JPS6150851B2 - - Google Patents

Description

[Detailed description of the invention]

The present invention relates to a method for detecting a starting point for discharging a pile from a reclaimer. It is well known that bulk materials such as iron ore and coal stored in raw materials yards are discharged by reclaimers. For example, as blast furnaces and sintering equipment have become larger, steel storage and coal storage capacities have expanded, and raw material yards also require a very large space. In conventional raw material yards, when reclaimers were used to carry out discharging work, a driver operated each reclaimer by riding on it. However, as mentioned above, due to the expansion of raw material yards, etc., operating the reclaimer by connecting the reclaimer requires time for the driver to move, etc., increasing waiting time and causing a decrease in the discharging capacity. Regarding the operation of the reclaimer, when detecting the bite point of the bucket wheel at the tip of the boom, for example, the tip of the boom is manually moved to the vicinity of the desired position of the pile, and the operator from the operator's cab of the reclaimer Because the position of the boom was set visually, the work was inefficient, and there was a risk that the boom would collide with the pile and be damaged due to operational errors. Therefore, various attempts have been made to automate the operation of the reclaimer, but the difficulty of positioning bucket wheels when setting bucket wheels on piles remains the same as in the past. Therefore, solving this problem is very important for autonomous operation of reclaimers. The present invention has been made in view of this point of view, and includes data such as an operation mode, a command number, a reclaimer position at the time of starting pile discharging, a boom rotation angle at the time of starting pile discharging, the number of piles to be bitten, and the biting point. The condition, the number of the topmost tier of the pile, the angle of repose, and the amount of one inching are set in the computer, and when the reclaimer reaches the travel address set based on the data, the boom is moved to the predetermined fixed angle on the pile side. After that, the boom is raised and lowered to the set number of stages that the pile is to be picked up, and is also swung to the predetermined position on the pile side. A long-distance ultrasonic sensor installed on the boom,
Rotate horizontally until the angle of incidence of the ultrasonic waves emitted from the long-distance ultrasonic sensor on the pile is approximately perpendicular to the slope of the pile when viewed in plan, and then stop. The distance between the long-distance ultrasonic sensor and the pile is measured, and if the distance between the long-distance sensor and the pile is not infinite, the horizontal distance between the lower end of the bucket wheel and the pile is determined based on the measured distance. Determine the boom rotation angle to reach the specified distance, rotate the boom to that position, and then use the long-distance ultrasonic sensor to ensure that the incident angle of the ultrasonic waves emitted from the long-distance ultrasonic sensor is flat. Turn horizontally to an angle other than the predetermined 90 degrees, fix the long-distance ultrasonic sensor at the predetermined angle, and then move the reclaimer backward while the long-distance ultrasonic sensor detects the sensor. Measure the horizontal distance between the stack and the stage at which dispensing is to be started, and measure the horizontal distance immediately before the distance information of the long-distance ultrasonic sensor indicates infinity. This method is characterized in that the rail-side stacking point of the bucket wheel is determined based on the reclaimer position, the preset number of stacking stages, and the boom rotation angle. Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows the overall appearance of a reclaimer 1, which can be moved on rails 2 by means of a required drive device. Reference numeral 3 denotes a running frame of the reclaimer, and a swing frame 4 is mounted on the running frame 3 so as to be able to turn. A boom 5 is pivotally mounted on the revolving frame 4 so as to be able to rise and fall, and a bucket wheel 6 for scooping up and discharging loose materials is rotatably attached to the tip of the boom 5. Moreover, the bulk material scooped up and discharged by the bucket wheel 6 is supplied from a boom conveyor 7 installed on a boom 5 to a ground conveyor 10 via a chute 8 and a feeder 9, and is sent to a blast furnace or the like. has been done. Tip side of boom 5 (bucket wheel installation side)
An ultrasonic sensor as shown in FIGS. 2 and 3 is attached to the . That is, the long-distance sensor 11 is installed on both sides of the boom 5 when viewed from above, and at the farthest position from the bucket wheel 6 among the various sensors, and can be rotated horizontally and vertically by the swivel device and the luffing device. It is constructed so that it can rise and fall. This long-distance sensor 11 measures the distance between the bucket wheel 6 and the pile 15 during preparatory work for unloading, searches for the bite point, and turns the boom 5 away from the rail 2 (to the side opposite to the rail). This is to prevent the boom 5 from colliding with other piles other than the pile on which the unloading operation is performed. Near the center of rotation of the bucket wheel 6, a pair of left and right middle-range sensors 12 are installed facing slightly diagonally downward.
2 is used for detecting landslides in piles, detecting the edges of piles, etc. A middle-range sensor 13 is installed on one side (the left side in this embodiment) of the boom 5, facing approximately horizontally. Wheel 6 is piled up 1
When hitting the top of the stack 5, make sure that the output distance is infinite, and when hitting a part other than the top of the stack, make sure that the distance between the stack 15 and the end of the bucket wheel 6 is at least a distance away from colliding with each other. This is used to confirm that the height of the pile is correct and to judge whether to change levels other than the top level of the pile. A contact detector 14 is installed at the bottom of the tip of the boom 5.
is installed, and the contact type detector 14 is used to judge landslides. FIG. 4 is a conceptual diagram of the control program, in which 16 is travel address information indicating where on the rail 2 the reclaimer is traveling, and 17 is the rail 2 of the boom 5.
Turning angle information indicating the turning angle with reference to a line parallel to the line (reference line l ₁ described later), 18 is luffing angle information indicating the luffing angle of the boom 5 with reference to the parallel line, and 19 is the long distance described above. 20 is the tachometer information of the bucket wheel 6 detected by the tachometer etc., 21 is the contact type detector information, and these pieces of information are used in the preparatory work program. 22, payout work program 23, and finishing work program 24. The preparation work program 22 consists of a setting pile arrival program 25, an ultrasonic sensor scan program 26, and a bite point calculation program 27, and the payout work program 23 consists of a payout program 28,
It consists of a landslide detection program 29, a landslide prevention program 30, a preparation work program 22, a discharging work program 23, and a completion work program 24.
The data includes traveling drive information 31 for driving the reclaimer, erecting drive information 33 for raising and lowering the boom 5, bucket wheel drive information 34 for driving the bucket wheel 6, and ultrasonic sensor rotation for rotating the long distance sensor 11. It is provided as information 35. Also, start 36 for preparatory work program 22.
various work instruction input programs 37 according to the commands of
is configured so that it can be given to the preparatory work program 22. In the figure, 38 indicates the end of the program. FIG. 5 is a control device block diagram when the control device block diagram of FIG.
4 is a work instruction setting device, 40 is a computer for remote automatic operation control, and 41 is a guidance radio ground station, which are installed in a control center on the ground.
Further, 42 is an induction radio aircraft station, 43 is a reclaimer control panel, 44 is a travel address detector, 45 is a turning angle detector, 46 is a luffing angle detector, and 47 is an ultrasonic sensor such as a long-range and medium-range sensor. 48 is a bucket wheel tachometer, 49 is a contact type detector attached to the bottom of the boom 5 (referring to the contact type detector 14), 50 is a reclaimer traveling drive switch,
51 is a swing drive device, 52 is a luffing drive switch,
53 is a bucket wheel drive device, and 54 is an ultrasonic sensor rotation device of the long distance sensor 11. Next, a case will be described in which the above-mentioned program and apparatus are used to attach a bucket wheel to a pile. The operation of a reclaimer can be broadly divided into preparatory work, unloading work, and finishing work, but the loading of bucket wheels onto a pile belongs to the preparatory work, and the ridgeline of the pile that is still loaded with stackers that have not been unloaded at all. There are cases where it bites into the ridgeline of the pile that has already been paid out to some extent. During operation, it is necessary to calculate the turning angle of the boom 5 at the time of bite and the amount of movement of the reclaimer necessary for the bite, and the method of calculation will be explained with reference to FIGS. 12 to 16. The turning angle R for the bucket 6 to bite into the pile is determined by referring to Figures 12 and 13 and is calculated as follows: sinR = {d _A sin (γ _A + θ) + d sin (θ + d) − Δhtan (90° − β) −BW _R sin(θ±1.16°)−K) ×l〓 _D /cos1.16° ……(i) Here, d _A is the distance from the turning center to the long-range sensor 11. In the figure, the right side is d _AR and the left side is d _AL . θ: Turning angle of the boom 5 γ _A : Horizontal angle from the boom base line to the long-range sensor 11. In the figure, the right side is γ _AR and the left side is γ _AL . d: Distance from the long-distance sensor 11 to the mountain slope β: Angle of repose of the pile BW _R : Radius of the bucket wheel 6 Δh: Height from the long-distance sensor 11 to the bottom surface of the bucket wheel 6 L〓 _D : Boom Horizontal distance α from the turning center to the center of bucket wheel 6 at undulation angle θ _d of 5: Angle k of the part shown in FIG. Distance between: 1.16°: Angle formed by the boom base line and the center of the bucket wheel 6 The actual swing angle x of the boom 5 is determined by the following formula based on the swing angle with a bevel.

[Table] The amount of movement D of the reclaimer required for biting is the first
Referring to Figure 4, Dx=√ ² −{ _A ( _A +) + (+2} ² − {d _A cos (γ _A + θ) + d cos (θ + 2)} ………(iii) Here, L: Center of rotation The distance from
Referring to Fig. 15, find L={BW _R /cosβ − (BW _R −Δh)}×tan (90°−β) +l〓 _D /cos1−16° ……(iv) and pay out the pile. If this is done, refer to Fig. 16 and calculate by L=√ _R ² −( _R −) ² +l〓 _D /cos1−16° . . . (v). In addition, when the bucket wheel of a stacker crane bites into a pile, it needs to bite by the amount of one inching, so the actual movement amount of the reclaimer is as follows.

[Table] Where _, position t: amount of one inching of the bucket wheel Therefore, the calculation of the turning angle in the following explanation is (i),
Using formula (ii), the moving distance of the reclaimer to the reclaiming point is, if the pile has not been paid out at all,
Formulas (iii), (iv), and (vi) are used. If the pile has been paid out to some extent, formulas (iii), (v), and (vi) are used. Note that symbols in the figures that are not explained in the specification represent distances or angles of the parts. During operation, first select the pile to be discharged, determine the position to which the reclaimer 1 should travel, set its travel address in the work instruction setting device 39, and set the number of steps at the pile pick-up point and parallel to the rail 2 at the pick-up point. Also set the rotation angle of the boom 5, the payout amount, etc. based on the reference line, in the work instruction setting device 39,
Start driving. When the operation starts, first, the boom 5 rises to the upper limit at the position where the reclaimer was stopped, and in this state, the boom 5 is rotated to align the center line l of the boom 5 and the reference line l parallel to the rail 2 as shown in Fig. 6. The angle formed by ₁ and 1 when viewed from the plane becomes zero, then the boom 5 is brought down to a horizontal state, and after that, the drive device is activated and the reclaimer runs on the rail 2 until it reaches a preset travel address. , stop at that position. If the pile has not yet been paid out at all, the stop position is the position of the bucket wheel 6, as shown in FIG. When the bucket has been paid out to a certain extent, the position of the bucket wheel 6 is on the rear side in the direction of the tip of the boom from the payout start position (biting point X), as shown in FIG. 11 and the like. Note that since the boom 5 is at the upper limit of the undulation, it will not normally collide with the pile 15 while turning, but a collision with the pile 15 is monitored by the middle-range sensor 12. When the reclaimer reaches the running address of the payout start position, the feeder 9 is started, and then the boom conveyor 7 and bucket wheel 6 are started.
If the ground conveyor 10 is not activated,
The feeder 9 etc. are not driven. When the reclaimer reaches the running address of the payout start position and the feeder 9, boom conveyor 7, and bucket wheel 6 are started, the intermediate distance sensor 12 monitors the collision with the pile, and the boom 5 is moved in a predetermined manner. It turns to the fixed angle θ (θ in Fig. 13) given as a constant in equations (i) and (iii). This is to prevent the boom 5 from colliding with the roadbed or the like even if the boom 5 is laid down because the set number of stages of the pile-up point is lower. When the boom 5 turns to a fixed angle, the boom 5 rises and falls to the preset number of start stages, and then moves away from the rail 2 based on the reference line l ₁ to start the start of payout detected by the intermediate distance sensor 12. Turn around the point. During the turn, the medium-range sensor 12 monitors collisions with piles. The above operation is the same whether the pile has not been paid out at all or if it has been paid out to some extent by the reclaimer, but the operations up to determining the picking point are different. If the pile 15 has not yet been paid out at all, the long-distance sensor 11 is rotated horizontally with the boom 5 stopped, and the long-distance sensor 1
When the angle of incidence of the ultrasonic waves emitted from the sensor 1 on the pile 15 becomes substantially perpendicular when viewed from the plane as shown in FIG. 10, the rotation of the long-distance sensor 11 is stopped. When the long-distance sensor 11 stops, the ultrasonic sensor scanning program 26 in Fig. 4, the remote automatic driving control computer 40 in Fig. 5, etc. are calculated based on the time and sound speed for the ultrasonic waves to collide with the pile 15 and bounce back. As a result, if the distance is not infinite, the existence of pile 15 is confirmed, and as shown in a of FIG. 7, the distance between the lower end of bucket wheel 6 and pile 15 is Using equations (i) and (ii) above, the remote automatic operation control computer calculates the turning angle of the boom 5 such that the horizontal distance between the bucket wheel and the stack is a predetermined distance K shown in FIG. 40 and move the boom 5 to that position.
turns. During the turn, a collision with a pile 15 is monitored by the medium-range sensor 12. Note that if the distance measured by the long distance sensor 11 is infinite, it means that there is no pile at the expected position, and the reclaimer issues an alarm and stops. When the boom 5 has swung to the calculated position, the long-distance sensor 11 is then swiveled as shown in FIG. the required angle α (α shown in Figure 13) other than 90 degrees, which is determined and given as a constant in formula (iii),
The boom 5 and the long distance sensor 11 are fixed at the above rotation angle, and the reclaimer is
Run backwards in the direction of arrow A in the figure. When the reclaimer is moved backward, the long-distance sensor 11 indicates that the distance to the pile is infinite at a certain position, so the long-distance sensor 1 immediately before it indicates infinity.
From the relationship between the distance information from 1, the position of the reclaimer at that time, the turning angle of the boom 5, and the turning angle of the long-distance sensor 11, the position of the picking point The reclaimer is calculated using formulas iv) and (vi), travels according to the information, and stops at the calculated position. When traveling backwards, the intermediate distance sensor 12 monitors collisions with piles. Once the reclaimer has traveled the calculated distance and stopped, calculate the turning angle of the boom 5 that will bring the bucket wheel 6 and pile 15 close enough to avoid collision using equations (i) and (ii). Then, the boom 5 rotates to that position. Collisions with piles during turning are monitored by a medium-range sensor 12. When the bucket wheel 6 hits the top of the pile 15 as shown in FIG. 7a, the output of the intermediate distance sensor 13 indicates an infinite distance.
It can be confirmed that the bucket wheel 6 is at the top of the pile. If it bites into a tier other than the top tier of pile 15,
As shown in FIG. 7b, it is confirmed by the intermediate distance sensor 13 that the bucket wheel 6 is a predetermined distance away from the pile 15 at the step above the step to be bitten. That is, even if the middle part of the pile is paid out by the bucket wheel 6 and the upper part of the pile paid out by the bucket wheel 6 has an overhang, the overhang part does not collapse during the payout. It is confirmed that they are separated by a predetermined distance. When the pile has been paid out to some extent by the reclaimer, the boom 5 is rotated to a fixed angle so as not to collide with the roadbed when raising and lowering, the boom 5 is raised and lowered to the number of steps to start paying out, and the rail 2 is moved with reference line l ₁ as a reference.
