JPS6061424A - Control of continuous type unloader - Google Patents

Abstract

PURPOSE:To permit a continuous type unloader to follow the rock of a ship by keeping a constant pressure by obtaining the equilibrium pressure of a tilting cylinder which corresponds to the tilt angle of a tiltable frame, in the continuous type unloader in which the tiltable frame can be tilted in the intermediate part. CONSTITUTION:In a bucket-elevator type continuous unloader for unloading the bulk cargos such as coal from a ship, a tiltable frame operated by the operation of a tilting cylinder 15 is installed in the lower part of a turnable main frame. The tilting cylinder 15 is driving-controlled by a hydraulic circuit 100 including selector valves 23 and 30, and said hydraulic circuit 100 is controlled by a control panel 200 including a computer 33. Therefore, the pressure of the tilting cylinder 15 is set to an equilibrium pressure corresponding to the tilt angle of the tiltable frame on the completion of tilting operation, and said equilibrium pressure is kept constant. The equilibrium pressure is calculated on the basis of the output of a tilt angle detector 31 for detecting the tilt angle of the tiltable frame or a detector for detecting the axial force of the tilting cylinder 15.

Description

[Detailed description of the invention]

[Field of Application of the Invention] The present invention relates to a method of controlling a continuous unloader, and particularly to a method of controlling a continuous unloader to follow the rocking of a ship. [Background of the Invention] A conventional continuous unloader has a drive sprocket at the top of the frame, a chain return sprocket at the bottom, and a conveyor (for example, an endless packet chain) that is passed between the sprockets. In recent years, the frame has been designed to be able to be tilted to the main frame and its lower end so that it can be bent in the middle of the frame. A device has been developed that consists of a tilting frame attached to a tilting frame and a tilting cylinder that tilts the tilting frame. Such an unloader is characterized in that by tilting the frame midway, it is easy to avoid contact with the hatch coaming of a ship, and the excavation range can be enlarged. Such a continuous unloader is disclosed in, for example, Japanese Utility Model Application No. 57-7'735. When unloading cargo from a ship, due to the influence of waves and the ebb and flow of the tide, the ship sways downward, sways sideways, or rotates. It is clear that such shaking is a major hindrance to stable unloading of loads. Therefore, conventionally,
Attach the lower sprocket shaft of the frame to the hydraulic cylinder rod, and detect the rise in the internal pressure of the hydraulic cylinder that occurs when thrust force is applied to the lower sprocket. A method has been considered in which the lower cylinder contracts when the pressure is exceeded, increasing the thrust force to iN. This is, for example, Japanese Patent Application No. 51-2574.
No. 5, Japanese Patent Application No. 52-91906, etc. However, in such a method, the set pressure of the relief valve is fixed, and the hydraulic cylinder shaft is This method is effective for systems in which the weight of the sprocket and axle acting on the load can be treated as constant during unloading operations, but there is a problem in that it cannot be applied to continuous unrotors whose frames are bent in the middle as described above. In addition, with Wakabuzo's continuous unloader (such as Utility Model No. 7735, 1983), which tilts the frame at the middle of the frame, it is not possible to relieve the mt8 force that occurs when a packet hits the ship's floor. Although it is possible, excavation work must follow the rocking of the ship.

[I can't. For this reason, it is impossible for the cutting depth of the conveyor to fluctuate due to the rocking of the ship.As a result, there is a problem that the unloading ffl cannot be operated at a constant rate. In order to scrape a constant amount, the motor power for driving the conveyor is detected, and if an overload condition occurs, the depth of cut is made shallower, and when the load becomes too low, the depth of cut is made deeper.
Methods are also being considered. However, since this method detects the increase in area within a large number of keratos by the fluctuation of motor power, it is not detected until much later after the actual increase or decrease in load. It is said that it is not possible to make the excavation part follow responsive force (evil (tatami 爲＼).In particular, it is impossible to make the excavation part follow a force that fluctuates in a short period of 1 or 0, such as the rocking of a ship.) [Objective of the Invention] The object of the present invention is to provide a continuous unloader in which the tilting frame can be tilted in the middle of the frame, so that it can follow the shaking of the ship no matter how the tilt angle of the tilting frame is changed. [Summary of the Invention] The present invention provides a main frame and a tilting frame attached to the lower part of the main frame so as to be tiltable. A continuous unloader with a tilting cylinder for adjusting its tilting is characterized in that the pressure applied to the tilting cylinder at the tilting angle of the tilting frame is brought to an equilibrium pressure, and the pressure is controlled to be kept constant. With this control, when a fluctuation force is generated due to shaking, the lower sprocket moves from the previous equilibrium position using the fluctuation force as an external force (
As a result, it is possible to follow the rocking of the ship. [Embodiments of the Invention] The present invention will be described in detail below with reference to the drawings.8 First, a continuous unloader to be controlled by the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 shows an example of a continuous unloader, and shows an outline of a packet elevator type connected unloader for unloading bulk cargo such as coal and iron ore from a ship. In FIG. 1, a conveyor boom 3 is attached to an unloader main body 2 that runs on a quay l so that it can be raised and lowered, and this conveyor boom 3
A frame 4 is rotatably attached to the tip. This frame 4 will be referred to as a main frame to distinguish it from a tilting frame 11, which will be described later. A driving sprocket 8 is attached to the upper part of the main frame 4 for rotationally driving a chain 7 to which a plurality of packets 6 are attached. A sprocket 9 for changing the direction of the chain 7 is attached to the lower part of the main frame 4. The tilting frame [1 is pin-coupled to the axle 10 of the sprocket 9, and is capable of tilting. A tension-adjusting hydraulic cylinder 18 for adjusting tension is provided inside the tilting frame 11, and a slide frame 13 is connected to the rod side of this cylinder n by a pin. Slide frame 13
At the tip of the chain 7 return sprocket 14
is rotatably mounted. A trunnion-type tilting hydraulic cylinder 1 is installed between the main frame 4 and the tilting frame 11.
