KR19980051224A - How to reduce the repositioner's working time - Google Patents

Abstract

The present invention relates to a method of shortening the movement time of a reclaimer working position of a reclaimer for discharging raw materials stored in raw material yards in a steel mill, etc., and obtaining an optimum turning angle at which collision with the raw material pile does not occur, and using the same. Provides a method to move the reclaimer to the next working position efficiently in a shorter time by finding the safe area where collision does not occur and enabling the reclaimer to be moved without collision with only a minimum turning and changing the minor axis. I would like to, but its purpose is.

According to the present invention, the boom 2 of the reclaimer 1 is numerically calculated in advance by numerically calculating the turning angle θ without the risk of collision according to the buoy and the turning angle and the exit height h for avoiding the area of the ground conveyor belt 5. Determine whether or not the condition is in a safe area, and if it enters a safe area with no possibility of stratification, change the turning angle and change the angle of incidence at the same time. The main point is to shorten the work position movement time.

Description

How to reduce the repositioner's working time

1: Schematic diagram showing how the reclaimer dispenses raw materials

Figure 2: Schematic diagram showing the raw yard and the reclaimer

3: Schematic diagram divided into four quadrants based on the travel axis of the reclaimer

4: Schematic diagram which shows the relationship between the width | variety between a reclaimer and a raw yard, the length of a boom, etc.

5 is a schematic diagram showing a path of a bucket when moving a reclaimer according to the conventional method and the present invention.

* Explanation of symbols for main parts of the drawings

1: reclaimer

2: boom

3: bucket

4: rail

5: Ground Conveyor Belt

6: Raw material pile

7: raw yards

Detailed description of the invention

The present invention relates to a method for shortening the working position moving time of a reclaimer (dispenser) for discharging raw materials deposited in raw material yards in a steel mill or the like.

As shown in Fig. 1, the reclaimer 1 is a large device, moving on a rail 4 placed on a wide raw material yard, and as needed, the amount of coal or iron ore particles accumulated like mountains in the raw material yards on the left and right sides of the rail 4. It is a device that sends out to the furnace or coke plant. The dispensing operation consists of discharging each raw pile 6 by the required amount while the reclaimer 1 moves along the rail 4. Therefore, in the automatic operation, in order to improve the work efficiency per unit time, it is required to move the boom 2 from the current working position to the position to perform the next dispensing operation in a short time. To this end, conventionally, the boom 2 is lifted to the upper limit at the current working position and pivoted again before the reclaimer 1 is moved relative to the reclaimer 1 which can be rotated 360 °. When the boom (2) and the rail (4) axis is parallel to the next working position to move to the desired position again to proceed to work by lowering the boom (2) to the desired height. However, this method took too much travel time from the current work position to the next work position.

Accordingly, methods for shortening the repositioner's working position movement time have been proposed, for example, Japanese Patent Application Laid-open No. Hei 5-301638.

In Japanese Patent Laid-Open No. 5-301638, the height of the stage at the next working position is determined in advance, and the boom 2 is raised or lowered only up to the height of the next stage, and then swiveled, thereby turning the boom 2 and the rail 4. A method of reducing the time due to the movement of the boom 2 by moving the shafts to the next work position is presented.

However, the method described in Japanese Patent Application Laid-Open No. 5-301638 is directed to a reclaimer (1) rotatable 360 °, and is applicable to the reclaimer (1), which cannot be rotated 360 ° due to mechanical limitations. There is a limit.

In addition, the method proposed in Japanese Patent Laid-Open No. 5-301638 does not take into account the collision problem with the raw material pile 6, and therefore it must be driven by one axis when moving at all times. That is, the boom 2 is raised or lowered by the angle of inclination at the next working position, and then rotated so that the rails 4 and the boom 2 are aligned side by side, and the position is moved again by driving operation. There is no risk of collision by moving, but it takes a long time to move.

Accordingly, the present inventors have conducted research to solve the problems of the conventional method, and based on the results, the present invention proposes the present invention, and the present invention provides an optimum turning angle and collision that will not occur with the raw material pile. Since the reclaimer can be moved without stratification with the minimum turning and buoyancy change by finding the safe area that does not occur, it is intended to provide a method for efficiently moving the reclaimer to the next working position in a shorter time. , Its purpose is.

EMBODIMENT OF THE INVENTION Hereinafter, this invention is demonstrated.

