JPS6017729B2 - How to move the stacker to the loading position - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for moving the loading position of a stacker that runs on a track and loads raw materials such as coal and ore from the tip of a swingable boom to the yard. It is something.

This type of stacker is equipped with a control device that automatically performs the graining work, and stores positional information such as traveling position, boom rotation, and luffing angle in order to effectively utilize the yard and manage the inventory of raw materials in the yard. Loading work is carried out while reporting to arithmetic processing units such as management computers.

Figures 1 to 10 are diagrams for explaining the conventional stacker loading operation. A bogie 4 running above is mounted on the bogie 3, and is a boom that turns in the left and right direction and moves up and down in the vertical direction, and discharges raw materials such as coal and ore from the tip 4a of the boom 4.

5 is a pile detection device attached to the tip of the boom 4 and detects a pile 7 formed on the yard 2 due to stacking of raw materials; 6 is a stacker consisting of the above-mentioned parts 3 to 5; 8 is a pile detector; This belt conveyor is installed in the center of the stacker 1 and feeds raw materials to the stacker 6.

In FIG. 2, the left side is the forward direction of the stacker 6, and the right side is the backward direction, and the turning angle of the hoop 4 is measured clockwise from the center line of the stacker 1 in front of the stacker 6. do. In addition, the running position X of the stacker 6 is
It is assumed that the measurement is performed using P, which is set behind the , as the base point. Note that 7a is a group of mountains formed by a plurality of mountains 7. Next, ``The stacker 6 loading work can be classified into traveling-based work, turning-based work, and undulation-based work.

Figure 3 shows an example of stacking mainly for traveling, showing a method of continuing to stack piles at a constant pitch in the direction of the traveling axis without changing the turning angle and the heave angle. made parallel. First, when the loading position of the yard 2 is determined, the boom 4 of the stacker 6 performs a turning and raising and lowering operation, and is positioned at the first piling position 1, and starts the stowing operation. A heap 7 is formed by the raw materials fed from the tip 4a of the boom 4, and the key pile detection device 5 provided at the tip 4a of the boom 4 detects the formation of the bran pile 7, and moves to the next loading position 12. Continue loading. Further, as the stacking progresses, the detection device 5 detects the formation of a pile 7 and moves to the next pile 13. Repeat this process up to the point where you want to change the row of piles. As shown by the arrow, perform the operations in the order of turning and running or running and turning. Figures 5 to 8 show the selection of the brazing direction and the next pile row. In the diagram t, P is the current loading position of the pile pile 7 that coincides with the boom tip 4a, P2 is the loading position of the next pile pile 7', and is the current traveling value, Q' is the current turning angle of the boom tortoise at the current traveling value ′
is the turning command angle, and the arrow indicates the direction of graining.

Figure 5 shows the case where the graining direction is the backward direction, the next stacked row is on the side closer to the heel 1, and Q'<Q, X'<x,
After the beam 4 is turned to the turning command angle Q', the stacker 6 is moved backward to the travel command value X' and moved to the next stacking position P2. In Fig. 6, the kasugi direction is the backward direction,
The next row of piles is on the far side from Shire 1, Q'>Q,
A case where X'>X is shown, and after the stacker 6 is advanced to the traveling command value X', the beam 4 is turned to the turning command angle Q' and moved to the next sifting position P2. In Fig. 7, the thinning direction is the forward direction, and the next fin crest row is on the side closer to seal 1. ′<Q, X′<×, and after moving the stacker 6 backward to the traveling command value
' and move to the next stowage position P2. In Figure 8, the horizontal direction is the forward direction, and the next Kagamiyama row is Shiru 1.
It is on the far side from
After the boom 4 is rotated to the rotation command value 'X', the stacker 6 is advanced to the travel command value X' to the next gleaning position P2. The tip of the boom of this kind of stacker 4
Since the raw material discharged from a is continuously discharged while the seeding position is being moved, in yard 2 where ores are stored, in order to prevent different types of ores from being mixed in during the loading operation,
A stowage range has been set for each, and care has been taken to ensure that the tip of the boom does not go outside of this stowage range.