5 is connected with a pin, and the tilting angle of the tilting frame can be adjusted by this cylinder 15. FIG. 2 shows the lower part BrR1 of the main frame 4 in FIG.
FIG. 1 is an enlarged view of a portion of the 1r;zz-me 11. The chain 7, which descends substantially vertically within the main frame 4, is hooked onto a guide sprocket 16 fixed to the lower part of the main frame and a sprocket 9 attached to a bracket 17 of the main frame 4 via an axle 10. A tilt angle detector is attached to the axle 0 to detect the tilt angle of the tilting frame 11. A bracket 18 is made to protrude from a part of the tilting frame 11, and this Buragano 1-1
A tilting hydraulic cylinder 15 is pivotally mounted between a pin 19 provided in the main frame 4 and a pin 19 provided in the main frame 4 so as to be extendable and rotatable. Detectors 32a and 32b are provided to detect the axial force of each cylinder! 11I (e.g. load cell). In the packet elevator type continuous unloader configured as described above, by expanding and contracting the rod of the tilting hydraulic cylinder 15, the tilting frame 11 can be tilted arbitrarily in forward and reverse directions with respect to the vertical direction. As a result, the sprocket 14 attached to the end of the slide frame 13 can be moved, and the excavation range can be expanded. That is, the operator tilts the tilting frame 11 to an appropriate tilt angle based on work conditions such as the position and shape of the load or the size of the hatch, and adjusts the sprocket 1.
4 can be moved to an appropriate position and unloading work can be carried out. Next, in the continuous unloader having the structure as shown in FIG.
The hydraulic circuit that operates the will be explained with reference to FIG. Pressure oil supplied from the hydraulic source 20 is supplied to the proportional electromagnetic pressure regulating valve 2.
L is sent to the royal side of the retention cylinder 12. A pressure reducing valve n is installed on the line between the main cylinder of the tensicon and the hydraulic power supply line, and a three-way electromagnetic switching valve n and pilot check valves 24-a and 2 are installed on the supply side and return side lines.
4-b and the supply side of these check valves 24-a and 24-b. Throttle check valves 25a and 25-b are provided on the return side, and relief valves -a and 26-b are provided on the supply side of the throttle check valves δ-a and 25-b, and on the return side. When the port of the three-way electromagnetic switching valve is in state A,
Pressure oil is supplied to the royal chamber of the tilting cylinder 15, and oil in the upper chamber returns to the tank 27. In this case, the tilting frame 11 in the OJ2 diagram rotates and tilts counterclockwise. When the port is in state B, the tilting cylinder 15 remains in its current state, and the tilting frame 11 is fixed. Furthermore, when the port is in state C, the pressure oil in the lower chamber of the tilting cylinder 15 is communicated so as to return to the tank, and the upper chamber side of the cylinder 5 is supplied with pressure oil from the hydraulic source. Communicate so that it will be done. In this case, the tilting frame 11 tilts 12 rotations clockwise. In addition, between the hydraulic pressure source and the tilting cylinder 15, a pressure reducing valve and a proportional electromagnetic pressure regulating valve 29 are provided in parallel in addition to the above, and the tilting cylinder 15 and the pressure reducing valve Z are connected to each other for pressure regulation. A three-way electromagnetic switching valve (equipment) will be installed on the line with the valve valve. When the electromagnetic switching valve force port is in the human state, pressure oil kept constant by the pressure regulating valve 4 is supplied to the royal side of the tilting cylinder 15, and the pressure on the upper chamber side is set by the pressure reducing valve array. pressure. In the state of port B, the line between the upper and lower chambers of the tilting cylinder 15 and the hydraulic pressure source m is cut off. In the state of port C, the switching is opposite to that of the boat person. The operator sets the electromagnetic switching valve to the port state by operating the operation panel, and pressure oil from the hydraulic source is supplied to the lower chamber of the tilting cylinder 15, and the tilting frame 11
rotates counterclockwise. Tilt frame 11 in this direction
Assuming that the increase in the inclination angle θ is positive, the axial force Fs (
tensile force) also increases. At this time, the lower chamber side of the tilting cylinder 5 becomes high pressure,
The pressure will be low on the royal side. The operator must operate the solenoid switching valve A.