Turn the boom 5 away from the rail (toward the opposite side) by the turning angle determined by equations (i) and (ii), turn the long-distance sensor 11 horizontally as shown in FIG. (tip side of reclaimer)
Stop it in a position facing the long-distance sensor 1.
1 horizontally toward the rear side of the boom 5,
The output of the long-distance sensor 11 is sampled according to the turning angle, and the long-distance sensor 11 and pile pile 15 are
While measuring the distance between the booms, the boom 5 is rotated to the rear end side and then stopped. The distance determined by the long-distance sensor 11 gradually becomes smaller as the long-distance sensor 11 faces toward the rear of the boom 5, and then gradually increases, but this extremely small portion reaches the bite point X. Become. From the data sampled by the long distance sensor 13 and the swing angle of the boom 5, the position of the bite point It travels forward in the direction of arrow B in the figure and FIG. 11 and stops at the calculated position. Reclaimer collisions are monitored by intermediate range sensors 12. When the reclaimer 1 moves forward and stops at the calculated position, the swing angle of the boom 5 is adjusted to (i), (ii) so that the preset distance is maintained so that the bucket wheel 6 does not collide with the pile 15. ), and the boom 5 is rotated to that position. Collision monitoring is performed by intermediate range sensors 12. When the bucket wheel 6 hits the top tier of the pile 15, the top tier of the pile 15 is confirmed since the output of the intermediate distance sensor 13 indicates an infinite distance. As shown in FIG. 9, when the bucket wheel bites into a layer other than the top layer of the pile 15, the output of the middle-range sensor 13 determines that the surface of the layer one step higher than the layer it should hit is detected by the bucket wheel. Make sure that you are at least the distance set to avoid collision. With the preparation work completed above, the boom 5 is turned to the stacking side, the bucket wheel 6 is engaged to the required position of the stack, and the boom 5 is moved in a zigzag pattern to perform payout. A flow sheet showing the above-mentioned work procedure is schematically shown in FIG. 17.
Furthermore, to explain the relationship between the boom's heave angle θ _B and the number n of stacks 15 to be delivered using Fig. 18, 4800 cos (θ _B +2.5°) + 9974 = (n-1) × H + BW _R ... (vii ) becomes. Here, H is the height of one step of the pile 15. If the number of stages n is set as data, the undulation angle θ _B is calculated from equation (vii) during operation, and control is performed. Note that the present invention is not limited to the above-described embodiments, and it goes without saying that various changes can be made without departing from the gist of the present invention. Since the method for detecting the start point of discharging a pile in a reclaimer of the present invention has the above-described configuration, positioning when setting bucket wheels on a pile is easy, and automatic operation including subsequent discharging work is possible. Therefore, there is almost no need for the operator's hands to be involved, making the work easier and faster, improving safety, and reducing the number of operating personnel, contributing to labor savings and improving dispensing efficiency, etc. Various excellent effects can be achieved.

[Brief explanation of the drawing]

Figure 1 is an overall view of the reclaimer used in the present invention, Figure 2 is a layout diagram of sensors used in the present invention, Figure 3 is a plan view of Figure 2, and Figure 4 is a control program used in the present invention. A conceptual diagram, FIG. 5 is a block diagram of the control device used in the present invention, FIG. 6 is a plan view for explaining when a bucket wheel bites into a pile piled in a stacker in the present invention, and FIG.
