JPH09110180A - Cargo handling control method for continuos type unloader - Google Patents

Abstract

PROBLEM TO BE SOLVED: To insure a target cargo handling quantity regardless of unevenness of cargo handling or cargo collapse by providing a detector detecting the drilling load of a drilling part in the horizontal direction, and managing the lateral feed speed of an unloader so that the drilling force detected value by the detector becomes a prescribed drilling force target value. SOLUTION: A cargo handling quantity setting part 9 computes a lift force target value based on the sort of load and a target cargo handling quantity set by an operator, and output to a lift force computing part 10. The lift force computing part 10 proportionally and integrally computes so that a lift force detected value is equal to the target value, and outputs a correcting quantity against a drilling force target value and the reference value. The drilling force reference value is obtained by previously investigating a steady value against a rated cargo handling quantity for example and proportionally computing according to the target cargo handling quantity set by an operator. The drilling force target value corrected in this way is output to a drilling force control computing part 11. The drilling force control computing part 11 computes and outputs a lateral feed speed command value to a drive device 12. The drive device 12 operates an unloader main body 16 for cargo handling.

Description

Detailed Description of the Invention

[0001]

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

[0002]

2. Description of the Related Art As shown in FIG. 2, in a continuous unloader for continuously unloading loose materials such as ores and coal loaded in a hold 1, the excavation part 2 is moved in a trajectory as shown in FIG. 3, for example. Then, the chain 4 with the bucket 3 wound around the excavator 2 is driven in the direction indicated by the arrow 5. As a result, the load is scraped off by the bucket 3, supplied to the conveyor 6 and the conveyor 7 continuous with the conveyor 6, and further discharged from the conveyor 8 to the land.

In the conventional cargo handling work by automatic operation, excavation was carried out at a predetermined cutting depth, lateral feed speed and chain speed.

[0004]

Therefore, in the conventional cargo handling control method, there are problems that the cargo handling is stopped due to overload due to unevenness or collapse of the cargo, and the target cargo handling amount cannot be secured due to the light load. The present invention was developed to address such problems, and an object of the present invention is to secure a target cargo handling amount irrespective of unevenness and cargo collapse of cargo handling.

[0005]

The structure of the present invention for achieving the above object is to excavate a horizontal excavating portion in a continuous unloader for continuously landing bulk materials such as ores and coal loaded in a hold. A detector for detecting a load is provided, and a proportional / integral operation is performed so that a detected excavation force value by the detector becomes a predetermined excavation force target value, and a lateral feed speed of the unloader is operated. .

Further, a detector for detecting the bucket loading load of the vertical load lifting portion of the unloader is provided, and the lifting force detection value by the detector is uniquely obtained from the loading and the target cargo handling amount. It is characterized in that proportional integration is carried out so that the target value of excavation force is corrected.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A cargo handling control method according to the present invention will be described below with reference to FIG.
It will be described based on. The cargo handling amount setting unit 9 calculates the lifting force target value by the formula (1) based on the cargo type and the target cargo handling amount set by the operator, and outputs it to the lifting force control calculation unit F _Mset = Q _set / V _c × H ......... (1) where F _Mset: lifting the upper force target value (ton) Q _set: target handling amount (t / h) V _c: bucket chain speed (m / h) H: Jijo height ( m) Lifting force control calculation unit 10 performs proportional / integral calculation in [Equation 1] so that the detected lifting force value becomes equal to the target value, and outputs the excavation force target value and the correction amount for the reference value.

[0008]

(Equation 1)

Here, the excavation force reference value is obtained by, for example, investigating a steady value for the rated cargo handling amount in advance and performing a proportional operation according to the target cargo handling amount set by the operator. The excavation force target value thus corrected is output to the excavation force control calculation unit 11. The excavation force control calculation unit 11 performs the calculation represented by [Equation 2] as in [Equation 1], and outputs the transverse feed speed command value to the drive device 12.

