KR20130069769A - Tripper connecting/separating device of stacker/reclaimer and method thereof - Google Patents

Abstract

The stacker / reclaimer 1 to which the boom 5 is supported by the traveling girder 3 which travels on the rail 2 so that it can float and turn is connected, is aimed. A connecting device 70 for detachably connecting the tripper 6 to the traveling girder 3 and tripper holding means (for example, the storm anchor 63) for holding the tripper 6 at the mooring position; Therefore, it is provided with the tripper holding | maintenance detection means (for example, limit switch 63a) which detects that the tripper 6 is hold | maintained. When the holding state of the tripper 6 is detected, the detaching operation of the connecting device 70 can be performed for the first time. In this case, the tripper 6 can be detached from the traveling girder 3 safely and securely without relying on visual identification of the worker, and then can be connected again.

Description

TRIPPER CONNECTING / SEPARATING DEVICE OF STACKER / RECLAIMER AND METHOD THEREOF}

The present invention is, for example, a stacker / reclaimer that combines a stacker for dropping bulk conveyances such as coal into a yard, and a reclaimer for tearing down and discharging bulk conveyances. The present invention relates to an apparatus and a method for separating or connecting a tripper for use in dropping.

Conventionally, bulk materials, such as ore and coal, have been stored in yards, for example, at unloading facilities, steel mills, etc. of docks, and use a stacker used for the loading and a reclaimer for discharging the bulk conveyance. That is, stackers / reclaimers are well known. The stacker / reclaimer includes a traveling body traveling on a rail extending along the yard, a pivoting body pivotably mounted thereon, and a boom buoyably supported on the pivoting body, At the tip, bucket wheels and the like are installed.

In addition, a conveyor is provided between the rails for loading and unloading, and a tripper is provided so that the conveyor belt is pulled up obliquely upward to drop the bulk conveyed object from the upper end thereof. The tripper is connected to the traveling body to transfer the bulk conveyance to the boom conveyor, and the bulk conveyance transferred to the boom conveyor is transported to the tip side of the boom, dropped on the yard, and stacked and stacked in a trapezoidal or triangular shape.

On the other hand, at the time of dispensing, the bulk conveyed object is knocked out of the pile by a bucket wheel or the like at the tip of the boom, and then transferred to the base end side of the boom by the boom conveyor and dropped into the hopper below. The lower end of the hopper is located above the loading and unloading conveyor, and the bulk conveyance is carried out by the conveyor.

When a tow, which is not used at the time of dispensing, is connected to the traveling body and towed, the tripper may particularly interfere with the boom in the vicinity of the upper end of the belt conveyor. Therefore, in general, in order to prevent interference, the range of the boom's buoyancy and turning can be limited, resulting in a decrease in work efficiency.

In addition, the unused tripper is removed from the traveling body at the time of dispensing, but it takes time to separate and connect the work, and the situation of relying on the visual inspection of all workers to avoid collisions in moving heavy objects is required. There was a risk of collision due to worker fatigue or weather.

On the other hand, for example, in the configuration described in Japanese Patent No. 4432360, a long connecting frame is provided extending from the traveling body toward the tripper, and this is extended below the trolley bogie frame, and the bogie frame is It is connected to switch to two positions spaced apart from each other in the longitudinal direction of the connecting frame. That is, when the tripper is not in use, it will be connected to the vehicle at an evacuation position away from the boom where possible.

In this way, when the tripper is connected to the traveling body so as to switch between the two positions, the positional relationship between the two is always determined, so that unexpected collisions can be avoided, and the positions are moved by moving each other by an amount corresponding to the distance between the two positions. It is also possible to perform the switch remotely.

However, as in the conventional example, in order to connect the tripper to the traveling body at an evacuation position away from the boom, the connecting frame extending from the traveling body toward the tripper must be formed very long. Since the connecting frame requires a corresponding strength and rigidity, the weight of the traveling body is greatly increased, resulting in an increase in power consumption.

In view of this point, an object of the present invention is to provide a detachable stripper in the stacker / reclaimer so as not to increase the weight of the traveling body as in the conventional example, and to simultaneously connect and disconnect the tripper. It is to ensure safe and reliable operation without relying on human visual identification.

The present invention for achieving the above object is a stacker / reclaimer in which a boom is supported on the traveling body traveling on the rail so that it can be buoyed and pivoted, and a tripper is connected to the traveling body. The device to connect and disconnect is the target.

