KR100328081B1 - Device and method for controlling quantitative reclaiming of reclaimer - Google Patents

Abstract

PURPOSE: A device and a method for controlling the quantitative reclaiming of a reclaimer are provided to make a reclaimer reclaim a uniform amount of material, to satisfy the condition of an iron manufacture line, and to apply controlling device and method to a large-sized reclaimer. CONSTITUTION: An instantaneous orbiting speed output unit(51) outputs an instantaneous orbiting speed by using a reclaiming quantity and a present orbiting position. A subtracting unit(52) calculates a difference between the instantaneous orbiting speed and a present orbiting speed. An orbiting speed control unit(53) increases and decreases an orbiting speed depending on the difference between a target instantaneous orbiting speed and the present orbiting speed. A reclaimer drive unit(54) drives a reclaimer under the control of the orbiting speed control unit. A reclaiming quantity measuring unit(55) measures an actual reclaiming quantity and applies the measured value to the instantaneous orbiting speed output unit.

Description

Reclaimer Quantitative Discharge Control Device and Method

The present invention relates to a reclaimer for discharging raw materials from a raw material loading site and loading them on a transfer conveyor belt. It is about.

1 is a side perspective view showing a reclaimer for discharging raw materials, and 1 is a reclaimer for discharging raw materials such as steel stone, coal, limestone, etc., from raw materials piled in a steel mill and a coal yard. The reclaimer 1 rotates the bucket drum 2 in a direction perpendicular to the rotational direction of the boom 4 while pivoting the boom 4 horizontally, and is formed on the circumference of the bucket drum 2. The bucket 3 is made to discharge the raw material 7 to pump up the conveyor belt (not shown) formed on the upper portion of the boom (4). Then, the reclaimer 1 travels by a predetermined distance on the rail 6 and stops inching during the turning operation of the boom 4.

By the way, the conventional reclaimer adjusted the rotation speed of the boom 4 based on the difference between the measured amount dispensed by the said bucket 3, and the discharge set amount.

Therefore, the conventional reclaimer control method is difficult to control a certain amount because the speed control is difficult to sensitively change according to the change of discharge amount, and the turning target value is sensitively changed, so it is difficult to apply to a large reclaimer. .

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object thereof is to obtain a target instantaneous revolution speed for the instantaneous discharge set amount of the reclaimer by using the kinematic relationship between the raw pile and the reclaimer, and use this relationship. The present invention relates to a reclaimer quantitative dispensing control device and method for controlling the quantitative dispensing.

As a technical means for achieving the above object of the present invention, the present invention provides a method for controlling the quantitative dispensing of the reclaimer for discharging the raw material by pivoting the bucket and the bucket drum is inching and rotating on the rail ,

The instantaneous turning speed Vr of each turning position (θ: angle between the rail and the boom of the reclaimer) with respect to the set discharge amount Qr of the reclaimer is calculated by the following equation,

,

,

(Where L is the turning radius, d is the first person running length, and h is the height of the raw material pile).

The instantaneous revolution speed (Vr) calculated as described above controls the revolution speed of the reclaimer and calculates the instantaneous revolution speed compensation value calculated from the difference between the actual discharge amount (Q) and the set discharge amount (Qr) of the reclaimer. (ΔVr) is added to the instantaneous revolution speed Vr to compensate for the error between the actual shape of the raw material pile and the model.

In another means for achieving the above object of the present invention, the present invention is to provide a reclaimer quantitative control device for discharging the raw material by turning the bucket and the bucket drum boom inching and rotating on the rail ,

An instantaneous turning speed calculating unit which receives the set discharge amount Qr and the current turning position (θ: the angle between the rail and the reclaimer boom) and calculates the instantaneous turning speed Vr by the following equation;

Where L is the turning radius, d is the first run length, h is the height of the raw material pile,

The compensation value ΔVr is the instantaneous turning speed compensation value calculated by substituting the difference between the actual discharge amount Q and the set discharge amount Qr.)

