JPH07300242A - Control method and device for continuous unloader - Google Patents

Abstract

PURPOSE:To reduce the scraping infeasible region and improve the landing work efficiency by variably controlling the scraping width based on the turn angle of a rotary mast so that the locus of the tip section of a scrape section is bent nearly perpendicularly in response to the contour shape of a corner section. CONSTITUTION:The turn angle theta from the initial stage of a rotary mast 4 is detected by a turn angle detector 15 at the prescribed time interval. The detected angle signal is fed to an arithmetic control device 13, and hydraulic motors M are controlled via a hydraulic pump unit 17 in response to the signal. The arithmetic control device 13 variably controls the scraping width based on the turn angle theta outputted from the turn angle detector 15 when the rotary mast 4 is rotated near a corner section in a hold so that the locus of the tip section of a scrape section 7 is bent perpendicularly in response to the contour shape of the corner section. The scraping infeasible region is reduced, and the landing work efficiency can be improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a continuous unloader control method and apparatus.

[0002]

2. Description of the Related Art An unloader is used, for example, when unloading a load of ore, coal, grain, etc. from a hold (hold section) 6 of a ship, and an example of its entire structure is shown in FIG. . The unloader shown in this figure is provided with a traveling unit 1 rotatably provided on a wharf which is a loading / unloading site, a boom 2 provided on the traveling unit 1 rotatably and vertically, and a boom 2 of the boom 2. A swinging mast 4 which is rotatably supported by a top support frame 3 provided at the tip end and hangs down in the vertical direction, and a scraping portion 5 provided at the lower end of the swinging mast 4 are mainly configured. . In addition, in general, the hold 6 has a rectangular cross section in the horizontal direction.

The unloader shown in FIG. 5 is generally called a chain bucket type unloader, and an endless chain to which a plurality of buckets B, B, ... Are attached moves around the upper part of the rotating mast 4 and the outer periphery of the scraping part 5. , Which are laid down on the bottom of the scraping section 5 (horizontal scraping section), scrape the cargo in the cargo hold 6 and convey the scraped cargo to the upper part of the swivel mast 4. And the scraped cargo is
It is landed via the boom 2 and the traveling unit 1. At this time, the scraping work needs to be sequentially performed from the upper layer of the cargo so that the upper surface of the cargo in the hold 6 becomes substantially horizontal. Further, the unloader is provided with a control device (not shown) and various detectors for controlling a hydraulic motor or the like that operates each part so that the transfer amount of the scraped load per unit time is constant. .

By the way, in this kind of unloader, the transfer amount per unit time is often small with respect to the size of the hold 6, due to various circumstances, and it takes a very long time for the landing work. Therefore, there is known a continuous unloader that is controlled by a control device and automatically and continuously performs landing work. The controller of the continuous unloader hydraulically controls each part of the continuous unloader according to the command information.

[0005]

By the way, in the above-mentioned continuous unloader, since the scraping width L of the scraping section 5 is fixed, for example, as shown in FIG. Non-scrapable area D at the corners (four corners) of hold 6
There was a drawback that occurred. Therefore, in the actual landing work, after the scraping work is completed, for example,
There is a work in which a transfer device such as a bulldozer is carried into the hold 6, and the operator operates the transfer device to move the load remaining in the corner and scrape it by the scraping unit 5. It was This work is extremely laborious, invites a high cost, and has a problem of increasing the overall work time.

In order to avoid such an inconvenience, a method using a scraping section 7 having a variable scraping width L as shown in FIG. 7 can be considered. The scraping portion 7 has a structure in which a telescopic cylinder 10 is provided between the front sprocket 8 and the rear sprocket 9, and when the telescopic cylinder 10 is extended, the scraping width L increases and the retracting operation is performed. Then, the scraping width L is reduced. (For details of the unloader using the telescopic cylinder, see
For example, see Japanese Examined Patent Publication No. 1-24694).

However, according to this method, the movable portion 7 is grasped while grasping the distance between the inner wall of the hold 6 and the tip of the scraping portion 7.
It is necessary for the operator to actually perform the complicated work of changing the scraping width L of the above and turning the turning mast 4. Since this work is extremely complicated, it was extremely difficult to actually realize it. Further, even if it can be realized, there is a drawback that the working time increases. The present invention has been made in view of the above circumstances, and provides a continuous unloader control method and apparatus capable of reducing the non-scrapable area and improving the efficiency of landing work. To aim.