Further, according to the present invention, a traveling body position detecting means for detecting the position of the traveling body on the rail, a connecting device for detachably connecting a tripper to the traveling body, and the tripper at the mooring position on the rail. And a tripper holding means for holding the trapper and a tripper holding detecting means for detecting that the tripper is held by the tripper holding means. The mooring position may be set in advance or may be arbitrarily selected.

According to the above configuration, when the rail is run on the rail with the tripper connected to the stacker / reclaimer, dropping of the bulk conveyance can be performed, and when discharging the bulk, the operation of the boom is prevented. The tripper may be removed and held at the mooring position. At this time, the traveling body is first traveled while the traveling body position detecting means detects the traveling body position on the rail, and the tripper connected thereto is positioned at the mooring position.

The tripper holding means holds the tripper at the mooring position. In this case, since the holding state of the tripper is detected by the tripper holding detecting means, the connecting device can be detached and operated according to the detection result. In other words, it is possible to safely and reliably detach the tripper without depending on the naked eye of the operator. In this way, detaching the tripper from the traveling body does not interfere with the operation of the boom.

On the other hand, when the holding state of the tripper is not detected, it is not separated from the traveling body. In other words, when separated from the traveling body, the tripper is always held at the mooring position and its position does not change. Therefore, thereafter, even when the connection operation with the tripper is performed based on the position detection result on the traveling body rail, unexpected collision can be avoided without depending on the naked eye of the operator.

Preferably, when the holding state of the tripper is not detected, a tripper separation regulating means for inhibiting the detaching operation of the connecting device and regulating the detachment of the tripper from the traveling body may be provided. In this way, even if the tripper is not held in the mooring position, even if the operator accidentally manipulates the connecting device, this does not cause a disconnection operation.

It is also provided with boom position detecting means for detecting the buoyancy and swing position of the boom, thereby allowing the disconnection operation of the connecting device for the first time when it is detected that the boom is at a predetermined position that does not interfere with the tripper. You may also do it. In this way, there is no worry of interfering with the boom at or immediately after the removal of the tripper.

Furthermore, when it is detected by the boom position detecting means that the boom is in the predetermined position, the separated traveling body of the tripper is allowed to travel toward the mooring position, while allowing the boom position to enter within a predetermined distance from the mooring position. If it is not in this predetermined position, the traveling body may be prevented from entering the predetermined distance so as to restrict the connection with the tripper. This prevents interference with the boom even when the tripper is connected.

The coupling device includes a coupling retaining portion provided on one of the traveling body and the tripper, a coupling member installed on the other side and operated by an actuator to be coupled and separated from the coupling holding portion, and the traveling body and In a state in which the distance between the trippers is close to a predetermined value or less, the engaging member may be contacted, and a guide part for guiding the engaging member to the engaging retaining portion may be provided. In this way, in the proximal state of the traveling body and the tripper, the engaging member contacts the guide and thereby guides the engaging retainer.

Preferably, proximity state detecting means for detecting the proximity state of the traveling body and the tripper and stop control means for temporarily stopping the traveling body traveling close to the mooring position when it is detected that the proximity state is detected. In this case, the traveling body is temporarily stopped in the proximity to the tripper, so that the engaging device can be brought into contact with the guide portion afterwards.

The traveling body position detecting means may include a rotation angle sensor for detecting a rotation angle of the wheel of the traveling body, and a sensing sensor for sensing a target to be installed at a predetermined interval in the longitudinal direction of the rail. According to this, the position of the traveling body can be continuously detected by the signal from the rotation angle sensor, and the error accumulated in the process can be solved based on the signal from the sensing sensor, so that the accuracy of the position of the traveling body can be detected. Is improved.

Furthermore, the tripper may be provided with a storage device for storing the position and a power supply used for the operation of the storage device. According to this, even if the tripper is separated from the traveling body while the tripper is held at an arbitrary mooring position on the rail, the mooring position is stored by the storage device, so that the position relative to the traveling body can be detected.

As described above, according to the present invention, when the stripper is removed from the traveling body by the stacker / reclaimer, it is detected by the tripper holding detecting means that the tripper is held at the mooring position. It is possible to safely and reliably remove the tripper without depending on In addition, it can be removed after confirming that the tripper is held at the mooring position, so that the position can be changed without worrying about the unexpected collision when the tripper is reconnected. In other words, the connection of the tripper can be safely and securely performed without depending on the naked eye of the operator.

