim 1, further comprising a function of: