JPH08310667A - Device and method for correcting constant amount scraping of continuous unloader - Google Patents

Abstract

PURPOSE: To provide a device and method for correcting the constant amount of scraping of a continuous unloader capable of scraping the constant amount of cargoes from a bulk hold, and realizing efficient and automatic operation. CONSTITUTION: A hydraulic pump 6-1 feeds the pressure oil F1 to a hydraulic motor 7, and a hydraulic pressure sensor 3 detects a load to be applied to the hydraulic motor 7 based on a pressure value of the pressure oil F1 and outputs the hydraulic pressure signal PBE. A control part 1 generates the hydraulic pressure reference signal PREF to compare the amount of the hydraulic pressure signal PBE. A correction part 4 outputs the sum of the signal of the difference signal between the hydraulic pressure reference signal PREF and the hydraulic pressure signal PBE multiplied by the first constant, the signal of the differential value of the difference signal between the hydraulic pressure reference signal PREF and the hydraulic pressure signal PBE multiplied by a second constant, and a constant to move a bucket elevator 8 at the constant speed in the vertical direction as a correction signal H, and a hydraulic pump 6-2 is controlled based on the correction signal H to feed a pressure oil F2 to a boom.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a constant scraping correction apparatus and method for a continuous unloader for landing a load in a hold.

[0002]

2. Description of the Related Art A so-called continuous unloader is a loading and unloading device used for unloading ore, coal, grains, etc. from a hold (holding) of a bulk carrier. This continuous unloader increases the efficiency of transfer work by making the transfer (unloading) amount per unit time constant and facilitates unmanned operation and automation.

Prior art related to the unloader is as follows.
For example, Japanese Examined Patent Publication No. 1-24694 or Japanese Unexamined Patent Publication No. 6-
Japanese Patent No. 115713 has been proposed. In the conventional technique, the ultrasonic sensor attached before and after the scraping part of the unloader determines the level difference before and after the load, and based on this, the feed speed of the scraping part is controlled to make a quantification (quantification per unit time). I was trying to realize scraping.

[0004]

However, in the above-mentioned method, an avalanche (the surrounding load flows into the trace of the load) due to the property of the load occurs, and the level difference between the load before and after the scraping section causes The scraping amount cannot be accurately determined. That is, there was a problem that complete quantitative scraping could not be realized.
The present invention has been made under such a background, and provides a quantitative scraping correction apparatus and method for a continuous unloader capable of quantitative scraping of a load from a bulk hold and capable of efficient automatic operation. The purpose is to do.

[0005]

In order to solve the above-mentioned problems, in the invention described in claim 1, a scraping means for scraping a cargo in a hold and a first driving means for driving the scraping means. Drive means, second drive means for moving the scraping means in the vertical direction, first pressure oil delivery means for delivering a first pressure oil to the first drive means, and the second drive Second pressure oil delivery means for delivering a second pressure oil to the means, load detection means for detecting a load applied to the first drive means and outputting a load signal, and based on the magnitude of the load signal. And a scraping amount control means for controlling the first driving means.

Further, in the invention described in claim 2, in the quantitative scraping correction device of the continuous unloader described in claim 1, the scraping amount control means is for comparing the magnitudes of the load signals. Control signal generating means for generating a reference signal; correction signal generating means for generating a correction signal for correcting the pressure oil delivery amount instruction signal based on the magnitude of the load signal; and the second based on the correction signal. And a pressure oil control means for controlling the pressure oil delivery means.

Further, in the invention described in claim 3, in the quantitative scraping correction device of the continuous unloader according to claim 1 or 2, the load detection means is the first pressure oil delivery means. The load signal is output based on the pressure value of the first pressure oil sent by the.

According to the present invention, the scraping means for scraping the cargo in the hold, the first driving means for driving the scraping means, and the scraping means are moved in the vertical direction. Second drive means for causing the first drive means to deliver the first pressure oil to the first drive means, and second drive means for delivering the second pressure oil to the second drive means. Pressure oil delivery means and load detection means for detecting a load applied to the first drive means based on the pressure value of the first pressure oil delivered by the first pressure oil delivery means and outputting a load signal. And a scraping amount control means for controlling the first driving means based on the magnitude of the load signal, wherein the scraping amount control means provides a reference signal for comparing the magnitude of the load signal. The control signal generating means for generating and the pressure oil delivery amount instruction signal are complemented based on the magnitude of the load signal. Correction scraping correction of a continuous unloader, which comprises: a correction signal generation means for generating a correction signal for controlling the second pressure oil delivery means and a pressure oil control means for controlling the second pressure oil delivery means based on the correction signal. In the device,
The scraping amount control means calculates a difference signal between the load signal and the reference signal, the correction signal generation means generates the correction signal based on the difference signal, and the second based on the correction signal. It is characterized by controlling the pressure oil delivery means.

According to a fifth aspect of the present invention, in the method for quantitatively scraping a continuous unloader according to the fourth aspect, the correction signal generating means multiplies the difference signal by a first constant. The correction signal is a sum of a signal, a signal obtained by multiplying a differential value of the difference signal by a second constant, and a constant for driving the second driving unit at a constant speed.

[0010]

The first pressure oil delivery means delivers the first pressure oil to the first drive means for driving the scraping means for scraping the cargo in the hold.
The load detection means detects the load applied to the first drive means on the basis of the pressure value of the first pressure oil delivered by the first pressure oil delivery means and outputs a load signal, and the control signal generation means outputs the load signal. Of the difference signal between the reference signal and the load signal, and the differential signal of the difference signal between the reference signal and the load signal is generated by the correction signal generating means. The sum of the signal multiplied by the second constant and the constant for vertically moving the scraping means at a constant speed is output as a correction signal, and the second pressure oil sending means is controlled based on the correction signal. , And sends the second pressure oil to the second drive means.

[0011]

An embodiment of the present invention will be described below with reference to the drawings. A. Configuration FIG. 1 is a block diagram showing the configuration of a quantitative scraping correction device for a continuous unloader according to an embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a control unit, which receives instructions from a not-shown operation unit such as a shape of a hold, a property of a load, and a scraped amount, and the pressure oil F delivered by the hydraulic pump 6-1 based on these instructions.
It controls the amount of 1 and outputs the hydraulic pressure reference signal P _REF .

The pressure oil F1 is supplied to the hydraulic motor 7 and the hydraulic sensor 3. The oil pressure sensor 3 outputs an oil pressure signal P _BE according to the pressure of the pressure oil F1, and this oil pressure signal P _BE is input to the arithmetic unit 2 described above. The hydraulic motor 7 drives the bucket elevator 8 by changing the oil flow of the pressure oil F1 delivered from the hydraulic pump 6-1 into rotation, and the rotation speed thereof is proportional to the delivery amount of the pressure oil F1. . Further, the bucket elevator 8 has a large number of buckets 8b, 8b ...
Is attached to the conveyor 8a, and is driven at a feed speed proportional to the rotation speed of the hydraulic motor 7 to scrape or unload the load of ore, coal, grain or the like from the hold.

The above-mentioned hydraulic pressure reference signal P _REF is input to the calculator 2. The arithmetic unit 2 subtracts the hydraulic pressure signal P _BE output from the hydraulic pressure sensor 3 from the hydraulic pressure reference signal P _REF to obtain the error signal P _BE.
ERR is output to the correction unit 4. The correction unit 4 receives the input error signal P _ERR from PD (Proportional-Derivativ).
e: Proportional derivative) The calculation is performed based on the control, and the correction signal H is output. This correction signal H is calculated as follows. _{H = k1 · P ERR + k2} · P 'ERR + k0 ...... (1) where k1, k2 and k0 represents a constant determined by the respective characteristics or the like of the load, also P' _ERR is the error signal P _ERR Is the differential value of.

The correction signal H output from the correction unit 4 is input to the pressure oil control unit 5, and the pressure oil control unit 5 receives the input correction signal H.
The rotation speed of the motor of the hydraulic pump 6-2 is controlled based on the above. That is, the hydraulic pump 6-2 delivers the pressure oil F2 in an amount based on the correction signal H, and the pressure oil F2 is supplied to the boom 16. The boom 16 has a structure capable of raising and lowering when receiving the supplied pressure oil F2, and the bucket elevator 8 hangs down from the tip of the boom 16 and also the bucket elevator 8
A scraping portion 8c is horizontally formed at the lower end of the.

B. Operation FIG. 2 is a diagram showing how the bucket elevator 8 shown in FIG. As shown in this figure, the scraping portion 8c of the bucket elevator 8 is pressed against the upper portion of the load W to drive the conveyor 8a. As a result, the load W having the scraping depth d is scraped from the upper surface of the load W by the buckets 8b, 8b, ... And lifted in the direction of the arrow U.

This continuous unloader moves the bucket elevator 8 horizontally at a preset procedure and speed in the control unit 1, while changing the ups and downs of the boom 16 to gradually move the bucket elevator 8 downward, and the Scrap the load W. At this time, for example, when the scraped amount of the load W exceeds a certain amount, the load on the hydraulic motor 7 increases. Therefore, if the amount of the pressure oil F1 delivered from the hydraulic pump 6-1 is kept constant, the load W scraped off by the buckets 8b, 8b ...
The pressure of the pressure oil F1 changes due to the change in the total amount of.

Therefore, the hydraulic pressure signal P _BE which has a known property and which appears when a constant load W is scraped off quantitatively.
Is measured in advance, and this value is set as the hydraulic pressure reference signal P _REF . Then, an error signal P _ERR that is a difference signal obtained by subtracting the hydraulic pressure signal P _BE according to the pressure of the pressure oil F _P detected by the hydraulic pressure sensor 3 from the hydraulic pressure reference signal P _REF is calculated, and based on this error signal P _ERR The amount of change in the ups and downs of the boom 16 is controlled. As a result, the scraping amount of the load W is corrected to be constant.

(1) When the scraped amount of the load W exceeds a certain amount When the total amount of the load W scraped by the buckets 8b, 8b ... Increases, the load on the hydraulic motor 7 also increases accordingly. Therefore, the pressure of the pressure oil F1 also rises, and the value of the hydraulic signal _PBE rises. Here, if oil pressure signal P _BE is exceeds the pressure reference signal P _{RE F,} hydraulic reference signal P _REF outputted from the arithmetic unit 2, a negative value.

The correction section 4 outputs a correction signal H based on the input error signal P _ERR . Here, the error signal P
_{When ERR} becomes a negative value, the correction signal H becomes smaller than the correction signal H before the scraping amount of the load W is corrected, and the pressure oil control unit 5 causes the hydraulic pump 6-2 to deliver the pressure oil F2. To reduce. As a result, the amount of change in the undulations of the boom 16 decreases,
The scraping depth d becomes smaller. Therefore, the scraping amount of the load W is reduced.

(2) When the scraped amount of the load W is less than a fixed amount When the total amount of the load W scraped by the buckets 8b, 8b ... Decreases, the load on the hydraulic motor 7 also decreases accordingly. For this reason, the pressure of the pressure oil F1 also decreases, and the value of the hydraulic signal P _BE decreases. Here, if oil pressure signal P _BE is below the pressure reference signal P _{RE F,} hydraulic reference signal P _REF outputted from the arithmetic unit 2, a positive value.

The correction section 4 outputs a correction signal H based on the input error signal P _ERR . Here, the error signal P
_{When ERR} becomes a positive value, the correction signal H becomes larger than the correction signal H before the scraping amount of the load W is corrected, and the pressure oil control unit 5 sends the pressure oil F2 by the hydraulic pump 6-2. To increase. As a result, the amount of change in the undulations of the boom 16 increases,
The scraping depth d increases. Therefore, the scraping amount of the load W increases.

In this embodiment, the correction signal H is generated based on the error signal P _ERR , and the correction signal H is used to correct the scraping amount of the load W to be constant. Therefore, when the amount of change in the correction signal H becomes large, the hydraulic pump 6
The change in the delivery amount of the pressure oil F2 due to -2 also becomes large. Therefore, the greater the change in the amount of pressure oil F2 delivered, the greater the hydraulic pump 6-2.
Even then, high pressure oil delivery capacity is required. Therefore, the correction unit 4 _raises and _lowers the boom 16 with the proportional term and the differential term of the error signal P _ERR , which is the difference between the hydraulic pressure signal P _BE and the hydraulic pressure reference signal P _REF , and a constant amount, as in the above-described equation (1). The correction signal H is calculated based on the constant for changing. Then, the undulation of the boom 16 is changed by using the correction signal H, and the scraped amount of the load W is quantified.

In this embodiment, the oil pressure sensor 3 is used for the pressure oil F.
Although the load amount applied to the hydraulic motor 7 is detected by detecting the hydraulic pressure of 1, the load amount may be detected by, for example, electric amount detection other than the hydraulic pressure. In addition, until the hydraulic pump 6-2 starts the delivery of the pressure oil F2 and the undulation change of the boom 16 reaches a constant speed, the scraping amount of the load W naturally falls below the set fixed amount. Therefore, the control unit 1 of the present embodiment corrects the delivery amount of the pressure oil F2 from the time when the hydraulic pump 6-2 starts the delivery of the pressure oil F2 to the speed at which the constant amount scraping is possible. It is stopped so that an unreasonable load is not applied to the hydraulic pump 6-2, etc. (see the dashed line in Fig. 1).