1 is an overall configuration diagram of a stacker / reclaimer according to an embodiment of the present invention.
2 is an enlarged plan view of the vicinity of the connecting portion between the traveling body of the stacker / reclaimer and the tripper.
3: A is a side view which shows the structure of the connection apparatus of the said traveling body and a tripper, and shows the connection state.
FIG. 3B is a diagram corresponding to FIG. 3A showing a separated state. FIG.
4 is a side view showing the configuration of a proximity detector.
5 is a functional block diagram of the control system of the stacker / reclaimer.
It is explanatory drawing about the interlock of the boom buoy and turning.
It is explanatory drawing about the interlock of buoyancy and turning of a boom.
It is explanatory drawing about the interlock of buoyancy and turning of a boom.
It is explanatory drawing about the interlock of the run of a traveling girder.
It is explanatory drawing about the interlock of the run of a traveling girder.
It is explanatory drawing about the interlock of the run of a traveling girder.
8 is a flowchart illustrating an example of a control procedure related to detachment of a tripper.
9 is a flowchart showing an example of a shear control procedure associated with the connection of a tripper.
10 is a flowchart showing an example of a control procedure of the same rear end.
FIG. 11A is a view corresponding to FIG. 3A illustrating the connection operation of the coupling device, and shows a state in which the convex portion of the movable hook abuts against the guide portion of the fixed hook.
It is a figure corresponding to FIG. 11A which shows the connection state in which the convex part of the movable hook was inserted in the recessed part of the fixed hook.
FIG. 12 is a diagram corresponding to FIG. 5 in relation to another embodiment in which an actuator is provided at the storm anchor of the tripper. FIG.

EMBODIMENT OF THE INVENTION Hereinafter, preferred embodiment of this invention is described, referring drawings. 1 is an overall configuration diagram of a stacker / reclaimer 1 according to an embodiment, and the stacker / reclaimer 1 is an example of coal (bulk conveyed material) transferred to a conveyor in a coal raw material yard of an ironworks. The stacker which loads), and the reclaimer which breaks down the bulk coal and discharges.

Full configuration

The basic structure of the stacker / reclaimer 1 according to this embodiment is conventionally known, and a traveling girder for reciprocating over a pair of rails 2 installed along the coal raw material yard so as to extend left and right in FIG. A traveling body) 3. In addition, for convenience of explanation, below, the extension direction of the rail 2 is made into the front-back direction, and the left side of FIG. 1 is called front side, and the right side is called rear side.

The traveling girder 3 includes a trolley 30 equipped with a traveling device 31 having a plurality of wheels, and a rail fitted to the rail 2 to keep the trolley 30 from moving after stopping the trolley 30. The clamp 32 is provided. Moreover, the revolving tower 4 is supported by the trolley | bogie 30 so that the circumference | surroundings of the axis Z of an up-down direction is possible, and the cab 33 for an operator to perform a driving operation is provided adjacent to this, There are also platforms and stairs for workers.

The swing tower 4 is supported by the boom 5 so that it can float, and the boom 5 is able to float and rotate with respect to the traveling girder 3. Further, a bucket wheel 50 is mounted at the tip (left end of the drawing) of the boom 5 so that coal can be continuously destroyed in a pile of coal. In order to balance the weight of the bucket wheel 50 or the boom 5, a counter weight 52 is mounted on an arm 51 extending opposite the boom 5 between the turning tower 4. It is.

Moreover, the boom conveyor 53 is arrange | positioned over the almost whole length direction of the boom 5, and the coal torn down by the bucket wheel 50 can be conveyed from the front end side of the boom 5 toward the base end side. have. When the boom conveyor 53 is operated in the opposite direction, as described below, the coal transferred from the outside can be transferred from the base end side of the boom 5 to the front end side and dropped in the yard.

Further, a belt conveyor 20 used for dropping and discharging coal is provided between the pair of rails 2. Although not shown in detail, according to this embodiment, two belt conveyors 20 are provided as an example (may be one), one of which is used for both loading and discharging, and the other is used for dispensing only. do. In addition, a tripper 6 for lifting and discharging the belt of the belt conveyor 20 for dropping and dispensing upwards and moving coal to the boom conveyor 53 at its upper end is provided.