The inclination of the tilting frame 11 is gradually increased by operating as shown in FIG. As a result, the frame U completes its operation and stops when the inclination angle θ becomes θ=Oo. The inclination angle θ0 at this time will be referred to as a reference inclination angle here. At this time, the value of the axial force Fs acting on the rod of the tilting cylinder 15 (
Axial force to base +1) is F,. , Low pressure side pressure f & Pad r Upper chamber pressure receiving area As5r Lower chamber pressure receiving area As! Then,
The equilibrium pressure P3° in the lower chamber is expressed by the following equation. Pso = (Fso +Psd-As+) / A
ss (11) Also, when the operator sets the solenoid switching valve force port to state C by operating the operation panel, the port of the electromagnetic switching valve membrane is set to state C, and this time the upper chamber side of the tilting cylinder J5 When pressure oil is supplied, the tilting frame 11 rotates clockwise in FIG. 2. At this time, the axial force F acting on the rod of the tilting cylinder 15
S moves as a compressive force and the upper chamber becomes the high pressure side. The operator operates the electromagnetic switching valve membrane to C to gradually increase the inclination of the tilting frame 11 (increase in the opposite direction to A),
When the desired posture is achieved, the port of the switching valve is set to state B. As a result, the operation of the frame 11 is completed, the inclination angle θ becomes 0=00, and the frame 11 stops. If the value of the axial force Fs when the operator sets the inclination of the tilting frame (1) is FSll, then the equilibrium pressure E'so of the royal house is expressed by the following equation. Pso − (Fso + Ps=+ ・Ass) /
Ai! --(2) The above (11 formula, td in formula (2))
The reference axial force Pso (axial force at the end of setting) is applied to the tilting frame 11. Tension cylinder [, Sprocket 1
Letting the total weight of the tilting movable members such as 4 as Wo, W,, Fs
, respectively from the center of rotation are 102. es, it can be expressed by the following equation. The relationship in equation (3) is expressed as shown in FIG. In FIG. 4, the horizontal axis represents the inclination angle θ of the tilting frame 11, and the vertical axis represents the axial force ps. As is clear from this relationship, the axial force ps is a function of the inclination angle θ. That is, by substituting the relationship of equation (3) into the above equations (11, [21), we get the following equations +IJ' and (21'. On the other hand, the axial force F acting on the tension cylinder 12 is also inclined It is a function of the angle O, and if the total weight of the parts such as the sprocket 14, slide frame 13, and rod of the cylinder 12 is W, and the chain tension is Tc, then Fr can be expressed by the following formula: F-% -cosθ-2Tc・・・・・・・・・・・・
・・・・・・・・・・・・(4) If the pressure receiving area of the upper chamber of the tension shilling hill is A1, the royal pressure receiving area is A72, and the pressure of the upper chamber is Ptd, the equilibrium pressure of the lower chamber PTo is calculated by the following formula. It is expressed as PTO-(Ft + Prd-At□) / Art
・--= (51 This equation (5) becomes the following equation when considering the relationship of equation (4). 1 PTo --(Wr-cosθ-2TC+Ptd-A,
rs)...-+51'T2 FIG. 5 shows the change in the axial force F of the tension cylinder arm with respect to the inclination angle θ of the tilting frame 11. Now, based on the above, we will explain how to control external forces such as the rocking of the ship. Now, suppose that while excavation work is being performed using the above-mentioned continuous unloader, the ship is rocked by waves and the load and lead powder move upward. At this time, the tilting frame 11
The excavation resistance force and the pushing-up force from the bottom of the packet act as external forces on the packet 6 as it rises along. These external forces act in a direction that gives a rotational moment to the tilting frame 111 and further increases the absolute value of the tilt angle θ. Based on the inclination angle θ0 when the inclination angle θ is set, the variation in the axial force of the tilting cylinder 5 due to the rocking of the ship is ΔFs, and the variation in the axial force of the tensilon cylinder n is 61
Assuming that the number is 1, the following can be seen from Figures 4 and 5. That is, the inclination angle θ in FIG. When , the hydraulic pressure is balanced with the equilibrium axial force Fso. From this state, the axial force is △ps
As the axial force due to hydraulic pressure increases, the angle of inclination θ becomes constant.
Equilibrium occurs at a new point where Δθ increases. When the ship's rocking changes downward from this equilibrium state, the pushing up force acting on the packet is reduced (and the weight of the tilting frame 11 is
. This is because the axial force caused by this is greater than the axial force caused by hydraulic pressure. The tilting frame 11 rotates in a direction with a smaller tilt angle. And the axial force F due to hydraulic pressure! Inclination angle θ0 that balances Io
The state will be restored. In this way, the tilting movement 71)-mu 11 can follow the rocking of the ship. This operation is similar to all four in the region where the inclination angle θ is negative. That is, if the axial force applied by the hydraulic pressure is maintained at the standard equilibrium axial force Fso, and the axial force is about to change due to the addition of an external force, the frame 11 will rotate to a position with a new inclination angle that balances Fso. and,
When the external force disappears, it returns to its original state again. When the tilt angle θ of the tilting frame 11 is large. Since the rotational moment caused by the external force acting on the frame 11 is large, the #iwJ frame 11
can be made to follow the rocking of the ship. However, as the inclination angle θ becomes smaller and the frame 11 approaches a vertical state (the rotational moment exerted on the frame 11 by the upward fluctuating force becomes smaller). No force is generated. In this range of inclination angles, the fluctuating force due to the vertical rocking of the ship acts parallel to the tension cylinder 12 (and thus acts to push up the sprocket 14. is the fifth angle corresponding to the inclination angle (reference inclination angle) θ0 at the time of setting.
