JPH09315587A - Quantitative excavation control method for continuous unloader - Google Patents

Abstract

PROBLEM TO BE SOLVED: To hold a hopper level to the specified quantity by dividing set cargo handling weight by the product of conveying speed of a belt feeder and opening area of a delivery port of a hopper to compute the actual bulk specific gravity of load, and controlling the accumulating quantity of the hopper on the basis of the actual bulk specific gravity. SOLUTION: A feeder measure VF a feeder speed sensor 48 for detecting the carry-out speed of a belt feeder is supplied to an actual bulk specific gravity computing part 51. The moving average of n-number part to bulk specific gravity obtained from the inputted feeder measure VF[m/h], preset opening area A[m<2> ] of a delivery port of a hopper, and set cargo handling weight Q* [T/h] set according to conveying capacity of a ground side conveyor is computed on the basis of YR=1/n× Q*/VF×AA, and supplied as actual bulk specific gravity YR[T/m] to a crossfeed measure control circuit 54. The crossfeed measure control circuit 54 makes the rotating speed and crossfeed speed of a sprocket and an excavating part coincide with the reference measure based on the actual bulk specific gravity YR.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to iron ore in a hold,
The present invention relates to a quantitative excavation control method for a continuous unloader that continuously discharges scattered cargo such as coal to the outside.

[0002]

2. Description of the Related Art As a conventional quantitative excavation control method for a continuous unloader, for example, Japanese Patent Application Laid-Open No. 7-242242 previously proposed by the present applicant.
There is one described in Japanese Patent Laid-Open No. 106372.

In this conventional example, a set cargo handling amount for setting the transportation capacity of a ground side transportation system for transporting excavated scattered cargo, an effective length of an excavation section provided at a lower portion of a bucket elevator, and a standard excavation depth. Based on the excavation cross-sectional area expressed by the product of the product and the apparent specific gravity of the scattered cargo, the set cargo handling amount is divided by the product of the excavated cross-sectional area and the apparent specific gravity of the scattered cargo to set the standard traverse speed. Then, based on this transverse feed speed, the bucket elevator is moved in the lateral direction, and the drive torque of the rotary drive mechanism that drives the chain that supports the plurality of buckets moving in the bucket elevator is detected. The amount of excavation at the scraping unit is detected, and the transverse feed speed is corrected so that the detected amount of excavation matches the amount of scattered cargo for the set cargo handling amount.

[0004]

In the conventional quantitative excavation control method for the continuous unloader described above, the reference transverse feed speed is calculated based on the nominal apparent specific gravity of the scattered cargo. Is due to changes in the raw material moisture, changes in the packing density during the process of excavation and transportation,
The actual apparent specific gravity of the scattered cargo is increasing or decreasing.

Therefore, when the transverse feed speed is calculated based on the nominal apparent specific gravity, if the actual apparent specific gravity is lighter than the nominal apparent specific gravity, the transverse feed speed is set higher. If the actual apparent specific gravity is heavier than the nominal apparent specific gravity, the traverse speed is set to a lower speed, as the amount of excavation tends to increase, and as a result, the hopper level, which represents the accumulated amount of hopper, increases. Therefore, there is an unsolved problem that the amount of excavation tends to decrease, resulting in a decrease in hopper level.

Therefore, the present invention has been made by paying attention to the above-mentioned unsolved problems of the related art, and it is possible to maintain the hopper level at a predetermined amount regardless of the change in the apparent specific gravity of the scattered cargo. An object of the present invention is to provide a quantitative excavation control method for an automatic unloader.

[0007]

In order to achieve the above object, a method for controlling quantitative excavation of a continuous unloader according to claim 1 of the present invention is a chain in which a plurality of buckets are attached along a bucket elevator. While moving circularly and moving this bucket elevator in the lateral direction, the scraping part provided in the lower part scrapes the cargo in the cargo into each bucket and accumulates it in the hopper, and the load of this hopper is stored in the hopper. When cutting out the belt feeder from the cutout port, at least the transport speed of the belt feeder is controlled so that the total weight of the load on the belt feeder matches a predetermined set cargo handling weight, and the transport speed of the belt feeder and the The actual bulk specific gravity of the load is calculated by dividing the set cargo handling weight by the product of the opening area of the cutout of the hopper and the actual bulk specific gravity. It is characterized by controlling the accumulation amount of the hopper Hazuki.