The operations shown in Figures 5 to 8 are all taken into consideration as such, and if the order of turning and traveling is reversed, the tip 4a of the boom will go out of the gluing range in any case, causing a problem. arise. In particular, in order to efficiently utilize the yard and perform accurate inventory control of raw materials, when stacking in a narrow area or at any position within the loading area, the following method uses the 9th method. Figure 10 will cause a problem as explained in Figure 10. In Figures 9 and 10,
The same reference numerals as in FIG. 8 indicate the same or equivalent parts, and FIG. 9 shows the case of horizontal stacking in a narrow range, and FIG. 10 shows the case of stacking at any position within the stowage range. In the figure ~ I
QI is the adjacent Mt. 10 formed by different raw materials.
Reference numeral 2 indicates a left side thin boundary line L for regulating the stowage range, and 103 indicates a right side stowage boundary line R. In FIG. 9, when moving from the current loading position P to the next counterfeiting position P2 using the conventional method, the boom 4 is rotated to the rotation command angle Q' as shown in FIG. , by reversing the stacker 6 to the traveling command value X', it can be moved to the next stacking position P2. In addition, in FIG. 10, when moving from the current stowage position P to the next stowage position P2 using the subordinate method, as shown in FIG.
After the stacker 6 is advanced to the travel command value X', the boom 4 is rotated to the travel command angle Q' to move to the next seeding position P2. However, in both cases of FIG. 9 and FIG. 10, the tip 4a of the boom crosses the stowage boundary line LI02 as shown in the figure during turning and traveling, and the thin pile group 101 that has already been stowed
This causes problems such as the foam 4 entering the interior of the building and mixing different raw materials, or causing the foam 4 to collide with the pile group 101. In addition, in order to avoid such problems, it is necessary to widen the distance between the phosphoric acid piles 101, which has the disadvantage of reducing the usage efficiency of the yard. The purpose of this invention is to improve the above-mentioned drawbacks, and when moving directly to the next loading point in a different stacked row, the tip of the boom is within the range of the boundary line regulated by the loading range. To provide a method for moving a stacker stacking position by repeatedly rotating a boom and running the stacker.

An embodiment of the present invention will be described below with reference to FIGS. 11 to 13. In the figures, the same reference numerals as in FIGS. 1 to 10 indicate the same or corresponding parts, 104 is the center line of the first stack row, 105 is the center line of the second stack row (hereinafter, the center line will be omitted). ), the position of the mirrored boundary line RI03 on the traveling axis (hereinafter referred to as the traveling position) is X, and the loading boundary line LI0
If the traveling position of 2 is X2, and the distance between the forgery boundary line RI03 and the rating boundary line LI02 is y, then X, is the minimum value of the stowage range, X2 is the maximum value of the stowage range, and X. :〆COSQ
'+X' Assuming that the distance is h2, the current swing angle Q and the swing command angle Q' of the boom 4 are calculated by the following equations.

Q=Si'No. 1 Q'=Si Ge No. 1 Next, to move from the current forgery position P on the first stacked pile row 104 to the next horizontal placement position P2 on the second mirror pile row 105, Assuming that the boom is turned at the current traveling position X and the turning command angle Q', the position P3 of the boom tip 4a is the second stacking row 1.
05, the traveling position X3 of P3 is calculated using the following formula, X3 = so cosQ' +
When the position is X2, the stacker 6 is rotated to the position P3 and moved from the position P3 to the next mirror-equipped position P2 by running the stacker 6.

In addition, when X3>×2, the turning angle Q when the tip 4a of the boom reaches the maximum value X2 of the loading range is calculated by the following formula Q,
=■S-・Turn it to Q by using the pole.・Reverse the running direction of the boom tip 4a at the turning angle Q, and set the running position X4 of the stacker 6 using the following formula: , and move the boom tip 4a so that the position P5 of the boom tip 4a coincides with the fencing boundary line RI03. Next, at that position, when the boom tip 4a is rotated until the boom tip 4a reaches the second loading line 105, the traveling position X4 of the boom tip 4a at position P5 is calculated using the following formula
Calculate with sQ'+X4, compare X5 and
When 5>X22, competition boundary line L102 and RI03
Turning and traveling are repeated in the above-mentioned order during the interval, and the stacker 6 is driven to the traveling command value X' and moved to the next harvesting position P2. In Figure 12, the second Kagamiyama row 105 is the first Kagamiyama row 10.
4, from the current stowage position P, which is further away from the rail 1 and is on the stowage boundary line RI03 of the first type pile row 104, to the next stowage position P, which is on the stowage boundary line LI02 of the second mirror pile row 105. The case of moving to P2 is shown.

First, assuming that the stacker 6 is moved to the travel command value X', the travel position of the boom tip 4a is determined by the following formula, where f=cosQ+X', and if the height is smaller than X2, the travel command value X' is If it is larger than X2, the boom tip 4a is moved to the stowage position X7 where it coincides with the stowage boundary line LI02. At this time, the stacking position X7 of the stacker 6 is determined by the following formula.
It is calculated by = x 2 - cosQ. Boom 4 at this position
The boom tip 4a reaches the second stacking row 105.
The loading position X8 of position P8 is calculated using the following formula
X? Calculate with Move to P2. When X8 x
), the boom tip 4a is reversed in the direction of movement, and the stacker 6 is
The following formula 〆9=×2−〆cos. 2 (however, Q2 is P9
The boom 4 is moved to the travel position X9 calculated by the rotation angle of the boom 4 at .