A subtraction unit for obtaining a difference between the instantaneous revolution speed value output from the instantaneous revolution speed calculating unit and the current revolution speed;

A turning speed control unit for increasing or decreasing the turning speed according to a difference between a target instantaneous turning speed value output from the subtracting part and a current turning speed;

A reclaimer driver for turning at a speed according to the control of the turning speed controller and driving the reclaimer to discharge raw materials;

And a discharge amount measurement unit for measuring the actual discharge amount Q according to the driving of the reclaimer driver and applying the instantaneous revolution speed calculation unit.

1 is a side perspective view showing a reclaimer for discharging raw materials.

Figure 2 is a perspective view showing the discharge trajectory seen on the upper surface according to the inching and turning operation of the reclaimer.

Figure 3 is a perspective view showing the discharge trajectory seen from the side that occurs in accordance with the rotation of the bucket drum of the reclaimer.

4 is a graph showing the relationship before and after inching driving.

Figure 5 is a block diagram showing an embodiment of a reclaimer quantitative discharge control apparatus according to the present invention.

* Description of the symbols for the main parts of the drawings *

1: Reclaimer 2: Bucket Drum 3: Bucket

4: boom 5: belt conveyor 6: rail

7: Raw material pile 8: Radial discharge surface

Hereinafter, with reference to the accompanying drawings will be described in detail the configuration and operation of the present invention.

2, 3, and 4 are perspective views for explaining a method for controlling quantitative delivery of the reclaimer of the present invention.

FIG. 5 is a block diagram schematically illustrating a reclaimer quantitative control device to which a reclaimer quantitative control method according to the present invention is applied, and inputs a set discharge amount Qr and a current turning position θ. The instantaneous revolution speed calculation unit 51 and the instantaneous revolution speed calculation unit 51 calculate the instantaneous revolution speed Vr, and add the compensation value represented by the difference between the target instantaneous revolution speed and the actual speed. A subtractor 52 which subtracts the current revolution speed V from the instantaneous revolution speed Vr and a revolution speed control unit which increases or decreases the revolution speed of the current reclaimer by the speed increase / decrease value output from the subtractor 52 ( 53), a reclaimer driver 54 that rotates at a speed according to the control of the revolution speed controller 53 and rotates the bucket drum to discharge raw materials, and the reclaimer driver 54 is driven. By measuring the actual discharge (Q) The discharge amount to be applied to a group moment revolution speed computing unit 51 comprises an observation unit (55).

First, the relationship between the reclaimer's revolution speed and discharge rate is revealed.

Fig. 2 shows the non-trajectory generated by the reclaimer 1 turning the boom 4 while inching, and the y-axis is defined as the rail 6 direction in which the reclaimer 1 moves. When the direction perpendicular to the rail 6 is on the x side and the current position of the reclaimer 1 is 0,0, the discharge trajectory per inching run of the reclaimer 1 is as shown in 9a to 9d. appear. Here, 9a is a non-tracking which appears in the fuel pile 7 when the reclaimer 1 is at the initial position (0,0), and 9b is when the reclaimer 2 has moved by the unit distance d. (0, d) is a trajectory, and 9c, 9d are the trajectories of (0,2d) and (0,3d) when the second third person is driven, respectively, and the trajectory is the position of the reclaimer (2). It appears in the form of a ship having a certain radius (the length from the center of revolution of the reclaimer 1 to the bucket 3) centering on.

Here, the cylindrical bucket drum 2 in which the bucket 3 is installed is attached to the boom 4 at an inclined angle, and the boom 4 of the reclaimer 1 is connected to the rail 6. While turning at an angle θ away from the y-axis as a reference, the distance R, i.e., the radial travel value, shown in the entire dispensing trajectory varies depending on the turning position θ of the reclaimer 1. Therefore, in the present invention, the relationship between the instantaneous turning speed Vr of the reclaimed 1 for discharging a fixed amount of the raw material with respect to the angle θ (that is, the turning position) with respect to the y axis.