[0024]

As described above, according to the present invention, the first pressure oil delivery means delivers the first pressure oil to the first drive means for driving the scraping means for scraping the cargo in the hold. Then, the load detection means detects the load applied to the first drive means on the basis of the pressure value of the first pressure oil delivered by the first pressure oil delivery means and outputs a load signal, and the control signal generation means A reference signal for comparing the magnitudes of the load signals is generated, and the correction signal generating means differentiates the signal obtained by multiplying the difference signal between the reference signal and the load signal by the first constant and the difference signal between the reference signal and the load signal. Second to value
The sum of the signal multiplied by the constant of and the constant for moving the scraping means in the vertical direction at a constant speed is output as a correction signal,
The second pressure oil delivery means is controlled based on the correction signal,
Since the second pressure oil is sent to the second drive means, it is possible to quantitatively scrape the load from the bulk loading hold, and it is possible to obtain an effect that efficient automatic operation is possible.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a quantitative scraping correction device for a continuous unloader according to an embodiment of the present invention.

FIG. 2 is a diagram showing how a load W is scraped off by the bucket elevator 8 in the embodiment.

[Explanation of symbols]

1 control unit 3 hydraulic pressure sensor 4 correction unit 5 pressure oil control unit 6-1 and 6-2 hydraulic pump 7 hydraulic motor 8 bucket elevator F1, F2 pressure oil H correction signal P _BE hydraulic signal P _ERR error signal P _REF hydraulic pressure reference signal

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masashi Okai 1-2-2 Marunouchi, Chiyoda-ku, Tokyo Nihon Kokan Co., Ltd. (72) Masaji Hamaya 1-2-1 Marunouchi, Chiyoda-ku, Tokyo Date (72) Inventor Shigeru Wakita 1-2-2 Marunouchi, Chiyoda-ku, Tokyo Nihon Steel Tube Co., Ltd.

Claims (5)

[Claims] 1. A scraping means for scraping a cargo in a hold, a first driving means for driving the scraping means, a second driving means for vertically moving the scraping means, and the first First pressure oil delivery means for delivering a first pressure oil to the drive means, second pressure oil delivery means for delivering a second pressure oil to the second drive means, and the first drive A load detecting means for detecting a load applied to the means and outputting a load signal; and a scraping amount control means for controlling the first driving means based on the magnitude of the load signal. Unloader quantitative scraping correction device. 2. The scraping amount control means, the control signal generating means for generating a reference signal for comparing the magnitude of the load signal, and the pressure oil delivery amount instruction signal based on the magnitude of the load signal. The correction signal generation means for generating a correction signal for correction, and the pressure oil control means for controlling the second pressure oil delivery means on the basis of the correction signal are included. Quantitative scraping correction device for continuous unloader. 3. The load detecting means outputs the load signal based on a pressure value of the first pressure oil sent by the first pressure oil sending means. Item 3. A quantitative scraping correction device for a continuous unloader according to item 2. 4. A scraping means for scraping a cargo in a hold, a first driving means for driving the scraping means, a second driving means for vertically moving the scraping means, and the first A first pressure oil delivery means for delivering a first pressure oil to the driving means, a second pressure oil delivery means for delivering a second pressure oil to the second drive means, and a first pressure oil delivery means. A load detection unit that detects a load applied to the first drive unit based on the pressure value of the first pressure oil sent by the oil sending unit and outputs a load signal, and the load detection unit based on the magnitude of the load signal. A scraping amount control unit for controlling a first driving unit, wherein the scraping amount control unit generates a reference signal for comparing the magnitudes of the load signals; and the load signal. A correction signal for generating a correction signal for correcting the pressure oil delivery amount instruction signal based on the magnitude of In the quantitative scraping correction device for a continuous unloader, the scraping amount control is configured by a generating device and a pressure oil controlling device that controls the second pressure oil sending device based on the correction signal. A means calculates a difference signal between the load signal and the reference signal, the correction signal generating means generates the correction signal based on the difference signal, and the second pressure oil sending means based on the correction signal. A constant scraping correction method for a continuous unloader, which is characterized in that: 5. The correction signal generating means includes a signal obtained by multiplying the difference signal by a first constant, a signal obtained by multiplying a differential value of the difference signal by a second constant, and the second driving means. The quantitative scraping correction method for a continuous unloader according to claim 4, wherein a sum of a constant for driving at a constant speed is used as the correction signal.