KR100436399B1 - Absolute position correcting method and correcting apparatus of reclaimer - Google Patents

Abstract

The present invention relates to a traveling position correction method and a correction device of the raw material dispenser,

In correcting the traveling position of the raw material dispenser 10 traveling back and forth along the rail 15, the total length l of the rail 15 divided by the installation interval s of the rail-side display sensor set. Is m (= l / s), and when k is a value satisfying 2 ^k-1 ≤ m <2 ^k , one reference position sensor 43 is provided on the driving wheel 20 side of the lower end of the raw material dispenser. And k absolute position sensors 44; A unique binary value is given to each reference position representing the installation interval s, and one reference position display sensor 46 and the unique binary value are displayed in k-bit next to the rail 15 at each reference position. An absolute position indicating sensor 45, which is represented in a manner, is installed at a position corresponding to each sensor on the driving wheel 20 side; Generating a table with a unique binary value for each reference position and an absolute value of a traveling position corresponding thereto and inputting the table to a raw material dispenser controlling PLC; When the reference position sensor 43 detects the rail-side reference position display sensor 46 during driving, the absolute position sensor 44 converts the value of the rail-side absolute position display sensor 45 to a binary value of k bit. Recognize and transmit it to the control PLC, characterized in that configured to correct the current driving position value by the input stored table,

By automatically correcting the driving position recognition error caused by the wheel slip phenomenon of the raw material dispenser to an accurate value, it is possible to more accurately control the running of the raw material dispenser during operation, and consequently to improve the operation efficiency. To provide.

Description

Driving position correction method and correction device for raw material dispenser {ABSOLUTE POSITION CORRECTING METHOD AND CORRECTING APPARATUS OF RECLAIMER}

The present invention relates to a traveling position correction method and a correction device of the raw material dispenser, and more particularly, when the raw material dispenser, which is a device for discharging the raw material from the raw material pile (Pile) such as iron ore, sintered or limestone, The present invention relates to a traveling position correction method and a correction device for automatically correcting a driving position recognition error caused by a slip phenomenon.

1 is a schematic view showing a state in which a raw material dispenser dispenses raw materials, and FIG. 2 is a schematic view showing an absolute position correction method of a conventional raw material dispenser.

In an operation site such as a steel mill using a large amount of raw materials, such as iron ore, sintered ore, limestone, a raw material reclaimer (Stacker) is used to transfer the raw material piled from the raw material pile file to the desired operation site.

The raw material dispenser 10 is largely composed of four parts, such as a traveling part 11, a turning part 12, a buoy part 13, and a dispensing part 14. The driving unit 11 is located on the railway rail 15 and can travel in both forward and backward directions along the rail. The dispensing portion 14 is a portion having a bucket 14a to directly rotate the raw material while rotating, and the dispensing center 14 at this time becomes the center of rotation of the dispensing portion 14 located at the end of the buoy portion 13. .

In more detail with reference to FIG. 1, the running part 11 of the raw material dispenser travels on the rail 15 in the X-axis direction (the direction perpendicular to the ground on the drawing), and the turning part 12 is Z. The axis of rotation is rotated on the traveling part 11. The buoy portion 13 performs up and down rotational movement with the buoy center point 16 as the center of rotation according to the length adjustment of the hydraulic cylinder 17. The dispensing part 14 is comprised by the bucket 14a which distributes raw material from the raw material pile 30, and vice versa.

Various controls performed in the material dispensing machine are mainly used for controlling the traveling distance in the X-axis direction, the turning control in the Z-axis direction, the control of the angle of inclination by the hydraulic cylinder 17, and the conveyor belt for conveying when loading or discharging raw materials. Control and bucket rotation control, etc., the control signal for this control is comprehensively processed in the central cab control PLC (not shown) connected to the raw material discharge side control PLC (not shown).

Since the raw material dispenser 10 travels repeatedly on the rail 15 for operating, the degree of the running position value becomes very important for the automatic control operation at a remote location. In other words, this value must be accurate so that it can accurately go to the position of the raw material file 30 to be dispensed.

However, since the raw material dispenser 10 is a fairly large facility having a length of about 50 meters and a height of about 20 meters, in the traveling wheel 20 of the raw material dispenser, which has the same mechanism as a general train wheel and rail, the wheel does not rotate. The raw material dispenser 10 is often slip slip occurs.

However, since the raw material dispenser 10 calculates the current running position value by the number of revolutions of the wheel, an error is caused in the running position value calculation when the wheel slip occurs.

In order to solve this problem, as shown in FIG. 2, conventionally, the proximity sensor 22 is installed next to the rail 15 at intervals of about 50 meters, and the proximity sensor 21 paired with the raw material dispenser is installed. Installed near the bottom wheel 20 of the sensor, automatically corrects the current driving position value to the nearest value in 50-meter increments when these proximity sensors detect each other (for example, to 100 meters if the current value is 97.5 meters). Calibration) method was used.