The present invention provides a method for dispensing a raw material pile using a reclaimer, the method comprising: obtaining a height h of a bucket at an end point of discharging a raw material pile;

Insert the bucket height (h) obtained above into the following equations (1) and (2), respectively, and the horizontal distance (ω) between the bucket and the rail center and the distance from the center of rotation to the bucket when the boom is mapped to the plane (D ),

Where r is half the maximum width of the raw material pile, h ₀ is the maximum height of the raw material pile, d is the minimum horizontal distance from the center axis of the rail to the lowest end of the raw material pile, and L is the center of rotation of the reclaimer to the bucket. Distance, h: bucket radius

Obtaining the allowable maximum turning angle θ by substituting ω and D values obtained as described above into Equation (3),

Determining whether the current turning angle θ _a is less than the allowable maximum turning angle θ obtained above;

If the current turning angle θ _a is less than the maximum allowable turning angle θ, move to the next working position while simultaneously changing the turning angle and the reclining angle of the reclaimer, and if it is larger, within the maximum allowable turning angle θ. The present invention relates to a method for shortening a work position moving time of a reclaimer including a step of moving a boom to a next work position.

EMBODIMENT OF THE INVENTION Hereinafter, this invention is demonstrated in detail.

2 (a) shows that the reclaimer 1 and the raw material AH are loaded in the raw material yard 7, and (b) shows the cut surface of nn in FIG. 1 (a), whereby the raw material yard ( 7, the movement paths a, b, and c are shown in which the reticle taper 1 can move freely without colliding with the raw material pile 6. Hereinafter, a method in which the reclaimer can freely move in the raw material yard without colliding with the raw material pile will be described with reference to FIG. 2.

In FIG. 2, A, B, C, D, E, F, G, and H represent raw material piles.

As shown in Figure 2, the raw material pile 6 is managed in stages (1 stage, 2 stages, 3 stages .....) divided by a constant height (usually 3m).

There are raw piles (6) on both sides of the reclaimer (1) in the direction of travel, and on the rails there is a ground conveyor. When the reclaimer (1) is turning, it will crash if the boom (2) is not lifted higher than the ground conveyor. There is a risk. Therefore, in any case, the reclaimer 1 should be able to move without the pile 6 and the ground conveyor belt and the masonry.

Of course, it does not matter because the collision does not occur when lifting the boom (2) to the upper limit when performing all the turning change work, but in this case it is a problem because it takes a lot of time to change the work position.

As shown in Figure 3, divided into four quadrants based on the travel axis of the reclaimer (1), the number of cases of moving from the current working position to the next working position is the number of reclaimers that can not rotate 360 ° ( There are 10 ways to use 1). That is, if the number 1 quadrant ↔ 1 quadrant, 2 quadrant ↔ 2 quadrant, 3 quadrant ↔ 3 quadrant, 4 quadrant ↔ 4 quadrant, 1 quadrant ↔ 2 quadrant, 3 quadrant ↔ 4 quadrant, 1 quadrant ↔ 3 quadrant, 2 quadrant ↔ Four quadrants, two quadrants ↔ three quadrants, one quadrant ↔ four quadrants.

By the way, it is preferable to pattern the pattern into a few groups because there are movements having similarities in the ten cases.

The first group is the case of moving from the current position to the same quadrant of the next position when the work position is moved. Move quadrant In this case, the application of the method of the present invention has a significant reduction in travel time than in the conventional case, as shown in FIG.

The second group is the movement of the work position between the first and second quadrants, and the turning position is changed while avoiding the ground conveyor belt area. In this case, as shown in FIG. 2, the working path may be divided into three categories, a, b, and c. In the case of a, the path moves from the bottom (1, 2, 3) of the current work position to the bottom of the next work position, and b moves from the bottom of the current work position to the top of the next work position. Of course, moving from the top (4, 5, 6) of the current work position to the bottom of the next work position is also included in path b. c represents the movement between the tops, and the ground conveyor belt 5 does not have to be considered. Also in this case, if the method of the present invention is applied, it is possible to simultaneously move the reclaimer's turning, buoy, and the position of the running shaft in the safety area except the ground conveyor belt 5 area, thereby greatly reducing the travel time.

The third group is all about the movement of positions between quadrants ↔ 4 quadrants, 1st quadrant ↔ 3rd quadrant, 2nd quadrant ↔ 4th quadrant, 2nd quadrant ↔ 3rd quadrant, and 1st quadrant ↔ 4quadrant. In this case, in order not to cause a collision with the raw material pile 6, the boom 2 should be lifted to the upper limit when turning, so that the work execution time is not greatly improved as compared with the prior art, but the collision risk proposed in the present invention is This can be improved through the simultaneous movement of the drive shaft of the reclaimer 1 in the safe area.