According to the first aspect of the present invention, the load excavated by the scraping section provided at the lower portion of the bucket elevator is accumulated in the hopper by moving the bucket around and moving the bucket elevator in the lateral direction. When the load is cut out from the cutout of the hopper to the belt feeder, at least the conveyor speed of the belt feeder is controlled so that the total weight of the load on the belt feeder is adjusted to match the predetermined set cargo handling weight. The cargo of the cargo handling weight is cut out and conveyed. Then, a value obtained by dividing the set cargo handling weight by the product of the conveyance speed of the belt feeder and the opening area of the cutout of the hopper is calculated as the actual bulk specific gravity, and the accumulated amount of the hopper is controlled based on the actual bulk specific gravity. . Therefore, even if the bulk specific gravity of a cargo such as a scattered cargo increases or decreases due to changes in the raw material moisture, etc., the hopper accumulation amount is controlled based on the bulk specific gravity according to the current status of the cargo, so that the load of the hopper is cut out. The amount of accumulated hopper is reduced and the amount of excavation at the scraping part is increased, and the amount of accumulated hopper is increased. Therefore, the amount of accumulated hopper is kept constant. .

The quantitative excavation control method for a continuous unloader according to a second aspect of the present invention is characterized in that the accumulated amount in the hopper is controlled based on the moving average value of the actual bulk specific gravity.

According to the second aspect of the present invention, since the accumulated amount of the hopper is controlled based on the moving average value of the actual bulk specific gravity,
It is possible to obtain the actual bulk specific gravity with less error according to the bulk specific gravity of the load of the hopper at the present time.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below. FIG. 1 is a schematic configuration diagram showing an example of a continuous unloader to which the quantitative excavation control method for a continuous unloader according to the present invention is applied.

In the figure, A is coal, sinter ore loaded in the hold of a ship S such as an iron ore carrier horizontally attached to the quay 1.
A continuous unloader that excavates scattered cargo such as ore and discharges it to the ground side belt conveyor 5 that transports the cargo to the raw material yard parallel to the quay 1 on the ground side. Therefore, the traveling frame 10 is provided so as to be movable along the quay 1 by the two rails 4a and 4b laid between the quay 1 and the ground belt conveyor 5. The traveling frame 10 is self-propelled with the rolling wheels 9a and 9b rolling on the rails 4a and 4b driven by a hydraulic motor (not shown).

On the traveling frame 10, a revolving tower 11 having a built-in conveyor 11a for vertically conveying and lowering scattered cargo therein is rotatably supported.
A hopper 12 is fixedly arranged below the swirling tower 11,
A belt feeder 13 is provided at a cutout 12a on the lower end side of the hopper 12 so as to quantitatively discharge the scattered cargo in the hopper 12 toward the ground side belt conveyor 5.

The belt feeder 13 detects, for example, the total weight of the scattered cargo on the belt feeder 13, and the moving speed of the belt feeder 13 is increased by a drive motor or the like not shown so that the total weight becomes a predetermined weight. Alternatively, the deceleration is adjusted so that the scattered cargo having a predetermined weight is discharged toward the ground belt conveyor 5. Then, an in-machine conveyor 14 that conveys the scattered cargo to the position above the ground side belt conveyor 5 is disposed at the falling position of the belt feeder 13, and the scattered cargo that drops from the in-machine conveyor 14 passes through a cushion frame (not shown). And is transferred onto the belt conveyor 5 on the ground side.

At the upper end of the swivel tower 11, a swivel boom 15 having a belt conveyor 15a for conveying scattered cargo therein is rotatably supported in a vertical plane. Balance weight 16 on the opposite side
Are arranged. Inclined support links 17 and 18 are rotatably supported at both ends of the swing boom 15, and links 19 parallel to the swing boom 15 are rotatably connected to free ends of the links 17 and 18 to form parallel links. A bucket elevator 20 extending vertically is fixed to the inclined support link 17 on the free end side.

The elevation angle of the swing boom 15 is adjusted by a hydraulic cylinder 15b interposed between the swing boom 15 and the swing tower 11. The bucket elevator 2
Reference numeral 0 denotes a cylindrical fixed frame 21 fixed to the support link 17, and a cylindrical column member 2 constituting an elevator shaft rotatably supported by the fixed frame 21.
And 2.