Fig. 3 is a side cross-sectional view showing the dislocation trajectory of the side formed by the rotating bucket 3 when the reclaimer 1 is in the swing position θ. The solid line is a non-trajectory of (n + 1) d at the time of n + 1th inching, and is represented in the form of a line having a certain radius with respect to the center of the bucket drum 2. The hatched portion between the trajectory nd and the trajectory (n + 1) d indicates the dispensing portion at the time of the n + 1 dispensing, and the turning radial direction with respect to the height h of each of the turning radial direction dispensing surfaces 8 is shown. Since the depth R appears to be the same, the area S of this discharge portion is S = Rh. Here, h represents the discharge height of the fuel pile 7, R is the depth represented in the turning radius direction of the reclaimer 1, and this turning radius direction depth R varies depending on the turning position θ.

Therefore, if the reclaimer 1 is turning in a constant direction, the amount of dispensing varies depending on the turning position θ. Therefore, in order to obtain a constant discharging amount, the revolution speed with respect to the swing position θ must be different, and the rotation speed of the bucket 3 must be fixed at a speed that can be sufficiently discharged without a large load even for the fastest swing speed.

Accordingly, the instantaneous turning speed Vr of the reclaimer 1 can be obtained as follows.

In FIG. 4, when the rail is referred to as the y-axis, the vertical direction of the rail is referred to as the x-axis, the position of the current reclaimer 1 is 0, 0, and the non-trajectory indicated at this position is Q1. The trajectory (Q1) is x ² + y ² = L ² In the above, L represents the turning radius of the reclaimer (1). In addition, the non-trajectory Q2 represented by the turning after the reclaimer 1 is inching by the unit distance d is x ² + (yd) ² = L ² It can be represented by.

로 나타난다. 그리고, 상기 직선

와 불출궤적(Q1)의 교점을 C로, 불출궤적(Q2)와의 교점을 C'로 할 때, 상기 C와 C'간의 거리R은 리클레이머(1)의 회전반경방향의 깊이R이다.When the reclaimer 1 to be rotated after the unit distance d only inching travels is expressed in θ, the boom 4 is expressed by a linear equation.

Appears. And the straight line

When the intersection of the and the trajectory Q1 is C and the intersection of the trajectory Q2 is C ', the distance R between C and C' is the depth R in the rotation radius direction of the reclaimer 1.

R≃d⋅cosθ

Therefore, the radius of rotation depth R is approximated as in Equation 1, and thus the discharge area S at the rotational position θ shown in Fig. 3 is Rh. The discharge area S is expressed by Equation 2 below.

S = d⋅cosθ⋅h

And the discharge amount Qr with respect to the rotational speed Vr is Q _r = L⋅θ _r ⋅S Therefore, if Equation 2 is substituted, Equation 3 is obtained.

Q _r = L⋅V _r ⋅ ((d⋅cosθ) ⋅h)

Since the dispensing amount Qr per unit time from the dispensing start point AA 'to the dispensing start point BB' must always be constant, the revolution speed Vr of the reclaimer 1 is approximated by the following equation (4).

Therefore, the instantaneous turning speed Vr at the turning position θ for obtaining a constant discharge amount is equal to the above Equation 4, and the instantaneous turning speed of the reclaimer 1 for each turning position θ is calculated according to the above Equation 4. If it is adjusted with the difference between the actual turning speed and the target turning speed, the output per unit time is always constant.

