JPH0743065Y2 - Operation controller for unloader - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to an operation control device for an unloader, and more particularly to a device for controlling the operation of an unloader having a scraping device for scraping loose items such as grains.

[Prior Art] Among unloaders for unloading loose objects from ships, those having a scraping device for scraping by rotating are already known.

As shown in FIG. 5, a conventional unloader of this type has a tip boom 2 formed so as to be suspended from the tip of a undulating main boom 1, and a scraping device 3 is provided at the lower end thereof. There is. Then, by tilting the tip boom 2 as appropriate and immersing or adhering the scraping device 3 to the grain or the like in the hold 4, the scraped grain or the like is sequentially fed along the tip boom 2 and the main boom 1 to the receiving side ( (Not shown).

The scraping device 3 adjusts the oil capacity supplied by the hydraulic pump, which is its driving means, by a proportional hydraulic solenoid valve,
The rotation speed (number of rotations) can be changed. That is, while operating an operating device (not shown) that outputs an operation signal to the proportional hydraulic solenoid valve, by comparing with the weighing result of the grain or the like conveyed to the receiving side, desired unloading can be performed. ing.

[Problems to be Solved by the Invention] By the way, in the above-mentioned conventional apparatus, there is a problem that the carry amount changes even if the rotation speed is constant.

As shown in FIG. 6, the scraping ability (conveyance amount Q) has a positive correlation with the rotation speed V of the scraping device 3, but this relationship is not constant and varies depending on the tilted state of the tip boom 2. For example, when the tip boom 2 is located outside (OUT) as viewed from the tower section 5 of the unloader and scraping is performed, the carry amount Q increases (Q = Q ₃ when V = V ₂ ) and vice versa. It tends to decrease when it is located inside (IN) (Q = Q ₁ when V = V ₂ ).

As the cause, as shown in FIGS. 7 to 9,
The transported object S such as grains is to be flown into the lower half of the scraping device 3 projecting from the tip boom 2 from the downstream side in the rotation direction A, but is engaged with the scraping device 3 and flows in. It is considered that the range of the transported object S to be carried, in other words, the inflow opening degree (R ₀ , R ₁ ) of the scraping device 3 substantially changes. That is, when tilting outward (OUT) shown in FIG. 8, R ₀ > R ₁
Therefore, the inflow rate becomes large, and when inclining to the inner side (IN) shown in FIG. 9, R ₀ <R ₁ and the inflow rate becomes small.

Due to such a scraping tendency, when the transport amount Q is equal to or more than a fixed amount, the transport conveyor or the weighing hopper on the load receiving side is overloaded, and labor and working time are required until it is restored. Further, if the amount is less than the fixed amount, the work time will be long due to a decrease in the unloading efficiency.

Therefore, the driver tilts the tip boom 2 so as to be able to scrape it from the hold 4 in a balanced manner, and
The complicated work of constantly adjusting the rotation speed V so that the transport amount Q is constant has been required. That is, referring to FIG. 6, in order to maintain a certain transport amount Q ₂ , V ₁ to V ₃
It will be increased or decreased within the range. Also, the receiving side is
It was necessary to assign personnel to constantly check the transport amount Q, and to contact the driver about the transport amount Q.

Therefore, in view of the above circumstances, the present invention was devised to provide an operation control device in which the amount of grain or the like scraped and conveyed is always constant.

[Means for Solving the Problem] According to the present invention, an angle detecting unit for detecting a tilt angle of a tip boom having a scraping device for scraping a load by rotation, and a tilt angle detected by the angle detecting unit. The rotation speed of the scraping device is decreased according to the angle when the value is inclined outward, which is the downstream side in the rotation direction of the removing device, and the rotation speed is changed according to the angle when the value is inclined inward. And an arithmetic processing unit that outputs a driving signal so as to increase the number.

Further, the arithmetic processing means has an arithmetic circuit for calculating a scraping speed index that is adjusted depending on the absolute amount and direction of the tilt angle from the vertical direction and converting the scraping speed index into the operation signal. It may be configured.

[Operation] With the above configuration, when the tip boom is tilted outward, the arithmetic processing means reduces the rotation speed of the scraping device according to the angle detected by the angle detection means, and when tilted inward, according to the angle. Increase the rotation speed.

Further, when the arithmetic processing means having a predetermined arithmetic circuit is configured, a signal for causing a desired operation can be output by appropriately selecting the scraping speed index.

[Embodiment] An embodiment of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 shows an embodiment of an operation control device for an unloader according to the present invention. The angle detecting means 11 for detecting the tilt angle of the tip boom and the tilt detected by the angle detecting means 11 are shown in FIG. It is mainly configured by an arithmetic processing unit 12, which is an arithmetic processing unit that outputs an operation signal P for increasing or decreasing the rotation speed that is the scraping speed of the scraping device 3 depending on the size of the angle.

As shown in FIG. 2, the angle detecting means 11 includes a first encoder 13 for measuring the relative angle between the tip boom 2 and the main boom 1, and a second encoder 14 for measuring the depression / elevation angle of the main boom 1. And an arithmetic processing unit that is an arithmetic processing unit.
Connected to 12.

