JPS6116695B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement in a stage change control method for a reclaimer used to discharge materials such as ore and coal from a pile.

FIG. 1 shows a reclaimer commonly used in the past. In the figure, 1 is a reclaimer body, 2 is a boom rotatably attached to the reclaimer body 1, and 3 is rotatably attached to the tip of the boom 2. 4 is a pile of transported materials such as ore and coal to be removed.

The conventional reclaimer is constructed as described above, and its operation will be explained next with reference to FIGS. 1 and 2.

The reclaimer rotates the bucket wheel 3 from the position shown in FIG. 2a and rotates the boom 2, thereby performing the work of discharging the pile 4 of materials to be transported. If a pile break is detected at both ends of the rotation of the conveyed material stack 4 during the progress of this discharging work, the rotation of the boom 2 is stopped, the reclaimer main body 1 is moved forward by an inch, and then the rotation of the boom 2 is reversed. Thereafter, by repeating this operation, the stack 4 of transported items is delivered.

In this dispensing work, the dispensing number count value reaches the set dispensing number n ₀ , and the bucket to foil 3
moves forward to the position shown in FIG. 2b, and when a break is detected at the end of the stack 4, the bucket wheel 3 is changed to the next lower stage if the unloading stage is not the lowest stage. In this step change, the bucket wheel 3 is moved backward by x ₀ , and then the lifting distance of the boom 2 is raised by z ₀ from the current position. The value of x ₀ is the angle of repose θ ₀ of the transported material stack 4, the value obtained by dividing the height of one tier, that is, the total height H by the total number of dispensing stages k ₀ , and the number of dispensing stages n ₀ ,
Amount of thrust of the bucket foil 3 into the transported material pile 4 △x
It is calculated as follows.

x ₀ =H/k ₀・cotθ ₀ +n ₀・△x Also, the value of z ₀ is the value obtained by dividing the total height H by the total number of dispensing stages k ₀ , and z ₀ =H/k ₀ .

Through control based on the above calculated values, the bucket wheel 3 is moved from the position b to the position c in FIG. 2, and the stage change operation is completed. Thereafter, the reclaimer performs the same operation as described above at this discharging stage to discharge the pile 4 of transported goods.

The conventional reclaimer control method described above is controlled only according to preset parameters such as the mountain height H, the angle of repose θ ₀ , etc.
If the shape of is different from the set parameters such as height H and angle of repose θ ₀ , various control amounts x ₀ ,
At z ₀ , a discrepancy occurs between the calculated value and the actually required value, and as a result, the bucket wheel 3 cannot be positioned at the desired position in the step change control to the lower stage.
Operational efficiency decreases due to idling, and if the bucket wheel 3 does not move, there is a danger that the bucket wheel 3 will collide with the transported material pile 4, making safe and highly efficient operation difficult.

This invention focuses on the above-mentioned drawbacks and aims to improve the same.The present invention focuses on the above-mentioned drawbacks and aims to improve the same. The present invention provides a reclaimer step change control method in which actually measured step change shapes obtained by actually measuring the shape of the reclaimer are compared, the reclaimer is controlled based on the shape comparison, and the bucket wheel is controlled to be changed to a desired position.

An embodiment of the method according to the present invention will be described in detail below with reference to the drawings.

That is, in FIG. 3, 5 is a bucket foil 3, as shown in a side view in FIG. 4a and a front view in b.
A pile detection device (hereinafter simply referred to as the detection device), which will be described later, is attached to the lower part of the boom 2 near the rotation axis of the detector. It is structured so that it can be used in any direction. Note that the other configurations are the same as the device shown in FIG. 1, and the explanation will be omitted.

FIG. 5 is a detailed diagram of the detection device 5, which is composed of a transducer system 6 and a control system 7. 6a to 6d are parts constituting the transducer system 6, 6a is an ultrasonic transmitting/receiving element, 6b is an ultrasonic transmitting/receiving element that emits the ultrasonic signal emitted forward from the ultrasonic transmitting/receiving element 6a, and transmits a target object to be transported. This is a reflector for sending reflected waves from the pile 4 to the ultrasonic transmitting/receiving element 6a, and is designed to sharpen the directivity of the ultrasonic signal. Further, 6c is a drive motor that drives the reflector 6b in an arbitrary direction, and 6d is an encoder that detects the position of the reflector 6b. Note that the drive motor and encoder are usually composed of two axes, an elevation axis and a rotation axis, and enable three-dimensional detection.

7a to 7i are parts constituting the control system 7;
7b is an A/D converter that converts the analog output of the amplifier 7a into a digital output, and 7c is input data. 7d is a power supply device for driving the drive motor 6c, 7e is a power supply device for driving the ultrasonic transmitting element 6a, 7f is an on/off signal output port, 7g is a central processing unit, and the input data port 7c is an A/D port. The intensity of the ultrasonic received wave which is the output of the converter 7b and the reflector 6b which is the output from the encoder 6d.
The on/off signal output port 7f is a power source for driving a motor that controls driving and stopping of the drive motor 6c in response to the output of the central processing unit 7g. device 7d
On/off switching signals are respectively applied to the power supply device 7e for driving the transmitting element. The central processing unit 7g is composed of a microprocessor and a memory, and performs all control of the detection device 5 and data processing. 7h is an input/output data port, which connects the reclaimer operation control device 8 and the central processing device 7.
g, inputting commands from the control device 8 and outputting measurement data stored in the central processing device 7g to the control device 8. A control signal input/output port 7i is located between the control device 8 and the central processing unit 7g and controls the timing of input/output signals.