A pair of front and rear chain driving sprockets 23 are provided at the upper end of the column member 22, and an L-shaped excavating portion 24 is provided at the lower end thereof. The chain 25 is stretched around the sprocket 23 and the excavation section 24, and a large number of buckets 26 are mounted between the pair of chains 25 at predetermined intervals.

The column member 22 is fixed to the fixed frame 2.
The sprocket 23 is driven to rotate by a rotary drive mechanism such as a hydraulic motor attached to the No. 1 and the sprocket 23 is also rotationally driven counterclockwise in FIG. 2 by a rotary drive mechanism such as a hydraulic motor.

Further, on the fixed frame 21, a chute 27 is formed below the sprocket 23 to receive the scattered cargo falling from the bucket 26 inverted by the sprocket 23, and the scattered cargo guided by the chute 27 is formed. It is transferred to the conveyor 15a in the swing boom 15 by the rotary feeder 28 arranged at the lower end side.

The excavation section 24 includes a support frame 31 rotatably supported at the lower end of the column member 22 and a horizontal support frame 32 similarly rotatably supported at the lower end thereof.
Sprockets 33 and 34 for guiding the chain 25 are attached to the left and right ends of the support frame 32, and the support frames 31 and 32 are rotated by a rotary drive mechanism such as a hydraulic motor to bring the horizontal support frame 32 into a horizontal state. It can be moved back and forth while maintaining it.

Therefore, as shown in FIG. 1, the bucket elevator 20 is inserted into the hold 37, the bucket 26 on the lower end side of the horizontal support frame 32 is brought into contact with the scattered cargo 35 and scraped off, and the column member is removed. When the bucket 26 is conveyed vertically upward through the inside 22 and the bucket 26 is inverted at the position of the sprocket 23 above, the cargo accumulated therein is conveyed to the conveyor 15a in the swing boom 15 via the chute 27 and the rotary feeder 28. Transferred, then swirling tower 1
It is vertically lowered by the conveyor 11a in 1 and is primarily stored in the hopper 12.

From the hopper 12, the belt feeder 13 discharges a fixed amount according to the carrying capacity of the ground belt conveyor 5, and the paper is delivered to the ground belt conveyor 5 via the in-machine conveyor 14.

Then, as shown in FIG. 2, a rotary drive mechanism 10b for self-propelling the traveling frame 10 and a revolving tower 11 are provided.
A rotary drive mechanism 11b for rotating and driving the hydraulic cylinder 15b for controlling the depression / elevation angle of the rotary boom 15, a rotary drive mechanism 22a for rotary driving the column member 22 of the bucket elevator 20, and a rotary drive mechanism 23a for rotary driving the sprocket 23. The drive is controlled by the control device 40.

The control device 40 includes a traveling frame 10
For example, a traveling position sensor 41 that detects a traveling position based on a traveling distance from a reference position, a swivel angle sensor 42 that detects a swivel angle from the rotational speed of the rotation drive mechanism 11b of the swivel tower 11, and a load cell that detects the weight of the hopper 12. A load sensor 43 configured, for example, an inclination angle sensor 44 attached to the swing boom 15 for detecting the depression / elevation angle thereof, a rotation angle sensor 45 for detecting the rotation angle of the rotation drive mechanism 22a of the column member 22, a rotation drive of the sprocket 23. Mechanism 23
For example, a magnetostrictive torque sensor 46 for detecting the driving torque attached to the rotating shaft of a, and an ultrasonic distance for attaching to the lower end of the column member 22 to scan and detect the surface position of the scattered cargo along the excavation portion 24. Sensor 47, belt feeder 1
A feeder speed sensor 4 such as a tachogenerator for detecting the rotation speed of a drive motor (not shown)
8, detection values of a digging depth sensor 49 for detecting the digging depth of the scattered cargo at the time of digging by the digging unit 24 provided at the top of the bucket elevator 20 are input.
Then, the control device 40 calculates the position coordinates of the excavating section 24 based on these detected values, and also calculates the actual bulk specific gravity Y _R of the scattered cargo based on the detected values from the feeder speed sensor 48, Based on this actual bulk specific gravity Y _R , the excavation unit 24 is moved in a direction orthogonal to the scraping direction by the bucket 26, that is, in the lateral direction at a predetermined speed, and the sprocket 23 is rotationally driven at a predetermined speed to perform quantitative excavation control.