The equilibrium axial force FTG shown in the figure is given and balanced. When an external force due to the rocking of the ship acts through the packet in this state, the royal oil in the cylinder cylinder is relieved and pressure oil is supplied to the lower chamber. Therefore, the rod of the tension cylinder arm contracts, and the sprocket 14 is pushed up. Furthermore, when the external force is removed, the rod of the cylinder 12 is pushed down and returns to its original position, as the hydraulic pressure is kept constant.Therefore, the rod of the cylinder 12 moves to follow the rocking of the ship. Next, it is a drawing showing an embodiment of the present invention that realizes the above-mentioned control operation. In FIG. 6, among the devices surrounded by two-dot chain lines, 11 indicates the tilting frame part, and 100 indicates the tilting frame part.
is the hydraulic circuit as shown in FIG. Therefore, details regarding [1 and 1oo] will be omitted. 200 is a control panel for controlling. This control panel 200 includes an operation panel 250 for an operator, and a computer 3.
3, an analog-to-digital converter U, and a DigiCrew analog converter 35,36. calculation fi3
The input port DIAO of the three-way electromagnetic switching valve is connected to the port 1 of the three-way electromagnetic switching valve. When A is energized, a signal of '1# is input, and when it is not energized, a signal of 10" is input. Hekapo-1-])
IAI has a value of 1 when boat C of switching valve Z is energized.
”, and in the case of non-excitation, a signal of 60# is input. An analog signal corresponding to the tilt angle θ detected by the tilt angle detector 31 is converted into a digital signal by a converter to the input port DIB. Converted and input.Output port DOAO
When signal -1' is output to 3-way electromagnetic switching valve (9), port C of the switching valve (9) is excited. and when 10# is output, it becomes non-excited. When both Do8 and DOAI are OI', the switching valve open port is B. The digital signal output to the output port DOB is sent to the converter. is converted into an analog signal iso by
is converted into an analog signal iTo, and inputted as a coil current of the proportional electromagnetic pressure w4 regulator 21. The calculation i33 stores in its internal memory a program that executes the procedures shown in FIG. The operation will be explained using the flowchart shown in Figure 7 (A) to (Figure 7).The operator operates the operation panel to operate the unloader. When the operation starts (this can be confirmed by turning on the power switch), the power to the calculation unit is turned on and the program starts. When the program starts, the constants necessary for the calculation are initialized (step 2). Then - internal memory MAoo, MAOI, MAI O, MAI
1. Clear the contents of address h41F30°M I To to zero (step ■). And output port DOA
=O1I) Perform initial setting to set OA 1=O (step ■). The three-way solenoid directional valve (capital) is therefore:
Switched to port B. In this state, the operation panel 25
Waits for the operator given from 0 to complete the operation. The operator operates the operation panel 250 to perform three-way electromagnetic switching.
By switching to port f: A or C, pressure oil is supplied to the royal or upper chamber of the tilting sill 15, and the tilting frame 11 is tilted. During the period when the tilting is continued, a high level 1 go signal (= “1”) is output from the control panel.
is being output. The computer 33 is a human power port DIAO
Since this signal is manually generated by DiAI, it can be determined that the tilting motion of the tilting frame is i1+1 Na, or in other words, that the operator's tilting operation is continuing. Then, when the tilting operation is completed, the signals output from the operation panel 250 to the switching valve membrane are all low level signals (=
As a result, the port of the switching valve becomes B. At this time, the calculation fi33 indicates that the input capo) DI AO and ]) IAI signals both become 10#. By this, it is determined that the operation has ended, and the process proceeds to the next step (2).When the operation is completed, the inclination angle θ=θ0 at that point is input (step (2)
). Next, it is determined whether the input inclination angle θ is positive or negative (step 2). If θ≧0°, use this θ to calculate the equilibrium pressure P
5o is calculated using the above-mentioned equation (1). Furthermore, the coil current 180 of the proportional electromagnetic pressure regulating valve device for achieving this equilibrium pressure P5o is calculated by the following equation. 13o=ni□・Pgo ・・・・・・・・・・・・・・・
...... (6) However, Pso: Equilibrium pressure obtained from equation (1)' □: Conversion coefficient between pressure and current, and store this value in MISO of memory (steps ■, ■) . Since the pressure on the chamber side is high, using this θ, the equilibrium pressure Pso
is calculated using the above-mentioned equation (2). Furthermore, the coil current iso of the proportional electromagnetic pressure regulating valve device to achieve the equilibrium pressures P and O is calculated using the following equation. i5゜=ni,・Pso...four...listening...
・(71) The result of this calculation is stored in the MI So of the memory (steps ■, ■). Next, read the inclination angle θ from the input capo-1-DIB,
The coil current j7o of the proportional electromagnetic pressure regulating valve 21 is calculated using the following equation (step 0.■). = 2・PTO・・・・・・・・・・・・・・・・
......(8) However, P7o: To the equilibrium pressure obtained by the t51' formula,: Pressure and current conversion coefficient This 100 is stored in the memory MITOI, and the contents of this memory are sent to the output port. Output to DOC (to ST2 fK a S'+ /n1o1y=Th l+ t, f
fi W & J-+ & i ・ll Pressure regulating valve 21
is output from the converter section as a coil current. As a result, the high pressure side pressure of the tension cylinder 12 is controlled so that the chain tension becomes Tc. Next, input the contents of the input ports DIAO and DIA, that is, whether the switching valve is for boat person, boat B, or port C (step 0). And memory MAOO
Store the contents of DIAO in MAO1 (), store the contents of DIAO in MAO
Store in O (step [phase], @). Furthermore, the contents of MAIO in the memory are stored in MAll, and the contents of DIAL are stored in MAIO (steps @, @). Next, M.A.O.