The tripper 6 is supported on the trolley frame 60 and the upper portion of the trolley frame 60 mounted on the rail 2 adjacent to the trolley 30 of the traveling girder 3 so as to be capable of traveling on the rail 2. Is provided with an inclined frame 61 to guide the inclined upwards, as shown in the side is formed as a whole wedge shape. The trolley frame 60 is equipped with the some wheel 62, and is also equipped with the storm anchor (tripper holding means) 63 which hold | maintains and fixes it with respect to the ground.

On the other hand, the inclined frame 61 stands up toward the front side (left side of the drawing) from the rear end (right end of the drawing) of the bogie frame 60 and extends upwardly inclined beyond the front end of the bogie frame 60. have. At the upper end of the inclined frame 61, the belt of the belt conveyor 20 is inverted, bent back and extended downward, and then bent again to the front by a roller disposed below the bogie frame 60.

The chute 64 is disposed at the upper end of the inclined frame 61 so as to receive coal falling from the belt of the belt conveyor 20 which is reversed. The chute 64 is located near the proximal end of the boom 5, more specifically at the proximal end of the boom conveyor 53 with the tripper 6 connected to the traveling girder 3 as shown. Done.

For this reason, when carrying in coal from the outside, the coal conveyed by the belt conveyor 20 as mentioned above is dropped to the base end side of the boom conveyor 53 via the chute 64, and the boom by the boom conveyor 53 is carried out. It is transported to the tip side of (5), dropped on the yard, and deposited in a trapezoidal form. On the other hand, at the time of dispensing, the coal pile is collapsed by the bucket wheel 50, and this time is transferred to the base end side of the boom 5 by the boom conveyor 53 and dropped to the hopper 54 below. This coal is taken out by the belt conveyor 20 located below the traveling girder 3.

According to the present embodiment, the tripper 6 is connected to the traveling girder 3 and is towed, and is configured to travel on the rail 2 integrally. That is, the extension part is provided in the trolley | bogie 30 of the traveling girder 3 so that it may face the rear tripper 6, and the rear end part and the front end of the trolley frame 60 of the tripper 6 are shown in FIG. In the site | part represented by the code | symbol S, it is connected so that separation is possible by the connection unit 7 demonstrated below.

As shown in FIG. 2, when the connecting portion is enlarged and viewed from above, left and right sides between the end portion of the trolley 30 of the traveling girder 3 and the front end of the trolley frame 60 of the tripper 6 are shown. Divided into, a pair of connection units 7 are provided. In addition to the connecting device 70 described below, the connecting unit 7 includes a shock absorber 75 for mitigating an impact during the connection. In addition, as a proximity state detecting means for detecting that the traveling girder 3 and the tripper 6 are close to a very small interval (for example, about 30 to 50 cm) or less before a connection operation of the connecting device 70, the limit. A proximity detector comprised of a switch 77 and a sensor rod 78 is included.

In detail, as shown from the side in FIGS. 3A and 3B, the connecting device 70 is a trolley of the fixed hook 71 and the traveling girder 3 provided on the trolley frame 60 of the tripper 6. A movable hook (coupling member) 72 mounted so as to swing up and down at 30, and an electric cylinder 73 swinging the movable hook 72 up and down to separate the fixed hook 71 from the movable hook 72. . The fixed hook 71 is attached to the tip of the columnar support portion 60a extending forward from the front end of the trolley frame 60, as shown in Fig. 2, and extending further forward therefrom.

In the upper part of the fixed hook 71, a recessed part (engagement holding part) 71a is formed in the back side rather than the center part of the longitudinal direction, and as shown in FIG. 72a) is intended to be combined. On the other hand, as shown in FIG. 3B, when the electric cylinder 73 is separated and the rod 73a is retracted, the movable hook 72 that comes up due to this swings upward, and the convex portion 72a at the tip end thereof. Separates from the recess 71a of the fixed hook 71 (at the time of separation). Such connection and disconnection of the connecting device 70 is detected by the limit switch 74.

In addition, the upper surface of the fixing hook 71 is formed with a surface 71b extending back and forth substantially flatter from the tip side than the recess 71a, and will be described later with reference to FIG. 10, but the connection of the connecting device 70 When the rod 73a of the electric cylinder 73 advances in the said close state at the time of operation | movement, the convex part 72a of the tip of the movable hook 72 which rocked below will contact | connect. Since the flat surface 71b functions as a guide part which guides the convex part 72a of the movable hook 72 so that it may face the recessed part 72a which continues to the rear side, it is called the guide part 71b hereafter.