The arithmetic processing unit 12 is formed to have a predetermined arithmetic circuit, and is connected to a driving device 15 that adjusts a rotation speed V, which is a scraping speed of the scraping device 3, based on a driving signal P. . The arithmetic circuit is adapted to calculate the absolute tilt angle θ of the tip boom 2 based on the information from the encoders 13 and 14, and at the same time, the scraping speed index I _p converted into the operation signal _P.
Is calculated. The absolute tilt angle θ is displayed based on the vertical direction. The absolute amount of the absolute tilt angle θ and the outer side (OUT), which is the downstream side in the rotation direction of the scraping device, are displayed.
Or the inner side (IN), which is the upstream side in the rotation direction, is distinguished. Further, the scraping speed index I _p is the scraping speed reference index I determined from the set carry amount Q _0.
0 and the scraping speed correction index I _c calculated from the absolute tilt angle θ
It is obtained by adding or subtracting and. In the present embodiment, the scraping speed correction index I _c is obtained by an arithmetic expression that proportionally increases or decreases depending on the value of the absolute tilt angle θ.

Next, the operation of this embodiment will be described.

As shown in FIG. 3, when a necessary scraping amount, for example, 800 t / h is set and the rotation speed V ₀ at this time is input to the processor 12, the rotation speed V is automatically adjusted thereafter. .

First, after the absolute tilt angle θ of the tip boom 2 is detected by the angle detection means 11, the arithmetic processing unit 12 calculates the scraping speed correction index I _c based on this value. On the other hand, the scraping speed reference index I ₀ is calculated from the rotation speed V ₀ , and the outside (OU
T), subtract only scraping speed correction index I _c , inside (I
N) is added. That is, the converted operation output P decreases the rotation speed V when the tip boom 2 is outside (OUT) and is scraping, and increases the rotation speed V when the tip boom 2 is inside (IN). As a result, the increase or decrease in the scraping amount caused by the tilting of the tip boom 2 is offset, resulting in a constant transport amount.

In this way, the rotation speed V of the scraping device 3 is changed according to the tilt angle, so that the unloading amount per unit time becomes constant, and the quantitative cargo handling is realized. Further, it is not necessary to monitor the unloading amount on the receiving side, and the burden on the driver is reduced, thereby reducing the number of personnel and the cost.

Here, the contents of the arithmetic processing performed by the arithmetic processor 12 in the present embodiment will be described.

As shown in FIG. 4, in this calculation, the maximum values a and b of the scraping speed correction index I _c are determined by an empirical rule or a simulation with reference to the case where the absolute tilt angle θ is 0. That is, the maximum tilt angle (eg IN = 20 degrees, OUT = 30
Setting the scraping speed correction index I _c .
Then, when the intermediate value θc is detected, the scraping speed correction index I _c is obtained by the proportional calculation.

The above can be expressed as an arithmetic expression as follows.

When c> 0 (OUT) I _c = b · | c | / c ₂ I _p = I ₀ −I _{c When} c <0 (IN) I _c = a · | c | / c ₁ I _p = I _{When 0} + I _c c = 0 (vertical) I _p = I _c Here, when c: θc, the tilt value in Fig. 4 c ₁ : Maximum tilt value (IN) c ₂ : Maximum tilt value (OUT) a: Maximum scraping speed correction index (IN) b: Maximum scraping speed correction index (OUT).

By calculating the scraping speed correction index I _c In this way, it is possible to speed V to accommodate θ absolute tilt angle at that time.

Although the calculation formula for calculating I _c is a linear function, it may be possible to adopt a different calculation formula by performing more detailed simulation.

[Effects of the Invention] In short, according to the present invention, the following excellent effects are exhibited.

(1) Since the angle detection means for detecting the tilt angle of the tip boom and the arithmetic processing device for appropriately increasing or decreasing the rotation speed of the scraping device according to the detected tilt direction and angle are provided,
The increase / decrease of the carry amount is prevented and the carry amount becomes constant, so that the number of personnel and the working time are reduced.

(2) Further, in the configuration in which the arithmetic processing means has the arithmetic circuit for calculating the scraping speed index and converting it into the operation signal, more appropriate control can be performed according to the change of the tilt angle.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of an operation control device for an unloader according to the present invention, FIG. 2 is a block diagram showing the essential parts thereof, and FIG. 3 is a flow chart for explaining the operation of the present invention. FIG. 4 is a relationship diagram between the scraping speed correction index and the absolute tilt angle for explaining the arithmetic circuit, FIG. 5 is a configuration diagram showing a conventional unloader operation control device, and FIG. 6 is a conventional art. FIG. 7 is a cross-sectional view showing the action of the scraping device for explaining the problems of the prior art, and FIG. 7 to FIG. 9 are diagrams showing the relationship between the scraping ability and the rotation speed for explaining the problems. In the figure, 3 is a scraping device, 11 is an angle detecting means, and 12 is an arithmetic processing unit which is an arithmetic processing means.

Claims (2)

[Scope of utility model registration request] 1. An angle detecting means for detecting a tilting angle of a tip boom having a scraping device for scraping a load by rotation.
When the tilt angle detected by the angle detecting means is a value inclined outward, which is the downstream side in the rotation direction of the scraping device, the rotation speed of the scraping device is decreased according to the angle, and the tilt angle is tilted inward. And an arithmetic processing unit that outputs an operation signal so as to increase the rotation speed in accordance with the angle, the operation control device for the unloader. 2. A computing circuit for computing the scraping speed index adjusted by the absolute amount and direction of the tilt angle from the vertical direction, and converting the scraping speed index into the operation signal. The unloader operation control device according to claim 1.