[0008]

SUMMARY OF THE INVENTION A continuous unloader control method and apparatus according to the present invention has a lower end of a vertically movable swivel mast that allows a plurality of buckets to circulate along the circumference and has a scraping width. It is provided with a scraping unit configured to be variably controllable, and the scraping unit is inserted into a hold,
A method and an apparatus for controlling a continuous unloader of a method of scraping a cargo in the hold by a plurality of buckets and landing the cargo, wherein at least when the turning mast turns in the vicinity of a corner portion in the hold, Based on the turning angle of the turning mast, the scraping width is variably controlled so that the locus of the tip end of the scraping portion is bent at a substantially right angle corresponding to the contour shape of the corner portion.

[0009]

According to the above construction, when the turning mast turns near the corner in the hold, the locus of the tip of the scraping unit corresponds to the contour shape of the corner based on at least the turning angle of the turning mast. The scraping width of the scraping portion is variably controlled so that the scraping portion is bent substantially at right angles. Therefore, the non-scrapable area in the corner of the hold becomes small, and the efficiency of landing work is improved.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a partial configuration of a control device 11 of a continuous unloader according to an embodiment of the present invention, and shows only a portion directly related to a corner scraping work. The control device 11 shown in this figure has all the functions of the conventional control device, and controls, for example, a continuous unloader in which the scraping unit 7 of FIG. 7 is applied to the configuration shown in FIG. is there.

In FIG. 1, reference numeral 12 denotes a turning controller having an operated portion such as a handle, which determines the turning angular velocity V _BES [rad / s] of the turning mast 4 according to the operation content of the operator. The angular velocity signal is supplied to the arithmetic and control unit 13 (described later). Here, it is assumed that the turning angular velocity V _BES takes a positive value in the case of a left turn and a negative value in the case of a right turn.
14 is a scraping operation corresponding to the corner of the hold 6 (hereinafter,
This is a corner scraping switch for setting whether or not to perform a corner scraping operation), and is turned on or off unless it is operated by the operator or by a corner scraping automatic start signal in automatic driving etc. Is maintained and signals corresponding to these states are supplied to the arithmetic and control unit 13.

Reference numeral 15 denotes a BE turning angle detector for detecting a turning angle θ [rad] from the initial state of the turning mast 4 at a predetermined time interval, for example, and an arithmetic control device for an angle signal corresponding to the turning angle θ. 13 is supplied. Reference numeral 16 denotes a scraping unit expansion / contraction detector, which supplies a signal according to the expansion / contraction state of the expansion / contraction cylinder 10 of the scraping unit 7 (that is, a signal according to the length of the scraping width L) to the arithmetic and control unit 13. Reference numeral 17 denotes a hydraulic pump unit, which controls each hydraulic motor M, M, ... As a power source of each part of the continuous unloader according to a signal supplied from the arithmetic and control unit 13.

The arithmetic processing unit 13 includes, for example, a CPU and an R.
It is composed of an OM, a RAM, and various I / O interfaces, performs various kinds of arithmetic processing described later according to the signals supplied from the elements 12 to 16, and stores the command information obtained by the arithmetic processing in the RAM. At the same time, signals corresponding to these command information are supplied to the hydraulic pump unit 17.

The arithmetic and control unit 13 has a function of executing the corner scraping program stored in the ROM when the corner scraping switch is operated during the BE turning operation. This corner scraping program is a program for operating the turning mast 4 and the scraping unit 7 in association with each other in the corner portion of the hold 6 to efficiently scrape a load, and its flowchart is shown in FIG. The process shown in this figure is performed in parallel with the process of storing various parameters. A scraping operation by the continuous unloader to which the control device 11 having such a configuration is applied will be described with reference to FIGS. 2 and 3.

[Corner scraping process] When the corner scraping switch is operated during the BE swinging operation, the swiveling mast 4 moves or swivels in accordance with the operation of the operator, and the scraping portion 7 of the scraping section 7 is operated as in the conventional case. The scraping width L is changed. The arithmetic and control unit 13 performs the process shown in the flowchart of FIG. 2 in parallel with the above process. First, in step S1, it is determined whether or not a corner scraping operation should be performed. If the signal supplied from the corner scraping switch 14 indicates the off state, the above determination result is "No", and the process ends. On the contrary, if the signal indicates the ON state, the determination result is “Yes”, and the process proceeds to step S
Go to 2.