In addition, in the example of the figure, the electric cylinder 73 can be rocked to the rear end of the L-shaped support | pillar 30a which was bent and extended backward once from the rear end of the trolley | bogie 30 of the traveling girder 3 once. Is supported. The electric cylinder 73 swings up and down the movable hook 72 suspended on its lower end by the expansion and contraction of the rod 73a, but the position suspended by the swinging of the movable hook 72 is shifted back and forth. The cylinder 73 and the rod 73a are also rocked.

Inside the connection device 70 of this configuration, as shown in Figure 4 is provided with a shock absorber 75 for absorbing and mitigating the shock that may occur during the connection. In the example of the figure, the shock absorber 75 is, for example, the front and rear of the ring-shaped cushioning material 75b made of urethane to the cylindrical support portion 75a extending rearward from the rear end of the trolley 30 of the traveling girder 3. Overlapping in the direction. The strut 76 extends forward from the front end of the trolley frame 60 of the tripper 6 to face the rear of the shock absorber 75b, and the shock absorber 75b compresses in the front-rear direction and impacts at the time of collision. It is supposed to absorb.

A contact plate 76a is provided at the front end of the strut 76, and there is a slight (for example, in the connected state of the connecting device 70 shown in FIG. 3A between the buffer member 75b facing the front side). A gap of 5 cm or less is formed. In addition, the distance between the buffer member 75b and the contact plate 76a in the above-mentioned proximity state before the connection is a very small interval of about 30 ~ 50cm. Therefore, the limit switch 77 is provided below the shock absorber 75 as a detector for detecting such a proximity state.

That is, as shown in FIG. 4, the limit switch 77 is mounted to the support portion 75a of the shock absorber 75 through a bracket 75c extending downward, while the post 76 is moved forward and backward. The support frame 76b of the rectangular shape extended downward in the predetermined range of the direction is mounted, and the sensor rod 78 is supported so that it may protrude forward toward the lower end side of this support frame 76b. The sensor rod 78 is positioned so that the front end contacts the limit switch 77 in the above proximity state.

That is, as shown in FIG. 4, the length of the sensor rod 78 is set in correspondence with the distance between the support 75a of the shock absorber 75 and the support 76 in the above-mentioned state, and the front end thereof is upward. It becomes inclined shape which protrudes toward the front gradually, and when it comes to near state as shown in figure, it contacts with the limit switch 77, and makes it ON.

Referring to FIG. 2 again, the rear end of the trolley 30 of the traveling girder 3 is connected to and separated from the trolley frame 60 of the tripper 6 by the operation of the connecting device 70. And a control panel such as a traveling device 31, a rail clamp 32, a connecting device 70, and the like, so that the operation of the traveling girder 3 can be performed while visually identifying the operation of the connecting device 70. On-site operation box 34 is installed.

In the example of the drawing, the maneuvering box 34 is arranged along the platform 35 for the operator, from which it connects to the system on the side of the tripper 6 at the tip of the communication cable 36 which extends obliquely backwards. The connector 36a for this purpose is provided. In addition, the platform 35 is installed to be connected to the platform 65 on the tripper 6 side.

-Operation of stacker / reclaimer-

FIG. 5 is a functional block diagram schematically showing the control system of the stacker / reclaimer 1 according to the present embodiment. As an example, the case where the controller 90 is mounted in the traveling girder 3 is shown. have. As shown, the controller 90 has signals from the boom buoyancy sensor 91 and the boom pivot angle sensor 92 which detect at least the buoyancy and the turning angle of the boom 5, respectively, and the wheels of the traveling device 31. A signal from the wheel rotation angle sensor 93 for detecting a rotation angle of the signal, a signal from the detection sensor 94 for detecting a target (not shown) to be detected, which is disposed on the rail 2 at predetermined intervals, The on-off signal from the limit switch (LS) 74 of the connecting device 70 or the proximity state detector, that is, the limit switch 77 is input.