However, in the case of using such a conventional method, there have been cases in which errors are accumulated and incorrectly corrected when the raw material dispenser makes a large number of repetitive runs between these sensors. For example, if the current driving value indicates 97.5 meters due to slipping, etc., but the actual driving value is 55.3 meters in actuality, it is automatically 50 meters when the proximity sensor on the driving wheel contacts the proximity sensor at the 100-meter position. This is the same case as corrected.

This problem occurs because the proximity sensor 22 installed at 50-meter intervals does not have absolute value information for the current position, but only correction information.

The present invention is to solve the above problems, the driving position recognition caused by the wheel slip phenomenon during the running of the raw material dispenser which is a device for discharging the raw material from the raw material pile (Pile) such as iron ore, sintered ore, limestone It is an object of the present invention to provide a method for correcting a running position of a raw material dispenser and a correcting device for automatically correcting an error.

1 is a schematic view showing a state in which a raw material dispenser dispenses raw materials;

2 is a schematic view for explaining an absolute position correction method of a conventional raw material dispenser,

3 is a schematic view for explaining a driving position correction method according to the present invention;

4 is a schematic view showing an installation example of the absolute position display sensor according to the present invention.

<Description of Symbols for Main Parts of Drawings>

10: raw material dispenser 11: running part

12: pivot 12a: cockpit

13: Bubu 14: Outgoing

15: Rail 16: Buang Center

17: buoyant hydraulic cylinder 20: running wheels

21,22: Proximity sensor 30: Raw material pile

43: reference position sensor 44: absolute position sensor

45: Rail absolute position display sensor 46: Rail side reference position display sensor

In the traveling position correction method of the present invention for achieving the above object, in the method of correcting the traveling position of the raw material dispenser 10 traveling in both directions back and forth along the rail 15, the whole of the rail 15 The value obtained by dividing the length (l) by the mounting interval (s) of the rail-side display sensor set is m (= l / s), and a value satisfying 2 ^k-1 ≤ m <2 ^k is k. Installing one reference position sensor 43 and k absolute position sensors 44 on the traveling wheel 20 side of the dispenser; A unique binary value is given to each reference position representing the installation interval s, and one reference position display sensor 46 and the unique binary value are displayed in k-bit next to the rail 15 at each reference position. Installing an absolute position indicating sensor (45) in a manner corresponding to each sensor on the driving wheel (20) side; Storing a unique binary value for each reference position and an absolute value of a driving position corresponding thereto as a table and storing the same in a raw material dispenser controlling PLC; When the reference position sensor 43 detects the rail-side reference position display sensor 46 during driving, the absolute position sensor 44 converts the value of the rail-side absolute position display sensor 45 to a binary value of k bit. And recognizing and transmitting the same to the controlling PLC to correct the current driving position value by the input and stored table.

In addition, the traveling position correcting apparatus of the present invention for achieving the above object, in the device for correcting the traveling position of the raw material dispenser 10 traveling in both directions back and forth along the rail 15, the rail 15 The total length (l) divided by the mounting distance (s) of the rail-side display sensor set is m (= l / s), and ^k is a value that satisfies 2 ^k-1 ≤ m <2 ^k . A reference position detecting sensor 43 and k absolute position detecting sensors 44 on the traveling wheel 20 side of the lower part of the raw material dispenser; Intrinsic binary given to each reference position display sensor 46 and each reference position at a position corresponding to each sensor on the side of the driving wheel 20 next to the rail 15 for each reference position representing the installation interval s. An absolute position display sensor 45 that represents the value in k-bit binary representation; The intrinsic binary value for each reference position and the absolute value of the driving position corresponding thereto are input and stored in the form of a table. 46), the absolute position sensor 44 receives the binary value of the k bit transmitted by detecting the rail-side absolute position sensor 45, and corrects the current driving position value by the table It is characterized by comprising a raw material dispenser control PLC.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

3 is a schematic view for explaining a traveling position correction method according to the present invention, Figure 4 is a schematic diagram showing an installation example of the absolute position display sensor according to the present invention.

The length of the entire rail 15 on which the raw material dispenser 10 travels is referred to as l, and the interval between each display sensor set (composed of one reference position display sensor and a plurality of absolute position display sensors) installed on the rail side is determined. In the case of s, m (= l / s) sets of display sensors should be installed next to the rail 15 over the entire section.

At this time, the m sensor set is installed on the rail side by the sensing sensor set (composed of one reference position sensor and a plurality of absolute position sensors) installed on the driving wheel 20 side of the raw material dispenser. In order to distinguish and recognize each of them according to the position, the rail-side absolute position display sensor 45 is configured to display a binary number representing the unique value of each position. Accordingly, the rail-side absolute position indicating sensor 45 should be able to display the k bit in order to represent the unique value of each position along the entire rail length. The k value is a condition of 2 ^k-1 ≤ m <2 ^k . The value is satisfied.