In the control device 40, as shown in FIG. 2, the feeder speed V _F of the feeder speed sensor 48 for detecting the conveying speed of the belt feeder 13 from the rotation speed of a drive motor (not shown) for driving the belt feeder 13 is actually used. The bulk specific gravity is supplied to the calculation unit 51. This actual bulk specific gravity calculation unit 51
Is the input feeder speed V _F [m / h] and the preset opening area A of the cutout port 12a of the hopper 12.
The moving average value for n pieces is calculated as follows with respect to the bulk specific gravity obtained from A [m ² ] and the set cargo handling weight Q ^* [T / h] set according to the carrying capacity of the ground side belt conveyor 5. It is calculated based on the equation (1), and the actual bulk specific gravity Y _R [T / m
³ ] to the transverse feed speed control circuit 54.

[0026]

(Equation 1) The actual bulk specific gravity Y _R calculated by the actual bulk specific gravity calculation unit 51 is
Since it is a value calculated based on the bulk volume and weight of the scattered cargo in the belt feeder 13, it depends on the actual condition of the scattered cargo, including changes in the raw material moisture of the scattered cargo and changes in the filling rate. It becomes bulk specific gravity.

The lateral feed speed control circuit 54 includes a traveling position sensor 41, a turning angle sensor 42, a load sensor 43,
Tilt angle sensor 44, rotation angle sensor 45, torque sensor 4
6, the detection values from the ultrasonic distance sensor 47 and the excavation depth sensor 49 are input, and the actual bulk specific gravity Y _R from the actual bulk specific gravity calculation unit 51 is input.

Then, in the lateral feed speed control circuit 54, the rotary drive mechanism 10b of the traveling frame 10, the rotary drive mechanism 11b of the swivel tower 11,
Hydraulic cylinder 15b of swivel boom 15, column member 22
The rotary drive mechanism 22a of FIG. 3 and the rotary drive mechanism 23a of the sprocket 23 are respectively driven to move the excavation section 24 to a predetermined position in the hold 37. In addition, the lateral feed speed control circuit 5
In No. 4, at the time of start-up, the sprocket 2 is based on the nominal bulk specific gravity Y and the set cargo handling weight Q ^{* of the} cargo in the hold 37.
The reference rotation speed of No. 3 and the reference transverse feed speed of the excavation unit 24 are set, and the excavation unit 24 is moved in the direction orthogonal to the scraping direction of the bucket 26 based on the set reference speed and the detection value from each sensor. As described above, the rotary drive mechanisms 10a, 11b, 22a, 23a and the hydraulic cylinder 15 are arranged.
b to control the rotation speed and lateral feed speed of the sprocket 23 and the excavator 24 to match the reference rotation speed and the reference lateral feed speed, and to drive torque of the sprocket 23 based on the detection value from each sensor, The lateral feed speed or the reference rotation speed is appropriately corrected according to the surface position state of the scattered cargo by the excavation unit 24, the excavation depth, and the like.

In the transverse feed speed control circuit 54, the
From the actual bulk specific gravity calculation unit 51, the actual bulk specific gravity Y _RIs entered,
Instead of the nominal bulk specific gravity Y, the actual bulk specific gravity Y_RBased on each
The reference speed is set, and the sprocket 23 and the excavation unit 24
The actual bulk specific gravity Y_RBased on
Adjust each drive mechanism and hydraulic cylinder to match the speed.
Drive control. In addition, the load sensor 43 of the hopper 12
Based on the load detection value, this load detection value is used to indicate that the hopper is full.
When the state is displayed, the excavation section 24 is laterally fed and excavated.
The excavation by the section 24 is stopped.

The scraping direction of the excavation section 24 is shown in FIG.
As shown in FIG. 3, when the traveling frame 10 is orthogonal to the traveling direction, the traveling speed of the traveling frame 10 becomes the lateral feed speed of the excavating unit 24 as it is, but as shown in FIG.
With the scraping direction of the excavation unit 24 parallel to the traveling direction of the traveling frame 10, when the excavation unit 24 is laterally fed to the quay 1 side, the traveling frame 10 is moved to the right and the revolving tower 11 is rotated counterclockwise. By turning the column member 22 of the bucket elevator 20 in the clockwise direction, the lateral feed can be performed. On the contrary, when transversely feeding to the side opposite to the quay 1, the traveling frame 10 is moved to the left, the revolving tower 11 is turned clockwise, and the column member 22 of the bucket elevator 20 is turned counterclockwise. By turning, lateral feed can be performed.