A signal is input from the operation panel of the cab 33 or the field operation box 34 to the drive circuit 95 such as the turning tower 4 and the boom 5 and the traveling device 31 And outputs an operation signal to the brake 95 of the running girder 3 and the rail clamp 32 so as to control the running operation of the running girder 3 and the boom 5 and the turning operation of the boom 5, Output. In addition, the controller 90 outputs an operation signal to the electric cylinder 73 (Act.) Of the connecting device 70, and connects and disconnects it. Furthermore, the on-off signal from the limit switch (tripper holding detection means) 63a which displays the operation state of the storm anchor 63 is input also in the tripper 6 side connected by the connector 36a.

For example, as described above, when the coal is dropped into the yard by the stacker / reclaimer 1, the tripper 6 is pulled while being connected to the traveling girder 3, and the boom 5 is buoyed and Turn and drop coal into the yard. In this case, the turning of the boom 5 is restricted to avoid interference with the tripper 6, and the turning angle is based on the position of extending toward the opposite front of the tripper 6 (the turning angle is 0 °). To ± 105 to 110 °.

On the other hand, when discharging the coal pile and discharging it, the tripper 6 is removed and kept at the previously set mooring position on the rail 2. The traveling girder 3 may float and pivot the boom 5 while traveling alone on the rail 2 to break down the coal pile by the bucket wheel 50 at its tip. In this way, when the tripper 6 is separated and separated from the mooring position by a predetermined distance or more, the boom 5 can be lifted and swung substantially freely.

However, in such a state that the boom 5 is greatly inflated and swung, the traveling girder 3 cannot access the mooring position, and the boom 5 is buoyed at a place not farther than a predetermined degree from the mooring position. And turning must be restricted. For this reason, the buoy and turning operation of the boom 5 and the running operation of the traveling girder 3 are interlocked.

As an example, as shown schematically in FIG. 6A, if the traveling girder 3 is in a commercial zone that is sufficiently far from the tripper 6 (eg, 80-100 m or more), buoying and turning of the boom 5 While most of the mechanical limitations are performed freely, the traveling girders 3 can also run freely up to the commercial limit, which is the boundary of the commercial zone. On the other hand, when approaching the mooring position of the tripper 6 beyond the limit of use as shown in FIG. 6B, buoying and turning of the boom 5 is prohibited and the angles are all limited to near 0 °.

Also, as shown in FIG. 6C, when the buoy and the turning angle of the boom 5 are not near 0 ° outside the commercial zone, the entry ban area cannot be entered. In addition to prohibiting turning, the driving girder 3 attempting to approach the tripper 6 is prohibited. That is, in this case, the traveling girder 3 is driven away from the tripper 6, and once returned to the commercial zone, the boom 5 is pivoted in the 0 ° direction.

Further, for example, as shown in FIG. 7A, when both the buoy and the turning angle of the boom 5 are near 0 °, there is almost no restriction on the running of the traveling girder 3, and the commercial zone as well as the entry prohibited zone. It is also possible to drive. However, when the distance from the tripper 6 in the mooring position is, for example, about 2 to 3 m, the driving operation of the traveling girder 3 by the operation in the cab 33 is prohibited and operated on-site. Only work can be carried out in 34).

In addition, as shown in FIG. 7B, when the buoy and the turning angle of the boom 5 are not near 0 °, the traveling girder 3 freely approaches the tripper 6 until the commercial limit. If not, you cannot enter the prohibited entry zone. If the turning angle of the boom 5 is more than ± 90 °, since the counter weight 52 is on the opposite side to the tripper 6, it is possible to travel beyond the commercial zone to just before the entry prohibited zone. However, it is not possible to turn the boom 5 to less than ± 90 ° as shown in Figure 6c outside the commercial zone (because the counter weight 52 comes to the tripper 6 side).

In this case, the traveling girder 3 can travel away from the tripper 6, but as shown in FIG. 7C, the boom 5 is upward, so that the counter weight 52 is the tripper 6 If there is a possibility of interfering with the vehicle, the vehicle cannot be driven away from the tripper 6. In this case, it is necessary to operate the boom 5 downward so that the angle of incidence is near 0 °.

Since there is such an interlock, for example, when the traveling girder 3 is approached to the mooring position and connected with the tripper 6, the controller 90 has both the buoyancy and the turning angle of the boom 5 near 0 °. After confirming that it is, allow driving to the mooring position. Similarly, when removing the tripper 6 from the traveling girder 3, the controller 90 checks whether both the buoy and the turning angle of the boom 5 are near 0 degrees. And after demonstrating that the tripper 6 is hold | maintained in the mooring position by the storm anchor 63 as demonstrated below, it isolate | separates.

