JPS62171825A - Quantitative delivery method for reclaimer - Google Patents

Abstract

PURPOSE:To enable execution of quantitative delivery through specifying of a scooping-up cross section, by providing a quantitative delivery control device which moves forward or backward a reclaimer at a running speed responding to the slewing angle of a boom. CONSTITUTION:Through the working of a reclaimer, running on a track and having a bucket wheel attached to the tip of a boom capable of freely slewing, a bucket wheel is moved between a boundary on the track side of a raw material stack parallel to a track and a boundary on the side reverse to track, and delivery is effected as a reclaimer is run depending upon the slewing angle. In this case, a quantitative delivery control device 2 computes the running speed of the reclaimer, required for quantitative delivery, from a quantitative delivery amount, provided from the outside, a scratch length (protruding distance) of a bucket wheel, a slewing speed, and a boom slewing angle by a detector 1, and drives a running motor 4 through a running motor control device 3, and a running speed detector 5. This constitution performs quantitative delivery and eliminates to provide capacity with a margin.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a quantitative dispensing method for a reclaimer that runs on a track and dispenses raw materials using a bucket wheel at the tip of a swingable boom.

[Prior Art] FIG. 4 shows an example of a conventional reclaimer dispensing method in a fixed amount, in which the rotation speed of the boom 6 is changed depending on the rotation position of the boom 6. That is, S is the material scooping cross-sectional area in the direction parallel to the track, θ is the swing angle of the boom 6, and S'
If is the raw material scooping cross-sectional area in the boom extension direction that changes according to the swing angle θ of the boom 6, ■ is the swing speed of the tip of the boom, and t is the time from the start of the payout operation, then the maximum payout Q is In this case, if the boom 6 is rotated from Q=, the payout amount Q becomes - constant, and it is possible to pay out a fixed amount of reclaimer. However, as another method, the bucket wheel power supply current (power ) There is a feedback method.

[Problems to be solved by the invention] However, in the former method, the shape of the pile of raw materials is not the same in theory, making it difficult to dispense a fixed quantity in practice; However, if hydraulic pressure is used as the bucket wheel drive system, the efficiency is low, and the power supply current for driving the bucket wheel is not proportional to the amount of dispensing, making it impossible to dispense a fixed amount.

The present invention has been made in view of the above-mentioned circumstances, with the object of making it possible to easily and reliably dispense a fixed amount.

Means for Solving Problem No. 1] The present invention provides a reclaimer that travels on a track and is equipped with a bucket 1 to a wheel at the tip of a swingable boom, so that the track of the material pile parallel to the track is fixed. A method for dispensing a fixed quantity of a reclaimer, in which a bucket wheel is moved between a side stowage boundary line and a counter-track side stowage boundary line by the rotation of the boom, and the reclaimer is disbursed while traveling according to the rotation angle of the boom. Input the plunge amount per bucket and boom rotation speed to the quantitative payout control device, and calculate from the input thrust amount per bucket 1~, boom rotation speed, and detected boom rotation angle. The fixed amount dispensing control device calculates the traveling speed of the reclaimer required for fixed amount dispensing, and the traveling speed of the reclaimer is controlled via the traveling motor control device.

[Function] Therefore, in the present invention, by moving the reclaimer forward or backward at a traveling speed corresponding to the swing angle of the boom,
Since the bucket wheel always scrapes the pile of raw materials uniformly, the scooping cross section becomes constant and a fixed amount of material is dispensed.

[Example] Hereinafter, an example of the present invention will be described with reference to the accompanying drawings.

1 to 3 show an embodiment of the present invention.

First, the case where the boom is rotated from the track-side boundary line A side of the material stacking pile to the counter-track side boundary line B side to dispense a fixed amount is explained using Figure 1.The reclaimer is moved from point 0 to 0'
Distance to the point (plunge amount) If the boom 6 is rotated to pay out after moving forward by LIII, the payout amount at the turning angle θ of the boom 6 is the area RCBR'
The amount is proportional to . Let the length of the boom 6 be the length of 10'~C x 1 The scraping length of the bucket wheel when the turning angle of the boom 6 is θ is Lllll, then △oco'
In, L2−×2+Lm′−2XLITICO3(π−θ)
・It becomes (+). Solving this equation (1), X=-LII, CO3θ0 L2-LII12Sin
2θ is obtained.

Also, the scraping length of the bucket wheel is LI
I11=L-X =L+LITICO3θ-L2-Lm'5in2θ-L
IllCO3θ ・叛).

On the other hand, the payout amount Q] by the bucket wheel is Q+ = + fo (1m1xv+ >dt
...Represented by work. Here, K] is a constant, ■1 is the turning speed, and t is the time from the start of the dispensing operation.

Therefore, in order to perform a fixed amount dispensing, the scraping length LIIll of the bucket wheel is determined by the rotation angle θ of the boom 6.
is always constant regardless of the initial reclaimer movement L
It is fine as long as it remains II.

That is, it is sufficient if LIIl = 'ml' L, -QV) holds true. However, L3 is the shortfall with respect to the scraping length LIIl of the bucket wheel necessary for stationary dispensing.