Further, normally, the traverse trajectories of the excavation section 24 by the traverse feed speed control circuit 54 are controlled based on program data set based on the trajectories obtained from teaching data or hold data. The lateral feed speed is controlled based on this.

Next, the operation of the above embodiment will be described.
First, each rotary drive mechanism or hydraulic cylinder is drive-controlled to insert the excavation portion 24 of the bucket elevator 20 into the upper end opening of the cargo hold 37 where the scattered cargo is to be carried out, and the excavation portion 24 within the cargo hold. Place it in place.

Then, based on the set cargo handling weight Q ^* according to the transportation capacity of the transportation system such as the belt conveyor 5 on the ground side and the nominal bulk specific gravity Y of the scattered cargo, depending on the transportation capacity of the scattered cargo and the ground side. The reference lateral feed speed of the excavation unit 24 and the reference rotation speed of the sprocket 23, which are the constant amount of excavation, are set. Then, the traveling frame 10, the revolving tower 11, the revolving boom 15, the column member 22, so that the excavation portion 24 is laterally fed on the basis of these reference speeds and the detection values from the various sensors so as to obtain a constant amount of excavation. The sprocket 23 is controlled appropriately.

As a result, the bucket 26 is excavated at the excavator 24.
The scattered cargo scraped off by is carried in the bucket 26, is conveyed by the bucket elevator 20 and rises, and when the bucket 26 reaches the sprocket 23 position and is turned upside down, it is stored in the bucket 26. The scattered cargo is fed through the chute 27 to the rotary feeder 2
8 is discharged onto a conveyor 15a and transferred to the swirling tower 1
It is vertically lowered by the conveyor 11a in 1 and is primarily stored in the hopper 12. And the belt feeder 13
Then, the product is cut out by the set cargo handling weight Q ^* and transferred to the ground side belt conveyor 5 via the in-machine conveyor 14.

At this time, in the actual bulk specific gravity calculating portion 51, the feeder speed V _F from the feeder speed sensor 48 and the preset opening area A of the cutout port 12a of the hopper 12 are set.
The bulk specific gravity is calculated based on A and the set cargo handling weight Q ^*, and when a predetermined number n of bulk specific gravities are calculated, the moving average value is obtained and this is used as the actual bulk specific gravity Y _{R to} control the transverse feed speed. Circuit 54
Then, the moving average value is sequentially calculated and output as the actual bulk specific gravity Y _R.

In the lateral feed speed control circuit 54, the actual bulk specific gravity Y
_{When R} comes to be input, the reference lateral feed speed and the reference rotation speed are calculated based on the actual bulk specific gravity Y _R and the set cargo handling weight Q ^*, and each reference speed based on the actual bulk specific gravity Y _R is calculated. The lateral feed speed of the excavation unit 24 and the rotation speed of the sprocket 23 are controlled so that they coincide with each other.

Here, at the reference speed, since the belt feeder 13 cuts out a scattered cargo of a predetermined weight, if the bulk specific gravity is large, the cut-out amount is small. Therefore, the decrease rate of the hopper level is small and the bulk specific gravity is small. When is small, the amount of cutting is large, and therefore the reduction rate of the hopper level is large. Therefore, the reference speed is set such that the larger the bulk specific gravity, the lower the speed becomes.

Therefore, for example, when the packing density of the scattered cargo decreases from the excavation to the transportation process, the bulk specific gravity of the scattered cargo at present is smaller than the nominal bulk specific gravity Y. Therefore, when the amount of excavation is controlled based on the nominal bulk specific gravity Y, the belt feeder 13 cuts out the set cargo handling weight Q ^* , and therefore the cut-out bulk amount is smaller than the cut-out bulk amount based on the nominal bulk specific gravity Y. However, the amount of excavation in the excavation section 24 is set based on the nominal bulk specific gravity Y that is larger than the actual bulk specific gravity, so that the excavation according to the reduction rate of the hopper level is performed. Less than the amount, the hopper level tends to decrease. On the other hand, if the bulk density of the current cargo is higher than the nominal bulk specific gravity Y due to changes in the raw material moisture of the cargo, etc., if the excavation amount is controlled based on the nominal bulk specific gravity Y, the hopper level Although the rate of decrease is smaller, the amount of excavation in the excavation unit 24 is set based on the nominal bulk specific gravity Y that is smaller than the actual bulk specific gravity, so that the amount of excavation is greater than the amount of excavation that corresponds to the rate of reduction of the hopper level, Levels tend to increase.