It is determined whether the content of O is '1# (that is, the switching valve n is set to the port position) (step 0). If the content is 1", the operator is currently controlling the attitude of the tilting frame 11 in the direction of increasing the tilt angle, so the output port, DOAO, and DOAl both output the "0# signal and switch. The valve (9) is closed to stop the swing follow-up function (step Φ). If the content of MAOO is 0', the content of MAIO is "1".
(In other words, the switching valve 23 is the port C) Step o) of determining whether or not. If -MAIO is 11
'', the operator is in the process of controlling the attitude of the tilting frame 11, so the process advances to the step [phase] of closing the switching valve 30.After proceeding to step,
Return to previous step 0. In this way, during operation of the tilting frame, the switching valve 30 is closed and the swing following function is disabled. Now, temporarily, MA
When the internal force of IO is 102°, the switching valve 30 is in the state of port B (operation completed), indicating that the operation has started or that excavation work is being performed, and the process proceeds to step (3). In step 1, it is determined whether the content of MAOI is -1'' (-4-, that is, the port of switching valve n in cycle l1lf was A in the control period). If '
When it is 1s, it means that the operator has finished attitude control and the tilting frame has been set to a certain tilt angle. Then, it is determined whether the inclination angle θ is positive or negative (step O). If it is positive, calculate the iSO using the above equation (6) and store this value in the MISO of the memory for output (step 2@
). Next, after outputting the contents of MISO to the output port DOB, in order to set the port of the switching valve part to state A, output “1” to 〇 and DOAlin “0” to the output port DO (step ■). Furthermore, if θ is 0, calculate 1511 using the above-mentioned equation (7) and store this value in MISO (steps ■, @). Next, after outputting the contents of MISO to the output port DOB, high pressure oil is
In order to set the state of port C of the switching valve 30 so that oil is supplied to the royal tank 5, output 0" to the output port DOAO and 1'1# to the DOAI (steps ■, ■). Step [
After proceeding to [phase] or ■, return to the previous step O. When the content of MAOI is 60# in step C, the process proceeds to step 0, and it is determined whether the content of MAII is 61# (that is, the state of the switching valve section at port C one cycle before in the control cycle). If #1#, it means that the operator has finished posture control and the next step
Proceed to. At step 0, if the content of MAI 1 is '''0#, then 1
The state of the switching valve section before the cycle indicates port B, that is, the state where attitude control has been completed and preparations are made for excavation work, or the state where excavation work is being performed. At this time, determine whether the inclination angle θ is positive or negative (step 0), and if θ≧0°, proceed to step 0, and control the coil current of the proportional electromagnetic pressure regulating valve actuator calculated in advance (No. i 1sD ( The value determined in steps ■ and ■, or the value determined in steps ■ and ■) is output to DOB. Also, when θ is 0°, the value determined in steps ■ and The value determined in step 0.■ is output to the output port DOB as a coil current control signal for the pressure regulating valve actuator.The signal output to DOB is converted to a coil current j1o by a converter is. is supplied to the electromagnetic coil of the pressure regulating valve actuator. As a result, the pressure on the high pressure side of the tilting cylinder is maintained at the equilibrium pressure PH determined by Ig. Due to this holding effect, the external force caused by the rocking of the ship is Even if there is a movement, the P30 can be tilted to keep the pso constant and follow the shaking.This P3o is controlled by the operator returning the switching valve to the boat position 8 or C. According to this embodiment, when the operator performs excavation work after controlling the attitude of the tilting frame to the desired inclination angle, the equilibrium pressure Pso corresponding to the set inclination angle is maintained constant. Since it can be held constant, the tilting frame can tilt to follow the external force caused by the rocking of the ship, and stable unloading work can be achieved.Next, other embodiments of the present invention will be described. Other embodiments are shown in FIGS. 8 and 9, and the operation flowchart is shown in FIG. An example of a hydraulic circuit is shown.The differences between this hydraulic circuit and the one shown in Fig. 3 are as follows.
The proportional electromagnetic pressure regulating valve 21 and the pressure reducing valve n in Fig. 3 are removed and a servo valve 40 is installed in their place, and the pressure reducing valve 28 in Fig. 3 is a proportional electromagnetic pressure regulating valve, three-way electromagnetic switching. The point is that the valve chrysanthemum was removed and a servo valve 41 was assembled in its place. From a mechanical point of view, the hydraulic circuits in Fig. 3 and Fig. 8 can be said to be similar.
Coil current i7. ．． If is positive, pressure oil is supplied to the upper chamber of the tension cylinder 12, and the royal oil escapes to the drain side, so the rod of the cylinder 12 extends, and conversely, iT
If o is negative, the rod will shrink. 1 gun. When is O, the oil flow stops and the rod of the cylinder also remains fixed. Similarly → Novo Valve 4
If the coil current ISO of No. 1 is positive, pressure oil is supplied to the upper chamber of the tension cylinder 15, and the royal oil escapes to the drain side, so the rod of the cylinder J5 extends, and conversely, the rod of the cylinder J5 extends.