Next, the operation of this detection device 5 will be explained.

The rotation and elevation angles of the transducer system 6 are given from the reclaimer operation control device 8 through the input/output data port 7h. In particular, the elevation angle of the transducer system 6 is corrected so that the transducer system 6 faces in a constant direction regardless of the elevation angle of the boom 2 of the reclaimer body 1. The central processing unit 7g outputs on/off signals to the motor drive power supply device 7d through the on/off signal output port 7f based on the turning and elevation angles from the reclaimer operation control device 8. Upon receiving the signal, the motor drive power supply device 7d drives the drive motor 6c. The turning and elevation positions of the reflector 6b are input to the input data port 7c as the output of the encoder 6d.
The angle is read into the central processing unit 7g through the command angle, and positioning is completed in accordance with the command angle. When the positioning is completed, the central processing unit 7g gives an on/off signal to the ultrasonic transmitting element driving power supply 7e via the on/off signal output port 7f, and drives the ultrasonic transmitting/receiving element 6a at regular intervals to generate ultrasonic waves. A pulse is emitted, and a reflected pulse from the conveyance pile 4 is received, amplified by an amplifier 7a, and converted into a digital quantity by an A/D converter 7b, which is then input to a central processing unit 7g through an input data port 7c. The distance L _s from the transducer system 6 to the transported material pile 4 is determined by calculating the propagation delay time t from when the ultrasonic transceiver element 6a emits an ultrasonic pulse until it receives a reflected pulse, and L _s = V× Calculate at t/2. Here, V is the speed of sound, and temperature correction is performed by measuring the ambient temperature.

The apparatus for implementing the method of the present invention is constructed as described above, and the method of the present invention will now be described in detail.

Similar to the conventional control method, when the set number of deliveries for a predetermined stage of the transported material pile 4 is completed,
Unless it is the lowest stage, control will be entered to change to the next lower stage. In this case, the type of the transported material pile 4 and the number of stacks per stage are determined based on the values of parameters such as the height of the transported material pile 4, the angle of repose, and the total number of unloading stages. Knowing the height (next stage position) etc., the reclaimer operation control device 8 detects the detection device 5.
At the same time, the bucket wheel 3 is moved backward. At this time, the transmission direction of the ultrasonic signal emitted from the ultrasonic transmitting/receiving element 6a of the detection device 5 is directed to be directed vertically downward of the bucket foil 3. Reclaimer operation control device 8
compares the detection data sent from the detection device 5, that is, the actually measured step change shape of the transported material pile 4, and the reference step change shape, and recognizes the shape of the transported material pile 4 by the bucket foil 3 from the shape comparison. That is,
In FIG. 6, from the detection device 5 to the bucket foil 3
Assuming that the distance to the lower surface of the bucket wheel 3 is d ₁ , the total peak height H and the total number of dispensing stages are k ₀ , the relationship between the detection data until the next lower stage is detected and the moving distance of the bucket wheel 3 is shown in Figure 7. It can be done. In this Figure 7, a
Or b is if the next lower row has not been paid out yet, c
is a typical curve when the next lower stage has already been dispensed, and the reference stage change shape consisting of the patterns of these curves a, b, and c is stored in advance in the reclaimer operation control device 8. Note that the actually measured step change shape of the transported object pile 4 is corrected based on the type of the transported object pile 5, the height of each step, and the turning angle of the boom 2. Next, as the bucket wheel 3 moves, the detection device 5
The state of the conveyance stack 4 is detected, and as shown in FIG. 7, this detection data L indicates that a step end is detected when L>d ₁ , and the next lower step is detected when L=d ₁ +H/k ₀ .

In this way, the reference step change shape that is set in advance,
By comparing the shape of the actually measured step change shape by the detection device 5, the shape of the surface of the conveyed material stack 4 being discharged by the bucket foil 3 is known, and it can be determined whether the next lower step has already been discharged.

If it is determined that the next lower tier has already been paid out, the reclaimer operation control device 8 takes the diameter of the bucket wheel 3 into account and further moves backward from the next lower tier detection point, and then raises and lowers it from the current position by z=H/ Lower the k by ₀ . Upon completion of the elevation and lowering, the reclaimer operation control device 8 sets the transmission direction R of the ultrasonic signal of the detection device 5 to the horizontal front of the boom 2, and moves forward while measuring the distance between the boom 2 and the cargo pile 4. As a result, the detection data L of the detection device 5 is expressed by the following equation.
When it falls below the value of x ₁ , it is determined that the stage forward end has been detected and forward movement is stopped, completing the stage change.

x ₁ = d ₂ + x ₂ where d ₂ is a constant determined by the mounting position of the detection device 5 with respect to the bucket wheel 3.

x ₂ : A value determined by the type of transported material pile 4,
The bucket foil 3 is selected so as to be in contact with the stage delivery surface.