However, when the actual bulk specific gravity calculation unit 51 calculates the actual bulk specific gravity Y _R in accordance with the state of the scattered cargo at the cutout port 12a, the lateral feed speed control circuit 54
Then, since the reference speed is set based on the actual bulk specific gravity Y _R instead of the nominal bulk specific gravity Y, the bulk volume of the set cargo handling weight Q ^* on the belt feeder 13, that is, the bulk volume cut out from the hopper 12, and the excavation volume. A reference speed that matches the amount of excavation by the unit 24 is set. Therefore, the hopper level can be controlled to a predetermined amount regardless of the increase / decrease in the bulk specific gravity of the scattered cargo due to the change of the raw material moisture or the change of the packing density in the excavation process and the transfer process.

Further, since the reference rotation speed and the reference traverse speed can be set according to the current state of the scattered cargo, the excavation amount can be controlled more accurately and the processing efficiency can be improved.

Further, it is so arranged to set the moving average of the bulk density as Jitsukasa gravity Y _R, is a value corresponding with the current state of dispersion loading cargo, and little error correct actual bulk specific gravity Y _R
Can be obtained, and more precise control can be performed by setting the reference speed based on the actual bulk specific gravity Y _R.

In the above embodiment, the case where the control device 40 is composed of a plurality of control circuits has been described, but the present invention is not limited to this, and arithmetic processing is performed by a processor such as a microcomputer. Good.

In the above embodiment, the case where the reference rotation speed and the reference traverse speed are set based on the actual bulk specific gravity Y _R has been described, but the present invention is not limited to this, and the bulk specific gravity of scattered cargo is not limited to this. When the control is performed on the basis of the above, it is possible to perform the control with higher accuracy if the control is performed based on the calculated actual bulk specific gravity Y _R.

[0044]

As described above, according to the first aspect of the present invention.
According to the quantitative excavation control method for the continuous unloader according to
Since the actual bulk specific gravity according to the state of the load on the belt feeder is obtained and the accumulated amount in the hopper is controlled based on this, the actual bulk specific gravity is changed regardless of changes in the bulk specific gravity due to changes in the moisture content of the freight cargo. Appropriate control based on the bulk specific gravity can be performed, and the storage amount can be controlled with higher accuracy.

Further, according to the quantitative digging control method for the continuous unloader according to the second aspect of the present invention, the accumulated amount in the hopper is controlled on the basis of the moving average value of the actual bulk specific gravity. By controlling on the basis of a small actual bulk specific gravity, more precise control can be performed.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing an example of a continuous unloader to which the present invention is applied.

FIG. 2 is a block diagram showing an example of a control device of the continuous unloader of FIG.

FIG. 3 is a plan view showing a digging state of a continuous unloader.

[Explanation of symbols]

 A Continuous unloader S Ship 5 Ground side conveyor 12 Hopper 13 Belt feeder 20 Bucket elevator 24 Excavator 25 Chain 26 Bucket 40 Controller 48 Feeder speed sensor 51 Bulk specific gravity calculator 54 Horizontal feed speed control circuit

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hiroaki Ishikawa 1-chome, Mizushima Kawasaki-dori, Kurashiki City, Okayama Prefecture (no address) Inside the Mizushima Steel Works, Kawasaki Steel Co., Ltd. Chome (No house number) Kawasaki Steel Co., Ltd. Mizushima Steel Works

Claims (2)

[Claims] 1. A chain, to which a plurality of buckets are attached, makes a circular movement along the inside of a bucket elevator, and while moving the bucket elevator laterally, a scraping section provided at the lower part of each chain holds the cargo in each bucket. The load inside is scraped and accumulated in the hopper, and at the time of cutting out the load of this hopper from the cutout of the hopper to the belt feeder, at least the total weight of the load on the belt feeder should match the predetermined set cargo handling weight. By controlling the conveying speed of the belt feeder, the actual bulk specific gravity of the load is calculated by dividing the set cargo handling weight by the product of the conveyor speed of the belt feeder and the opening area of the cutout opening of the hopper, A quantitative excavation control method for a continuous unloader, characterized in that the accumulated amount in the hopper is controlled based on the actual bulk specific gravity. 2. The quantitative excavation control method for a continuous unloader according to claim 1, wherein the accumulated amount of the hopper is controlled based on a moving average value of the actual bulk specific gravity.