In order to compensate for the shortfall in the scraping length by running the reclaimer, if the running speed of the reclaimer is 2, then L, = <foV2 dt) cos θ
...(V) is required. Here, by substituting the above equations (fi) and (V) into equation Qv), LII, cos θ ten (,, fov2dt) co! l
) θ-Lm is obtained, and solving this gives the following. Also, since θ-V4 t, by putting this into equation 00 and solving it, we get the following. Therefore, the traveling speed v2 of the reclaimer is controlled in accordance with the turning angle θ using the numerical value calculated by the above equation), and a fixed amount is dispensed.

Also, the case where the boom is rotated from the counter-track side boundary line B side of the material stacking pile to the track side boundary line A side to perform discharging is explained with reference to FIG. 2.Lm -'m1 'S'
It is "". However, , and ' are the excess amount with respect to the scraping length Lm of the bucket wheel necessary for dispensing a fixed amount.

Hereinafter, it is calculated as follows in the same way as the above calculation formula, and the extra weight, ' is 13'', (f: V2 dt) CO3 (θ0 - θ)
becomes. However, θ. is the turning angle when the bucket wheel is on the opposite track side boundary line B side.

Also, the scraping length of the bucket wheel is LI
Since it becomes, Lo' cos (θ0-θ)-ge:V2 dt)C by substituting the above L' and Lm into the equation
O3(θ0-θ)=Lm...OK). By substituting θ-Vlt into this equation (Qx) and solving it, we obtain the following: Therefore, in the case of turning in the opposite direction, the traveling speed of the reclaimer 2 can be calculated according to the above (X) in accordance with the turning angle θ. A fixed amount is dispensed under control using a numerical value calculated by a formula.

Fig. 3 shows an example of a control device for carrying out the present invention, in which 1 is a turning angle detector, 2 is an externally applied fixed amount payout ff1Q1, and a bucket wheel scraping length (plunge and hang) LIT11 boom. Turning speed ■1
Based on command signals such as operation, interlock, etc., and data on the boom rotation angle θ given from the rotation angle detector 1, the running speed of the reclaimer 2 is determined by the above-mentioned equation (X). A fixed amount dispensing control device that performs calculations and controls outputs a traveling operation command and a traveling speed reference to a traveling motor control device 3, and the traveling motor control device 3 drives a traveling motor 4 according to the given command. It has become. Reference numeral 5 denotes a travel speed detector that transmits a feedback signal of the travel speed to the travel motor control device 3.

At the time of quantitative dispensing, the rotation angle θ of the boom is detected by the rotation angle detector 1 and is supplied to the quantitative dispensing control device 2, which calculates the running speed of the reclaimer (2) using equation (K). The calculation result is given to the travel motor control device 3, and the travel motor 4 is controlled to a predetermined rotation speed. For this reason, a fixed amount is dispensed by the bucket wheel.

The quantitative dispensing control device used in the reclaimer quantitative dispensing method of the present invention can adopt an analog board configuration or a digital board configuration such as a microcomputer including a CPU, and parameter settings can be input by CRT and keyboard. Alternatively, an AC motor can be used as long as it is possible to use mechanical switch input, and as long as the accuracy of the travel motor control device can be expected.
Of course, a DC motor may be used, and various other changes may be made without departing from the gist of the present invention.

[Effects of the Invention] According to the reclaimer fixed amount dispensing method of the present invention, fixed amount dispensing is possible even when the dispensing amount and drive power supply current are not proportional. When setting the capacity of transport equipment such as conveyors, there is no need to take into account the peak flow of the transported material, so there is no need to provide a margin for the capacity, reducing equipment costs, and further improving mechatronic technology, etc.
Adoption of new technology is 1. It can have various excellent effects, such as being an element that increases advertising effects for users.

[Brief explanation of drawings]

1 and 2 are explanatory diagrams showing the dispensing operation of the quantitative dispensing method of the reclaimer of the present invention, FIG. 3 is an explanatory diagram of an example of an apparatus for carrying out the method of the present invention, and FIG. FIG. 2 is an explanatory diagram of a method for dispensing a fixed amount of a reclaimer. In the figure, 1 is a rotation angle detector, 2 is a fixed amount dispensing control device,
3 is a traveling motor control device, 4 is a traveling motor, and 5 is a traveling speed detector.

Claims (1)

[Claims] 1) A reclaimer that runs on a track and is equipped with a bucket wheel at the tip of a swingable boom moves from the track-side loading boundary line of the material loading pile parallel to the track to the counter-track side loading boundary line. In the fixed quantity dispensing method of the reclaimer, in which the bucket wheel is moved by the rotation of the boom, and the reclaimer is disbursed while traveling according to the rotation angle of the boom, the amount of plunge of the bucket per one time and the boom rotation speed are Input to the fixed amount dispensing control device, and calculate the running speed of the reclaimer necessary for fixed amount dispensing with the fixed amount dispensing control device from the input bucket plunge amount per one time, boom rotation speed, and detected boom rotation angle. A method for dispensing a fixed amount of a reclaimer, characterized in that the traveling speed of the reclaimer is controlled via a traveling motor control device.