In step S2, the scraping portion extension / contraction detector 16
It is determined whether or not the signal supplied from represents the "extension". If the determination result here is “Yes”, the process proceeds to step S3. In step S3, a display device (not shown) displays a message indicating that the telescopic cylinder 10 has reached the extension limit. Then, the process proceeds to step S4. In step S4, since the scraping unit 7 is extended, the operator determines whether or not to continue the operation as it is. If the operation is to be continued, the corner scraping switch is left ON, and if the operation is interrupted. Turn off.

When the telescopic cylinder 10 is not fully extended and the result of the determination in step S2 is "No", the process proceeds to step S5. In step S5, it is determined whether or not a predetermined angular velocity signal and angle signal are supplied from the BE turning controller 12 and the BE turning angle detector 15.
If the determination result here is “No”, the processing ends,
If “Yes”, the process proceeds to step S6.

In step S6, it is determined based on the angular velocity signal whether or not the turning process to be performed is right turning. Specifically, whether the turning speed V _BES is positive or negative is determined.
If the result of this determination is "Yes", then go to step S7.
If “No”, the process proceeds to step S8. Step S7 is a step of making a right turn of 45 degrees, and step S8 is a step of making a left turn of 45 degrees. The processing in these steps differs depending on the angle signal and the angular velocity signal, but is basically performed based on the concept described below.

First, with reference to FIG. 3, a process of calculating the scraping width L when performing a corner scraping operation will be described. In FIG. 3, E is a line segment representing the scraping width L, and one end of the line segment is in contact with the origin O. The length of this line segment E varies according to the angle θ ₁ [rad] formed with the reference line of the angle 0 [rad],
When rotating counterclockwise about the origin O by 90 degrees, the locus S thereof is a square.

At this time, the length L'of the line segment E at an arbitrary time point
Is n × (π / 2) <θ ₁ where n is an integer of 0 or more.
When <n × (π / 2) + π / 4, it is calculated by the following equation (1). _{L '= L / cosθ 1 =} L × secθ 1 ...... (1) Further, n × (π / 2) + π / 4 <θ 1 <(n + 1) ×
When it is (π / 2), it is calculated by the following equation (2). _{L '= L / sinθ 1 =} L × cosecθ 1 ...... (2)

Therefore, if the scraping width L of the scraping portion 7 is changed based on the above equations (1) and (2), the corner scraping operation can be performed. However, the turning mast 4 continues to turn at a predetermined turning angular velocity V _BES , and it is difficult to detect the turning angle θ at an extremely short time interval and immediately change the scraping width L accordingly. Therefore, here, the turning angle θ is detected at predetermined time intervals, and the expansion / contraction speed V _S of the scraping unit 7 is calculated by the following equations (3) and (4).

[0022] _{V S = L × secθ × tanθ} × V BES × K ...... (3) V S = -L × cosecθ × tanθ × V BES × K = -L × secθ × V BES × K ...... (4) However, the above formula (3) is used when n × (π / 2) <
In the case of θ ₁ <n × (π / 2) + π / 4, the above formula (4) is used for n × (π / 2) + π / 4 <θ ₁
This is the case where <(n + 1) × (π / 2). In the above equations (3) and (4), K is a predetermined coefficient (K>
0).

As is apparent from the equations (3) and (4), the expansion / contraction speed V _S has the turning angle θ of n × (π / 2) and n × (π.
The sign is inverted at the point of (/ 2) + π / 4. This means that when the turning angle θ continuously changes, n ×
While (π / 2) <θ <n × (π / 2) + π / 4, the scraping width L that has continued to expand (shrink) is n × (π / 2) + π
While / 4 <θ <(n + 1) × (π / 2), it means to continue shrinking (extending).

The processing of step S7 performed based on such an idea will be described below. In this step, the hydraulic pump unit 17 is controlled to turn the turning mast 4 rightward by 45 degrees at the turning angular velocity V _BES represented by the angular velocity signal, and the angle signal is calculated based on the equations (3) and (4). The expansion / contraction speed V _s is calculated each time is supplied. However, here, since the vehicle is turning right, the value of the turning angular velocity V _BES is negative. Then, the hydraulic pump unit 17 is controlled so as to operate the telescopic cylinder 10 according to the calculated telescopic speed V _S.

At this time, when the expansion / contraction speed V _S > 0, the expansion / contraction cylinder 10 extends, and conversely, the expansion / contraction speed V _{S.
When S} <0, the telescopic cylinder 10 contracts. Further, also in step S8, the same processing as in step S7 described above is performed. However, here, since the vehicle is turning left, the value of the turning angular velocity V _BES is positive. That is,
If the turning angle θ is the angle at which the extension operation is performed in step S7, the contraction operation is performed, and if the rotation angle θ is the angle at which the contraction operation is performed, the extension operation is performed.