If the number k of the absolute position display sensor 45 installed for each display sensor set is determined through the above process, the k absolute position detection sensors 44 are installed around the lower wheels 20 of the raw material dispenser. Next, as shown in FIG. 3, an absolute position indicating sensor 45 is installed to correspond to the k absolute position detecting sensors 44 next to the traveling rails at a distance interval of s. As shown, it follows the k bit binary display method.

That is, when the current order is displayed in k bits, if a value corresponding to a bit is 0, the absolute position display sensor 45 is left empty without installing the absolute position indicating sensor 45 at the corresponding position. Absolute position display sensor 45 is installed. For example, if the corresponding order is 5 (binary: 0101), it is installed as shown in FIG.

As described above, the unique binary values assigned to each display sensor set are made into a table, inputted and stored in a control PLC (not shown) of the raw material dispenser, and used to determine and correct the driving position during actual driving.

While the raw material dispenser 10 is actually running, when the reference position detecting sensor 43 installed on the driving wheel 20 side detects the reference position indicating sensor 46 installed on the rail side, the absolute position detecting sensor 44 Read the value of the rail side absolute position display sensor 45 at that time. At this time, the detection sensor of the position where the value of each of the absolute position detection sensor 44 is detected by the detection value of 1, the detection sensor of the undetected position recognizes the detection value as 0 to generate a binary value for the position. The generated binary value is transmitted to the controlling PLC (not shown) and converted into the absolute value of the corresponding position by the input and stored table so that the current driving position value is corrected. This way, the correct absolute value can always be corrected at that position.

The reference position detection or indication sensor (43,46) pairs related to the recognition of the reference position differ from the absolute position detection or indication sensor (44,45) pairs related to the recognition of the absolute position, and the materials thereof may cause malfunctions in proximity to each other. It is desirable to prevent it from occurring.

On the other hand, when the display sensor set is actually installed on the rail side, the original intended interval and the actual installed interval do not exactly match. Therefore, after installation, it is preferable to accurately measure the absolute position of each reference position display sensor 46 again, and make a table as follows to use the absolute value correction according to the future position.

order Equivalent binary Actual absolute value (m) Intended absolute value (m) 0 0000 0 0 One 0001 50.2 50 2 0010 99.7 100 ... ... ... ...

The driving position correction method and the correction device of the raw material dispenser of the present invention automatically corrects the driving position recognition error caused by the wheel slip phenomenon at the time of running the raw material dispenser to the correct value, thereby discharging the raw material for operation. This allows more precise control of the running of the machine, and consequently provides the effect of improving operating efficiency.

Claims (2)

In the method for correcting the traveling position of the raw material dispenser 10 traveling in the forward and backward directions along the rail 15, The value obtained by dividing the total length l of the rail 15 by the installation interval s of the rail-side display sensor set is m (= l / s), and a value satisfying 2 ^k-1 ≤ m <2 ^k . When k, the step of installing one reference position sensor 43 and k absolute position sensor 44 on the driving wheel 20 side of the raw material dispenser; A unique binary value is given to each reference position representing the installation interval s, and one reference position display sensor 46 and the unique binary value are displayed in k-bit next to the rail 15 at each reference position. Installing an absolute position indicating sensor (45) in a manner corresponding to each sensor on the driving wheel (20) side; Storing a unique binary value for each reference position and an absolute value of a driving position corresponding thereto as a table and storing the same in a raw material dispenser controlling PLC; When the reference position sensor 43 detects the rail-side reference position display sensor 46 during driving, the absolute position sensor 44 converts the value of the rail-side absolute position display sensor 45 to a binary value of k bit. And recognizing and transmitting the same to the controlling PLC to correct the current driving position value by the input and stored table. In the device for correcting the traveling position of the raw material dispenser 10 traveling in both directions back and forth along the rail 15, The value obtained by dividing the total length l of the rail 15 by the installation interval s of the rail-side display sensor set is m (= l / s), and a value satisfying 2 ^k-1 ≤ m <2 ^k . k, one reference position sensor 43 and k absolute position sensor 44 are provided on the driving wheel 20 side of the lower part of the raw material dispenser; Intrinsic binary given to each reference position display sensor 46 and each reference position at a position corresponding to each sensor on the side of the driving wheel 20 next to the rail 15 for each reference position representing the installation interval s. An absolute position display sensor 45 that represents the value in k-bit binary representation; The intrinsic binary value for each reference position and the absolute value of the driving position corresponding thereto are input and stored in the form of a table, so that the reference position sensor 43 when the raw material dispenser 10 travels is a rail-side reference position display sensor ( 46), the absolute position sensor 44 receives the binary value of the k bit transmitted by detecting the rail-side absolute position sensor 45, and corrects the current driving position value by the table Running position correction apparatus of the raw material dispenser, characterized by comprising a raw material dispenser control PLC.