If o is negative, the rod will shrink. When ISO is 0, the oil flow stops and the shilling rod also remains fixed. That is, the initial axial force value and the load cell 32 are
If the deviation value of the output value from is selected, the corresponding cylinder 12, 1.5
The axial force can be maintained to match the initial axial force. Figure 9 shows the coil current for one servo valve 40 and 41. ＋I
S. The control part for generating is shown. This control section includes a computer (microcomputer) 42 and a converter. 43, 44, 45, 46, etc. This microcomputer 42 has a digital input port DIA. DIB, DIC, DID and digital output port DOA,
Each DOB boat is provided. Its input port D
IAO receives a signal '1#' when the directional control valve shown in Fig. 8 is energized at port A, and O# when it is not energized, and the input port DIAI receives a signal of '1#' when the directional control valve n is energized at port C. 1-. When not energized, an O# signal is input. Further, an analog signal corresponding to the tilt angle θ outputted from the tilt angle detector 31 is converted into a digital signal by a converter and inputted to the input port DIB. The input port DIC receives the axial force F of the tilting cylinder 15 detected by the load cell 32-b.
The analog signal corresponding to s is converted into a digital signal by a converter and input. Similarly input port DID
Then, the analog signal corresponding to the axial force FT of the Larson Schilling ν detected by the load cell 32-a is converted into a digital signal by the converter and outputted to the output capo 1-D OA. The digital signal is converted into an analog signal 1so by a converter 45 and inputted to the servo valve 41 as a coil ring i'jf. Similarly, the digital signal outputted to the output port DOB is converted to an analog signal 1so by a converter 46. @170 and input to the servo valve 40 as a coil current. The microcomputer 42 has a program shown in FIG. Output. The operation is explained in Figure 10 (5) and the flowchart provided below. When the program starts, constant values such as the member type ycWo, WT, the distance from the center of rotation to the force acting on it, 16 r 6 g, and the chain tension Tc are initialized (in steps). Next, the contents of the memory and output capacitor I are initialized (steps 1 and 2). Inclination angle θ from manual port DiI3
Convert the digital signal corresponding to θ into a real number and read it, and calculate the equilibrium axial force Fso corresponding to θ using equation (3)
'/S (Stage Jp (7), Q)-'y'X
Read the axial force Fs of the tilting cylinder from the TC, determine the deviation Fs0-F5, and store this value in the memory MD'FS (steps 2, 2). At this time, the load cell n provides a positive output in response to an axial force that compresses the rod, and a negative output in response to a tensile axial force. Next, read the inclination angle θ again from the input port DIB and calculate the equilibrium axial force FT0 of the tension cylinder corresponding to θ (4)
Calculate from the expression (steps ■, ■). Next, input boat D
Read the axial force Fs and FT from IC and DID, and calculate the deviation, F
To-F' is determined and this value is stored in the memory MDFT (steps 0.■, ■). Then, the contents of the MDFT are output as a digital signal to the output port DOB. The output signal is converted into analog quantities i and o by a converter 46 in FIG. 9 and input to the servo valve 40. Next, input the contents of input capo-1-DIAO, DIA1, that is, whether the switching valve B is in the state of port A, port B, or port C (step 0). Then, the contents of memory MAOO are transferred to memory MAox, and DIAO
(7) Store the contents in Memo I No MA00 (Step Q, @). Furthermore, the contents of memory MAI O are MAI 1
, store the contents of DIAI in 1 memo + I-MAIO (
Step [phase], o). Next, it is determined whether the content of MAOO is "1" (that is, the valve is at port A) (step O). If it is @1'', the operator is operating the tilting frame 11 as in the previous example, so the output capo-1-1) is '0#' for OA.
, that is, the servo valve 41 is held in the closed state (step 0). If MAOO=0, MAIO
It is determined whether the content of is 1" (that is, the valve B is port C) (step @). If it is 1", the operator is in the process of controlling the attitude of the tilting frame 11, so the output is 1o2 is output to the boat DOA (step 0). After proceeding with step 01, return to the previous step (■). If MA10=0, the valve n is closed at bow 1-B, indicating that the excavation line is being prepared or the excavation operation is in progress. At this time MAO1
It is determined whether the content of is "1" (that is, the state of the valve A was a boater one cycle ago), and if it is 11', the operator finishes attitude control and reaches the desired inclination angle θ. Since this means that the tilting frame 11 has been set, the equilibrium axial force Fs0 is calculated from equation (3) using this value as the initial tilt angle (step 0, ■). Then, the deviation from the axial force ps read in step 0, Fs0F9, is memorized.
Store this value in MDF'S and send this value to the output port DO.
Output to A as a digital signal (step 0° ■). The output signal is converted into an analog signal is0 by the converter
and is input to the servo valve 41. Step 0
When HdO1=O, it is determined whether the content of MAI 1 is "1" (that is, the valve B is in the state of port C one loop ago) (step). If it is '1#', it means the moment when the operator has finished attitude control, so this time is set as the initial inclination angle and the process proceeds to step (2). When MA11=O, it indicates that the state of the valve membrane one cycle ago was port B, that is, the excavation work was in progress or the excavation form was being prepared. At this time, the MDFS given to the output boat in step ■
, or the contents of the MDFS given in step O, are manually input to the servo valve 41 as the deviation signal is0. Deviation signal ITo Ti5 output by the above program
When the servo valves 40 and 41 are operated at o, the cylinders 12 and 1 are adjusted to the equilibrium axial force at the tilt angle initially set by the operator.