When the turning of 45 degrees is completed in these steps S7 and S8, the process ends. Since the above-mentioned processing is performed in parallel with the storage processing of the command information, the command information corresponding to the corner scraping operation is stored in the RAM of the arithmetic and control unit 13.
Memorized in. Further, since the turning angle of the turning mast 4 in the corner portion is usually 90 degrees, the above-described processing is repeated again, and, for example, as shown in FIG. Bend at a substantially right angle corresponding to the contour shape of. Such a corner scraping operation is performed at each corner of the hold 6, and the process ends.

As described above, the arithmetic and control unit 13
By varying the scraping width L of the scraping unit 7 according to the turning angle θ at the corner and the turning angular velocity V _BES , the scraping unit 7 can scrape a difficult-to-scrap load near the corner. it can. Therefore, the non-scrapable area can be narrowed. Moreover, since the expansion / contraction speed V _s of the scraping unit 7 is controlled instead of directly controlling the length of the scraping width L, the time interval for detecting the turning angle θ can be set long. Therefore, the error due to the control delay of the drive system can be reduced, and the accurate corner scraping operation can be easily performed.

In the above-mentioned embodiment, the scraping section 7 which expands and contracts by the expanding and contracting cylinder 10 is used, but the invention is not limited to this and is applied to a continuous unloader having a scraping section whose expansion and contraction can be controlled. It is possible. Further, an example has been shown in which the continuous turning angle by one corner scraping operation is set to 90 degrees, but the present invention is not limited to this, and it goes without saying that corner scraping in which the continuous turning angle becomes 180 degrees can also be handled.

[0029]

As described above, according to the present invention,
When the turning mast turns near the corner in the hold, at least based on the turning angle of the turning mast, the trajectory of the tip of the scraping part is bent at a substantially right angle corresponding to the contour shape of the corner. The scraping width of the picking section is variably controlled. Therefore, there is an effect that the non-scrapable area in the corner portion of the hold can be made small and the efficiency of landing work can be improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing a partial configuration of a control device 11 of a continuous unloader according to an embodiment of the present invention.

FIG. 2 is a flowchart showing a corner scraping operation by the arithmetic processing unit 13 of the embodiment.

FIG. 3 is a diagram for explaining the concept of a turning motion in a corner of the embodiment.

FIG. 4 is a diagram showing a corner scraping operation according to the embodiment.

FIG. 5 is a diagram showing an overall configuration of a conventional unloader.

FIG. 6 is a diagram for explaining the operation of a conventional continuous unloader.

FIG. 7 is a scraping unit 7 applied to a conventional continuous unloader.
It is a figure which shows the structure of.

[Explanation of symbols]

 11 control device 12 turning controller 13 arithmetic control device 14 corner scraping switch 15 turning angle detector 16 scraping part expansion / contraction detector

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shingo Shimogaki 1-19-10 Mohri, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries, Ltd. Koto office (72) Inventor Toru Hayashi 1-19-10 Mohri, Koto-ku, Tokyo No. Ishikawajima Harima Heavy Industries Co., Ltd.Koto Office

Claims (2)

[Claims] 1. A scraping unit configured to allow a plurality of buckets to wander along the circumference and to control the scraping width variably at the lower end of a vertically movable swivel mast. Is a method of controlling a continuous unloader of a method of inserting a part into a hold and scrapping a cargo in the hold by the plurality of buckets and landing the load, wherein the turning mast turns in the vicinity of a corner part in the hold. In doing so, at least based on the turning angle of the turning mast, the scraping width is variably controlled so that the locus of the tip of the scraping portion bends at a substantially right angle corresponding to the contour shape of the corner portion. A method for controlling a continuous unloader, characterized by: 2. A scraping unit configured to allow a plurality of buckets to move along the circumference and to control the scraping width variably at the lower end of a vertically movable swivel mast. Is a device for controlling a continuous unloader of a type in which a part is inserted into a hold and the cargo in the hold is scraped off by the plurality of buckets to be landed, and a swing for detecting and outputting a swing angle of the swing mast When an angle detector and the turning mast turn in the vicinity of a corner in the hold, at least based on the turning angle output from the turning angle detector, the locus of the tip of the scraping unit is the corner. A control device for a continuous unloader, comprising: an arithmetic and control unit that variably controls the scraping width so as to bend at a substantially right angle in accordance with the contour shape of the portion.