When moving from the current position to the next position, the conventional method moves the reclaimer 1 after the boom 2 is aligned with the rails 4 side by side. To present.

Hereinafter, a method of moving the reclaimer to the next working position in a shorter time according to the present invention will be described with reference to FIGS. 4 and 5.

Figure 4 schematically shows the shape of the reclaimer 1 and the raw material pile 6, the maximum width of the raw material pile is 47m, the maximum height (h ₀ ) is 17m, the lowest end of the raw material pile in the central axis of the rail The minimum horizontal distance (d) to is the radius of the wheel (h ') of the 8.6 m bucket, which is indicated as 2.8 m.

Of course, the above-described width, height, distance and the like are examples.

For the above working conditions, when the horizontal distance (ω) between the bucket and the rail center and the boom are mapped to the plane, the distance (D) from the center of rotation to the bucket are determined by the following equations (la) and (2a), respectively. Can be done.

Next, using the horizontal distance ω obtained as described above and the distance D from the rotation center to the bucket, the maximum allowable turning angle θ is obtained by the following equation (3).

Since the maximum allowable turning angle θ obtained above is the maximum angle of the turning angle θ that can travel without colliding with the raw material pile 6 when the height of the lower end of the bucket 3 is h, the reclaimer 1 If the turning angle of is smaller than the maximum value of θ with respect to the rail 4 axis, collision does not occur, so that the turning and the negative axis can be driven simultaneously.

In the working conditions as shown in FIG. 4, for example, when the lower end of the bucket 3 is 9m, that is, divided into 3m stages, the reclaimer 1 dispenses 4 stages of the raw material pile 6. Since the maximum turning angle θ for moving from the current position to the next working position without colliding with the raw material pile 6 does not have to move without colliding with the rail 4 and the boom 2, on the other hand, FIG. It is within about 20 ° of the conventional axis. At this time, it can move with the raw material pile 6, and the moving time is shortened by making the boom 2 side by side like a conventional method.

According to the method and the present invention, the path of the bucket 3 when moving the reclaimer in the same quadrant is represented by (a) for the conventional method and (b) for the present invention.

As shown in Figure 5, it can be seen that the route [Fig. 5 (b)] according to the present invention is shorter in travel time than the path of the bucket [Fig. 5 (a)] according to the conventional method.

As described above, the present invention obtains the turning angle θ without the risk of collision according to the buoy and the turning angle to avoid the area of the ground conveyor belt 5 and the height h of the dispensing, so that the reclaimer ( It is possible to determine whether or not the state of the boom 2 in 1) is in a safe area, and when entering a safe area where there is no possibility of collision, it is possible to simultaneously change the turning angle and the floating angle. When moving at the same time, the turning and buoyancy angles are different. Therefore, the safe turning angle θ without collision is newly obtained every moment and reflected as a control input to the driving device of the reclaimer 1, so that the driving continues at the same time while being in the safe area. In case of deviation, move by one axis.

The present invention can be more preferably applied when discharging the raw material using a reclaimer having a mechanical limit that can not rotate 360 °.

As described above, when the present invention is applied to the first group and the second group, the movement time is remarkably improved compared to the conventional method, and even when applied to the third group, the movement can be performed simultaneously in the safety zone. The effect is to shorten the time.

Claims (1)

A method of dispensing a raw material pile using a reclaimer, the method comprising: obtaining a bucket height h at an end point of a discharging operation of a raw material pile, Insert the bucket height (h) obtained above into the following equations (1) and (2), respectively, and the horizontal distance (ω) between the bucket and the rail center and the distance from the center of rotation to the bucket when the boom is mapped to the plane (D) ) [Equation 1] [Equation 2] Where r is half the maximum width of the raw material pile, h ₀ is the maximum height of the raw material pile, d is the minimum horizontal distance from the center axis of the rail to the lowest end of the raw material pile, and L is the center of rotation of the reclaimer to the bucket. Distance, h ': bucket diameter) Obtaining the allowable maximum turning angle θ by substituting ω and D values obtained as described above into Equation (3), [Equation 6] Determining whether the current turning angle θ _a is less than the allowable maximum turning angle θ obtained above; If the current turning angle (θ _a ) is smaller than the maximum allowable turning angle (θ), move to the next working position while simultaneously changing the turning angle and the reclining angle of the reclaimer, and if it is large, within the maximum allowable turning angle (θ). Reducing the working position moving time of the reclaimer comprising the step of turning the boom to the next working position.