At this time, the positions P and o of the boom tip 4a coincide with the stowage boundary line LI02. Rotate the boom 4 at this position,
Position P of the boom tip 4a reaching the second pile row 105, .
Traveling position X, . The following equation×,. = SocosQ'+X9, then calculate X, . Compare X, and X, . >x, the vehicle is within the rolling range, so after turning to the turning command angle Q', the vehicle is driven to the traveling command value x' and moved to the rolling position P2. X,. When X, the stacker 6 is outside the stacking range, so repeat traveling and turning in the above order, and when the tip 4a of the boom reaches the second row of ridges 106 within the mirrored range, the stacker 6 is moved. The vehicle is caused to travel up to the travel command value X' and moved to the fin position P2. FIG. 13 shows the configuration of an embodiment of a control device for carrying out the present invention. In the figure, 109 indicates command data such as a travel start address, a travel end address, a turning command value, a travel pitch, and a undulating altitude. The monitoring operation panel 110 is an automatic operation control panel that performs calculations and control based on the current value of the position information provided from the detector panel 112 and the command value provided from the monitoring operation panel 109. A turning command and a luffing command are output to the drive control board 111, and the drive control board 111 controls the travel motor 1 according to the given commands.
13. Swing motor 14. Drives the undulation motor 115, foot conveyor drive motor, etc.

110a is an arithmetic control unit, 117 is a travel position detector, 11
8 is a turning position detector, and 119 is an undulating position detector.

Note that the command data given from the monitoring operation panel 109 can also be given from a yard management computer or the like. As described above, in accordance with the present invention, in order to efficiently utilize the yard and accurately manage inventory of raw materials, it is possible to stow in a narrow area or to stow at any position within the stowage area. In such cases, we moved the stacking position so that the tip of the stacker's boom does not go outside the stacking range, making it easier to use the yard even when there are groups of piles with different raw materials next to each other. Problems such as mixing of foreign materials can be prevented without reducing efficiency.

[Brief explanation of the drawing]

Figures 1 to 10 are diagrams for explaining the conventional stacking operation; Figure 1 is a side view of a stacker stacking raw materials in a yard; 2 is a plan view of the same as above, FIG. 3 is a plan view showing the stacking operation, FIG. 4 is a side view of the same as above, and FIGS. 5 to 8 are explanatory diagrams of the operation of the stacker when changing the stacking row. Figure 9 is an explanatory diagram of the operation when changing the row of horizontal ridges when the stowage range is narrow, and Figure 10 is an explanatory diagram of the operation when changing the row of fin ridges and moving to any stowage position within the neck area. 11 to 13 are explanatory diagrams for showing an embodiment of the method according to the present invention. FIG. 11 is an explanatory diagram of the operation when the loading range is narrow, and FIG. FIG. 13 is an explanatory diagram of the operation when changing the position of the horizontal row, and FIG. 13 is a configuration diagram showing an embodiment of the apparatus for carrying out the present invention. In the figures, the same reference numerals indicate the same or corresponding parts, 1
2 is the yard, 4 is the boom, 4a is the tip of the boom, 6 is the stacker, 102 is the thin boundary line L, 103 is the fertilized boundary line R, 104 is the first stacking row, 105 is the second Ayayama series, 109 is the automatic operation control panel. Figure 4Figure 1Figure 2Figure 3Figure 5Figure 6Figure 7Figure 8Figure 9Figure 10Figure 11Figure 12Figure 13

Claims (1)

[Scope of Claims] 1. A stacker that travels on a track and stacks raw materials while feeding them to a yard from the tip of a rotatably mounted boom moves the material from a first pile row parallel to the track to the track. In the method of moving the stowage position of a stacker in which the stowage position is moved to a second row of piles parallel to When one of the loading boundary lines is reached, the direction of movement of the boom tip is reversed, the stacker runs or the boom turns, and when the boom tip reaches the other side of the loading boundary line, the boom tip moves as described above. A method for moving a stacker to a stacking position by repeating the operation and moving the stacker to a set next stacking position when the tip of the boom reaches the second stacking row by turning the boom. 2 Boundary lines A and B of the loading range are the maximum value of the loading range,
The arithmetic processing unit stores it as the minimum value, causes the arithmetic processing unit to calculate the tip position of the boom each time the boom turns and the stacker runs, and stores the boom tip position as the maximum and minimum value of the loading range. In comparison, the method for moving the stowage position of a stacker according to claim 1, wherein the turning of the boom and the running of the stacker are repeated so that the tip position of the boom is within the stowage range. .