Since the axial force of 5 is maintained, there is an effect that unloading work can be performed while the excavation part follows the shaking due to the fluctuating external force caused by the shaking of the ship. In the above embodiment, the tilt angle θ is detected as the output of the tilt angle detector 31 attached to the axle 10, and control is performed using this, but the present invention is not limited to this. do not have. The inclination angle θ does not need to be directly detected, and may be determined indirectly by calculation. An example of this indirect reference is shown in
This will be explained using Figure 1. In FIG. 11, the center of the sprocket 9 is taken as the origin O, the X-axis is taken in the vertical direction, and the X-axis is taken in the horizontal direction. The coordinates of the pin Q that supports the tilting cylinder 15 are expressed as (Qx, Q,), and the coordinates of the bin P are expressed as (P8°Pa). Also, sprockets 9 and 1
Let T be the distance from the pin P to the foot perpendicular to the straight line passing through the center of 4, and S be the distance from that foot to the origin 0. Here, depending on the design conditions, (Q,,Q,). 82 T is a known constant. In this case, a stroke detector 110 for detecting the stroke length of the lower part of the tilting cylinder 15 is provided as shown in the figure, and when this detector generates a stroke length corresponding to the length of PQ, this output value PQ is used. The inclination angle θ can be determined by the following equation. Therefore, θ can be detected by detecting the stroke length, and can be used in place of the inclination angle detector of the above-described embodiment. Furthermore, in the above-mentioned embodiment, the tilt angle θ is directly or indirectly detected, the equilibrium pressure Ps0 corresponding to this tilt angle is determined, and the value is controlled to be kept constant. It's not limited to things. The above equation (1), (2
) As is clear from the equation, Pso can be determined if the axial force Fs0 is known. Therefore, by installing a detector 32-b for detecting the axial force Fs' as shown in FIG. 2 in place of O's +), Pso can be determined from the detected output. Similarly, the shaft force F on the tension cylinder can also be detected by installing the detector 32-a as shown in FIG. Therefore, PTo is similarly determined using the above-mentioned equation (5). : Can be done. Setting the equilibrium pressure Pso when only the detector (for example, load cell) 32-b for detecting axial force is provided as shown in FIG. 12 (CA) can be realized by the processing flow shown in FIG. 12 (B). . That is, first, the axial force immediately after the start of operation is input from the detector 32-b (step Fl). Next, it is determined whether the operator is performing posture control, and if the posture control is not being performed, the equilibrium pressure Ps0 is controlled so that the input axial force is achieved (step F2).
). When the audience operator is performing attitude control, the swing tracking function is stopped (step F3), and the end of attitude control is determined (step F4). Upon determination of completion, the axial force at that point is input from the detector (step F5). Then, the pressure for keeping the axial force constant is established and the pressure regulating valve is controlled (step F6). A specific embodiment of the present invention that realizes the process shown in FIG. 12 (El) will be explained in detail using FIG. 13 and FIG. 14 (At and (B)). First, FIG. This is a diagram showing the configuration, and the control panel 200 and the hydraulic circuit 100 have completely the same configuration as the embodiment shown in FIG. Only the pressure regulating valve 21 that regulates the pressure of the cylinder 12 and the pressure regulating valve 21 that regulates the pressure of the tilting cylinders (two) 15 are shown. However, the difference is in the detectors.In other words, in the case of Fig. 6, 31 inclination angle detectors were used, whereas in the case of Fig. 13, an axial force detector for detecting axial force was used. 32-b is utilized.The operation of the embodiment shown in FIG.
This will be explained using Figure 4 (5) and (G). First, when the power is turned on and the program starts, initial values are set, memory is initialized, and the output board is initialized (steps 1 to 2). Next, input the axial force ps from the input capo) DIB, and this F
Determine whether 3 is positive or negative (in step ■). If it is positive, the equilibrium pressure P'o'r is calculated from equation (1) above.
Calculate this, multiply the current, pressure, and conversion coefficient by 1 and set the valve 6.
The coil current value 111o is calculated (step ■). If it is negative, the equilibrium pressure P5o is calculated from the above-mentioned equation (2), and ijo is calculated in the same way (step (2)). The calculated ISO is stored in MISO of the memory (step 2). Read axial force F5 from input port DIB (
Step ■). From this ps, calculate the inclination angle θ by inverse calculation of equation (3), and use this θ to calculate the axial force FT applied to the rod of the tension cylinder (step 0
．． ■). From this FT, using equation (5), the equilibrium pressure PT0 is
The coil current iT0 of the pressure regulating valve 21 is calculated by multiplying by the current and pressure conversion coefficient 膓, and this is calculated as MITO.
(steps ■, ■). Next, input port DI
Input the contents of AO and DIAI (step 0). Then, the contents of MAoo are stored in MAO1, and the contents of DIAO are stored in MAOO (step [phase], o). Also, the contents of MAI O are stored in MAI 1.4 (step @l). Thereafter, it is determined whether the content of MAO0 is 1" or not, and if it is 1", the process proceeds to step O. If no, proceed to step [phase], and make a determination of MAI O#)"I"failure or failure), and if +1#, proceed to step ■. If not, proceed to step ■. In step (2), the output ports DOAO and DOAII are output. That is, the port of the switching valve 30 (see FIG. 3 or 6) is set to B. After this process, the process returns to step (2).Step In ■, judge whether MAO1 is +1# or not,
In case of "i', proceed to step @, and in case of no, proceed to step 0. In step 0, it is determined whether MAII is 1" or not, and in case of '1j', proceed to step ■; If so, proceed to step ■. In step ■, the axial force F11
Determine whether is positive or negative, and if it is positive, proceed to the step; if negative, proceed to the step. In step [phase], F5 is used to calculate the coil current is of the pressure regulating valve force. Calculate. This calculation is similar to step (2). The calculation result is stored in MI 80 (step 0). Fs
If is negative, the coil current of the pressure regulating valve force is determined by the same calculation as in step O, and this result is stored in MISO ([yes] in step). In step (2), it is determined whether the axial force Fs is positive or negative, and if it is positive, proceed to step (2), and if negative, proceed to step (2). In step @, the contents of MISO are output to the output port DOB. Then, set “1” to the output port DOAO, D
Output 10″ to OAI (i.e. A boat selection) (
of steps). In step @, the contents of MISO are output to the output port DOB. Then, set "0" to DOAO and '0' to DOAI.