[0010]

(Equation 2)

The drive unit 12 operates the unloader main body 16 to load and unload it. Note that FIG. 1 shows an example in which lifting force detection is performed by the following method. _{F M = (P B -P BO} / C P -F K ......... the hydraulic pressure of the hydraulic motor bucket chain drive for detecting the lifting upper force by equation to represent the sum of the excavation force and Jijo force (5) ( 5) However, F _M : Lifting force detection value (ton) P _B : Bucket chain drive hydraulic pressure detection value (kg / c
m ² ) P _BO : Bucket chain drive hydraulic pressure detection value (no load)
(Kg / cm ² ) C _P : Conversion coefficient (kg / cm ² / ton) F _K : Excavation force detection value (ton) These are the excavation force detector 13, the bucket chain drive hydraulic pressure in the lifting force detection value calculation unit 15. This is performed using the value detected by the detector 14. Further, the excavation force detector 13 detects the excavation force by the detection method shown in FIG. 4, for example.

The principle is that the excavating force is expressed by equation (6). F _K = F ₂ −F ₁ (6) However, F ₂ : Bucket chain rear tension (ton) F ₁ : Bucket chain front tension (ton) Therefore, the rear tension and the front tension are detected by the load cell to obtain the formula (6). ) To obtain the excavation force detection value.

Thus, it has the following effects. Ie depth of cut
(That is, the horizontal feed direction load height) is D _dIs stationary
Has the following relationship between excavation force and cargo handling amount (that is, lifting force).
There is. F_K∝P_K∝D_d× V_t(Excavation force) ……… （7） However P_K: Excavation amount F_M∝D_d× V_t (Lifting force) ………… (8) Therefore, changes in cargo height, which is a disturbance of cargo handling control, are detected by excavation force.
Then, the traverse speed is operated to control to a predetermined excavation force target value.

In this way, the amount of excavation can be made constant by the equation (7), and since the lifting force is a time integration of the amount of excavation, if the amount of excavation is made constant, the lifting force is basically constant. Become. That is, the cargo handling amount is constant. However, there is no guarantee that the excavation force has a one-to-one relationship with the cargo handling amount. Because the excavation force reference value is not equal to the value obtained under one operating condition, there is a long-period disturbance such as a change in the bulk specific gravity of the load. Therefore, the lifting force corresponding to the cargo handling amount is detected, and the excavation force target value is corrected accordingly, so that the cargo handling amount is finally controlled to a predetermined value. Furthermore, since the excavating force can detect a change in the load height due to the unevenness of the load surface or a collapse of the load from Equation (7), the cargo handling control can be made highly responsive.

[0015]

As described above, according to the present invention, the unloader in the hold is provided with the detector for detecting the excavation load of the horizontal excavation portion, and the excavation force detection value by the detector is the predetermined excavation force target value. Therefore, even if the relationship between the load and the height of the excavated part changes in the hold, the amount of cargo handling can be changed by performing the proportional / integral operation so that Can be controlled to be constant, which has an effect of eliminating an unreasonable load on the continuous unloader and eliminating the problem that a light load cannot carry the cargo as intended.

[Brief description of the drawings]

FIG. 1 is a block diagram according to an embodiment of the present invention.

FIG. 2 is a schematic view of a continuous unloader.

FIG. 3 is a plan view showing a movement trajectory of a continuous unloader.

FIG. 4 is a side view showing a mounting state of the detector.

[Explanation of symbols]

 9 Cargo handling amount setting unit 10 Lifting force control calculation unit 11 Excavation force control calculation unit 13 Excavation force detector 14 Bucket chain drive oil pressure detector 15 Lifting force detection value calculation unit

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Hiroshi Niho, Hiroshi Niho 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries Ltd. Hiroshima Plant (72) Shigeru Kiyota 20-1 Shintomi, Futtsu City, Chiba Prefecture Nippon Steel Co., Ltd., Technology Development Center, Equipment Technology Center

Claims (2)

[Claims] 1. A continuous unloader for continuously landing loose materials such as ores and coal loaded in a hold is provided with a detector for detecting a digging load of a horizontal digging portion, and the digging force detection value by the detector is provided. However, the cargo handling control method for a continuous unloader is characterized in that a proportional / integral operation is performed so that a predetermined excavation force target value is obtained, and the lateral feed speed of the unloader is operated. 2. A lifting force target which is provided with a detector for detecting a bucket loading load of a vertical load lifting portion of the unloader, and a lifting force detection value by the detector is uniquely obtained from a loading amount and a target cargo handling amount. 2. The cargo handling control method for a continuous unloader according to claim 1, wherein proportional integration is performed so as to obtain a value, and the excavation force target value is corrected.