이다. 그리고, 여기에서, L,d,h는 각각 선회반경, 인칭주행길이, 파일단높이로써, 상수값이다. 보상치는 목표 순간 선회속도와 리클레이머의 실제불출량으로부터 산출된 실제속도와의 차가 된다.5 is a block diagram showing an embodiment of a control device for controlling the reclaimer to quantitatively dispense by using the relationship between the instantaneous revolution speeds per revolution position as described above, and the instantaneous revolution speed calculation unit 51. Inputs the discharge amount Qr per unit time set in, and inputs the present turning speed V and the current turning position θ detected by the turning speed controller 53 and the actual discharge amount Q by driving the reclaimer. And calculates the instantaneous turning speed Vr including the compensation value. The instantaneous turning speed Vr is calculated by adding a compensation value to Equation 4 above.

to be. Here, L, d, and h are turning values, inching run length and pile height, respectively, and are constant values. The compensation value is the difference between the target instantaneous turning speed and the actual speed calculated from the actual reclaimer discharge.

Thus, the obtained instantaneous turning speed Vr is subtracted from the present turning speed V output from the turning speed control unit 53 in the subtractor 52, and the difference between the turning speed Vr and the present turning speed V is The revolution speed controller 53 is inputted as a speed increase / decrease value. When the instantaneous revolution speed Vr is faster than the current revolution speed, the revolution speed of the reclaimer is increased by the difference, and the instantaneous revolution speed ( If Vr) is slower than the current speed, reduce the reclaimer's turning speed by that difference. Accordingly, the reclaimer driver 54 under the control of the revolution speed control unit 53 rotates the bucket drum while discharging the raw material while turning at the indicated speed. Then, the discharge amount observation unit 55 measures the actual discharge amount Q by the driving of the reclaimer driver 54 and outputs it to the instantaneous turning speed calculation unit 51.

As described above, the present invention changes the instantaneous turning speed when the discharging amount is made constant without making the revolving speed of the reclaimer constant, so that the reclaimer dispenses a certain amount, thereby obtaining a constant discharging amount. There is an effect that satisfies the conditions of the work line, and by varying the instantaneous turning speed according to the turning position, there is an excellent effect that can be applied to a large reclaimer.

Claims (2)

In the method of controlling the reclaimer of the reclaimer for discharging the raw material by rotating the bucket and the bucket drum is inching and rotating on the rail, The instantaneous turning speed Vr of each turning position (θ: angle between the rail and the boom of the reclaimer) with respect to the set discharge amount Qr of the reclaimer is calculated by the following equation,

, (Where L is the turning radius, d is the first person running length, and h is the height of the raw material pile). The instantaneous revolution speed (Vr) calculated as described above controls the revolution speed of the reclaimer and calculates the instantaneous revolution speed compensation value calculated from the difference between the actual discharge amount (Q) and the set discharge amount (Qr) of the reclaimer. A method for quantitative dispensing control of a reclaimer which adds (ΔVr) to the instantaneous revolution speed (Vr) to compensate for errors between the actual shape of the raw material pile and the model. In the reclaimer fixed quantity control device for discharging the raw material by rotating the bucket and the bucket drum is inching and rotating on the rail, An instantaneous turning speed calculating unit which receives the set discharge amount Qr and the current turning position (θ: the angle between the rail and the reclaimer boom) and calculates the instantaneous turning speed Vr by the following equation;

Where L is the turning radius, d is the first run length, h is the height of the raw material pile, The compensation value ΔVr is the instantaneous turning speed compensation value calculated by substituting the difference between the actual discharge amount Q and the set discharge amount Qr.) A subtraction unit for obtaining a difference between the instantaneous revolution speed value output from the instantaneous revolution speed calculating unit and the current revolution speed; A turning speed control unit for increasing or decreasing the turning speed according to a difference between a target instantaneous turning speed value output from the subtracting part and a current turning speed; A reclaimer driving unit which rotates at a speed according to the control of the revolution speed control unit and drives the reclaimer to discharge raw materials; And a discharge amount measurement unit for measuring an actual discharge amount (Q) according to driving of the reclaimer driver and applying the instantaneous revolution speed calculation unit to the instantaneous revolution speed calculation unit.

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