Output 1# (i.e. C port selection) (step @
). After execution of step [phase] or (2), the process returns to step (2) and control continues. In this embodiment, control that follows the rocking of the ship can be realized only by detecting the axial force F. In this example, the axial force FS applied to the rod of the tilting cylinder was detected, the inclination angle θ was determined from the second pg, and the axial force F applied to the rod of the tensilon cylinder was determined from this θ ( The axial force FT may be directly detected instead of being calculated in FIG. 14 (5) and steps ① to ＠ therein. The axial force detector 32-a in FIG. 2 is for detecting this axial force F. [Effects of the Invention] As described above in detail, according to the present invention, in a continuous unloader having a tiltable tilting frame, an equilibrium pressure is determined according to the tilt angle of the tilting frame, and this pressure is maintained constant. Since it is controlled, no matter how you manipulate the angle of inclination, it can almost perfectly follow the rocking of the ship.

[Brief explanation of drawings]

Fig. 1 is a diagram showing an example of a continuous unloader, Fig. 2 is an enlarged view of the tilting frame section of the unloader in Fig. 1, and Fig. 3 is an example of a hydraulic circuit for driving the tilting frame section. , Figure 4' is a diagram showing the relationship between the tilt angle of the tilting frame and the tilting cylinder axial force, Figure 5 is a diagram showing the relationship between the tilting angle of the tilting frame and the tension cylinder axial force, and Figure 6 is a diagram showing the relationship between the tilt angle of the tilting frame and the tension cylinder axial force. Figures illustrating an embodiment of the present invention, Figures 7 () to 7 (to) are operation flow diagrams in the embodiment of Figure 6, Figure 8 is a diagram illustrating an example of a hydraulic circuit, and Figure 9. 10(N-10(
(to) is an operation flow diagram in the embodiment of FIG. 9, FIG. 11 is a diagram showing an example of tilt angle detection, FIG. A schematic operational flow diagram of the embodiment, FIG. 13 is a diagram showing another embodiment of the present invention, and FIGS. 14 (5) to 14 (B) are operational flow diagrams of the embodiment shown in FIG. 13. be. 2... Unloader body, 3... Conveyor boom, 4... Main frame, 11...
・Tilt frame, 12...Hydraulic cylinder for tension, ・15...Hydraulic cylinder for tilt, [Co., Ltd.]...Hydraulic source, 21...Pressure adjustment valve(
Proportional electromagnetic pressure regulating valve) 23... Switching valve (three-way electromagnetic switching valve), 4... Pressure regulating valve (proportional electromagnetic pressure Y4 regulating valve), 30... Surface switching valve (Three-way electromagnetic switching valve), oh...calculator, ah...analog-digital converter, ah. 3G... Digital to analog converter 1.1
00 Song... Hydraulic circuit, 200... Plane control panel, 250...
・Music control panel 1'2 Figure 4 Figure 16 Figure Ya 7 (C) Age IQ (B) Off diagram (C) Off diagram (D) Age 8 Figure 4'9 Figure 2 4 Child IO diagram (A) 1'II Zuzai 12 ('ZJ (β U + t3 Zuko = 14-fl(A)

Claims (1)

[Scope of Claims] 1. A main frame, a tilting frame tiltably attached to the lower part of the main frame, a carrier extending between the main frame and the tilting frame, and a tilting motion for tilting the tilting frame. A method for controlling a continuous unloader equipped with a cylinder for tilting, characterized in that the pressure of the tilting cylinder according to the inclination angle of the tilting frame is set as an equilibrium pressure, and the equilibrium pressure is controlled to be kept constant. Continuous unloader control method. 2. The control method for a continuous unloader according to claim 1, characterized in that the equilibrium pressure is the pressure of the tilting cylinder according to the tilt angle of the tilting frame at the end of the tilting operation. A control method for a continuous unloader. 3. In the method for controlling a continuous unloader according to claim 1 or 2, the calculation is performed based on the output of the flat detector. A continuous unloader control method characterized by: 4. In the method for controlling a continuous unloader according to claim 1 or 2, the equilibrium pressure is calculated based on the output of a detector that detects the axial force of the tilting cylinder. A control method for a continuous unloader. 5. A main frame, a tilting frame attached to the lower part of the main frame so as to be tiltable, a conveyance tool extending between the main frame and the tilting frame, a tilting cylinder for tilting the tilting frame, and the conveyor. In a method of controlling a continuous unlobe equipped with a tension cylinder that adjusts the tension of the tool, the pressure of the rotation cylinder and the pressure of the tension cylinder, which are determined according to the inclination angle of the tilting frame, are controlled respectively. 1. A method for controlling a continuous unlobe, characterized in that the pressure in each cylinder is set to equilibrium, and the pressure is controlled to be maintained constant.