Next, if it is determined that the next lower stage has not been dispensed, the reclaimer operation control device 8 controls the boom 2 of the reclaimer.
is positioned at the turning angle _o+1 shown in the plan view of FIG. 8a. This turning angle _o+1 is calculated as follows. That is, the distance from the center of the trackbed of the reclaimer main body 1 to the center of the transported material pile 4 is W, the length of the boom 2 is L _B , the angle of repose of the transported material pile 4 is θ ₀ , and the distance of the boom 2 at stage n+1 of n stages is The elevation angle is θ _o , θ _o
+1 , the swing angle _o+1 of the boom 2 is W=[L _B cosθ _o+1 + (n+1)H/k ₀ cotθ ₀ ] ×sin _o+1 , so _o+1 = sin ^-1 [W/L _B cosθ _o+1 + (n+1)H/k ₀ cotθ ₀ ].

Thereafter, the reclaimer operation control device 8 issues a detection start command to the detection device 5, and at the same time retreats the bucket wheel 3. At this time, the transmitting direction R of the ultrasonic signal emitted from the ultrasonic transmitting/receiving element 6a of the detecting device 5 is directed toward the vertically lower surface of the bucket foil 3. When the detection data L of the detection device 5 becomes L=d ₁ +H/k ₀ and the next lower stage is detected, the reclaimer operation control device 8 takes the diameter of the bucket wheel 3 into consideration and causes the vehicle to travel further backward from the point where the next lower stage is detected. , then lower the elevation by z ₀ =H/k ₀ from the current position. Upon completion of the elevation and lowering, the reclaimer operation control device 8 sets the ultrasonic signal transmission direction R of the detection device 5 to the horizontal front of the boom 2, and sets the conveyed material pile 4.
It moves forward while detecting the state of , and the stage change is completed when the forward end is detected.

In the above embodiment, the pile detection device uses a device that measures three-dimensionally, but in implementing this invention, a fixed type may be used at multiple points as another embodiment. In this case, depending on the boom angle and loading shape, the ultrasonic waves may interfere with each other, making accurate measurement impossible. It is preferable to determine the number of installations based on the relationship with measurement accuracy.

As described above, according to the method of the present invention, the actual step change shape obtained by actually measuring the shape of the pile of conveyed materials using the detection device is compared with the reference step change shape that is set and stored in advance. Since the reclaimer is controlled based on the shape comparison and the bucket wheel is controlled to move to the desired position, even if there is a discrepancy between the data related to the pile inputted in advance and the data related to the actual pile, etc. Even in such cases, it is possible to prevent a drop in operational efficiency due to idling of the bucket wheel and wasteful movement of the boom, as well as to prevent the bucket wheel from colliding with the pile of materials to be transported. A step change control method can be obtained.

[Brief explanation of the drawing]

Figure 1 is a configuration diagram showing a conventional reclaimer, Figure 2 is a configuration diagram showing a conventional reclaimer.
FIG. 3 is a diagram showing a conventional stage change control method, FIG. 3 is a configuration diagram showing a reclaimer in which the method of the present invention is implemented, and FIG. 4 is a diagram showing the mounting position of a pile detection device.
FIG. 5 is a block diagram showing the configuration of the pile detection device.
FIG. 6 is a diagram explaining the method of the present invention, FIG. 7 is a curve diagram showing the relationship between ultrasonic detection data and the moving distance of the bucket wheel until the next lower stage detection is reached, and FIG.
The figure is a schematic diagram for calculating the boom rotation angle at the time of stage change in a stack of unpaid items. In the figure, 1 is a reclaimer main body, 2 is a boom, 3 is a bucket wheel, 4 is a pile of conveyed materials, 5 is a pile detection device, and 8 is a reclaimer operation control device. Note that the same reference numerals in the figures indicate the same or equivalent parts.

Claims (1)

[Scope of Claims] 1. When the boom of the reclaimer is rotated and the bucket wheel attached to the boom is rotated to unload the transported objects from the transported object pile, the discharging operation of a predetermined stage of the transported object pile is completed. In the reclaimer stage change control method in which the bucket wheel is stage-changed to the next lower stage, when the reclaimer retreats at the time of stage change, the reference stage change shape of the pile of conveyed materials set in advance and the next stage are detected by the pile detection device at the time of stage change. The shape of the lower tier is compared with the actually measured tier change shape of the pile of conveyed material, and it is determined whether the next lower tier is a tier that has already been dispensed, and the reclaimer is controlled based on the determination result. A reclaimer stage change control method for controlling a bucket wheel to a desired stage change position. 2. A reclaimer according to claim 1, characterized in that if the actually measured step change shape of the pile of conveyed material is concave, it is determined that the next lower step is a step that has already been paid out. step change control method.