The figure is an explanatory side view similar to Fig. 6 when the bucket wheel bites into the pile that is still stacked with the stacker, and Fig. 8 is an explanatory side view when the bucket wheel bites into the pile that has been removed to some extent by the reclaimer in the present invention. Fig. 9 is a side view for explaining when a reclaimer bites into a pile that has been removed to some extent, similar to Fig. 8, and Fig. 10 is a side view for explaining when a reclaimer bites into a pile that has been removed to some extent. FIG. 11 is an explanatory diagram for detecting the bite point of a pile that has been taken out to some extent by a reclaimer. FIGS. 12 and 13 are explanatory diagrams for determining the turning angle of the boom.
Figures to Figure 16 are explanatory diagrams of the amount of movement of the reclaimer when the bucket wheel bites into the pile, Figure 17 is an explanatory diagram of the work procedure of the method of the present invention, and Figure 18 is the relationship between the boom hoisting angle and the number of pile stages. It is an explanatory diagram of a relationship. In the figure, 1 is a reclaimer, 5 is a boom, 6 is a bucket wheel, 11 is a long-distance sensor, 12 is a middle-range sensor, 13 is a middle-range sensor, 15
indicates a pile.

Claims (1)

[Claims] 1. The data includes the operation mode, command number, reclaimer position at the time of starting stack discharging, boom rotation angle at the start of stack discharging, number of stacks to be bitten, state of the biting point, position of the topmost stack of the pile. The number of stages, angle of repose, and amount of one inching are set in the computer, and when the reclaimer reaches the travel address set based on the data, the boom is rotated to a predetermined fixed angle on the stacking side, and then The boom is raised and lowered up to the set number of steps to be taken into the pile, and then swiveled to the predetermined position on the side of the pile, and if the pile to be bitten has not been cleared at all, a long-distance lift provided on the boom of the reclaimer is used. The ultrasonic sensor for long-distance use is rotated horizontally to a position where the incident angle of the ultrasonic waves emitted from the long-distance ultrasonic sensor to the pile is approximately perpendicular to the slope of the pile when viewed in plan, and then stopped. Measure the distance between the long-distance ultrasonic sensor and the pile at the stopped position, and if the distance between the long-distance ultrasonic sensor and the pile is not infinite, the bucket wheel will be moved based on the measured distance. Determine the boom rotation angle so that the horizontal distance between the lower end and the stack is a predetermined distance, rotate the boom to that position, and then use the long-distance ultrasonic sensor to detect the ultrasonic waves emitted from the long-distance ultrasonic sensor. Rotate horizontally so that the incident angle of the sound wave is at an angle other than the predetermined 90 degrees when viewed from above, fix the long-distance ultrasonic sensor at the predetermined angle, and then move the reclaimer backwards while rotating the long-distance ultrasonic sensor. The distance ultrasonic sensor measures the horizontal distance between the sensor and the preset stage of the pile that has not yet been paid out, and the distance information of the long distance ultrasonic sensor reaches infinity. The reclaimer is characterized in that the rail-side stacking point of the bucket wheel is determined based on the horizontal distance immediately before the display, the reclaimer position at that time, the preset number of stacking stages to be grabbed, and the boom rotation angle. A method for detecting the start point of stack payout. 2 Data includes operation mode, command number, reclaimer position at the start of stack removal, boom rotation angle at the start of stack removal, number of stacks to be bitten, state of the bite point, number of top stacks, angle of repose, 1 When the reclaimer reaches the traveling address set based on the data, the boom is rotated to a predetermined fixed angle on the pile side, and then the boom is moved to the set pile. If the pile has already been taken out, a long-distance ultrasonic sensor installed on the reclaimer's boom can be used to raise and lower the pile up to the number of stages that should be taken, and then turn the pile to a predetermined pile side position. A long-distance ultrasonic wave that measures the distance between the long-distance ultrasonic sensor and the preset step to start dispensing while turning to the rear, and the distance information of the long-distance ultrasonic sensor is minimized. A method for detecting a starting point for discharging piles of a reclaimer, which is characterized by determining the rail-side pile-taking point of a bucket wheel based on the horizontal position of a sensor, a preset number of piles to be picked up, and a boom rotation angle. .