-Connection and disconnection of tripper-

Hereinafter, the connection and disconnection of the tripper 6 in the stacker / reclaimer 1 according to the present embodiment will be described in detail with reference to FIGS. 8 to 10. FIG. 8 is a flowchart showing an example of a control procedure by the controller 90 at the time of detaching the tripper 6, and FIG. 9 shows an example of the control procedure when the same configuration is connected. 10 shows the operation of the connecting device 70 at the time of connection at the tripper 6.

First, when removing the tripper 6 from the traveling girder 3, the operator operates the joystick of the operation panel in the cab 33, and operates so that both the buoy and the turning angle of the boom 5 are about 0 degrees. Further, the traveling girder 3 is driven to the rear tripper mooring position. At this time, the controller 90 detects the position of the boom 5 by signals from the boom buoyancy sensor 91 and the boom swing angle sensor 92. Further, the position of the traveling girder 3 is detected by signals from the wheel rotation angle sensor 93 and the detection sensor 94 to determine whether the tripper 6 is in the mooring position.

At this time, the position of the traveling girder 3 is continuously detected based on the signal from the wheel rotation angle sensor 93, and the error accumulated in this calculation process is solved based on the signal from the sensing sensor 94. Therefore, the detection accuracy of the position of the traveling girder 3 is very high. The traveling body position detecting means is constituted by the wheel rotation angle sensor 93, the detection sensor 94, and the position calculating unit of the controller 90.

Further, as shown in the flowchart of FIG. 8, when both the buoy and the turning angle of the boom 5 are near 0 ° and the tripper 6 is in the mooring position (“Yes” in step SA1), the controller 90 turns on the lamp which can be connected and disconnected from the touch panel (operation panel) of the cab 33 (step SA2). By checking the lighting of the lamp, the operator exits the cab 33 and moves near the on-site operation box 34 to operate the storm anchor 63 of the tripper 6.

For this reason, while the tripper 6 is held in the mooring position by the storm anchor 63, the limit switch (tripper holding detection means) 63a which detects the operation of the storm anchor 63 is turned on, and the signal is turned on. Is sent to the controller 90 via the communication cable 36. When it is detected that the tripper 6 is held by the storm anchor 63 in this manner (YES in step SA3), the disconnecting operation of the connecting device 70 becomes possible. The field operation box 34 may be optionally displayed.

In addition, the operator pulls out the connector 36a of the communication cable 36 in the vicinity of the field operation box 34, and then performs a detachment operation of the connection device 70 at the operation panel of the field operation box 34 (step ( "Yes" in SA4)). Receiving this, the controller 90 outputs an operation signal to the electric cylinder 73 to separate and operate the connecting device 70 (step SA5). That is, as shown in FIG. 3B, the movable hook 72 of the connecting device 70 is lifted up, and the convex portion 72a at the tip thereof is separated from the recess 71a of the fixed hook 71. As a result, the limit switch 74 is turned off, and the signal is sent to the controller 90.

Subsequently, the operator operates the operation panel of the on-site operation box 34 to open the rail clamp 32, and then the traveling girder 3 is moved away from the tripper 6. This causes the limit switch 77 to be turned off when the traveling girder 3 is not in close proximity to the tripper 6. In addition, the controller 90 detects the position of the traveling girder 3 according to the signals from the wheel rotation angle sensor 93 and the detection sensor 94, and a predetermined distance (as an example) from the mooring position of the tripper 6. 2 to 3 m), it is determined whether or not the fall (step SA6). If this determination is YES, the controller 90 pauses the traveling girder 3 and allows the traveling girder 3 to travel by the operation in the cab 33 (step SA7). .

The operator then returns to the cab 33 and continues to drive the traveling girder 3. The controller 90 detects the position of the traveling girder 3 by signals from the wheel rotation angle sensor 93 and the detection sensor 94, and when it enters the commercial zone ("Yes" in step SA8), The tripper separation lamp is turned on in the touch panel of the cab 33 (step SA9). This completes the separation of the tripper 6.

Subsequently, a control procedure for connecting the stripper 6 separated as described above to the traveling girder 3 will be described based on the flowcharts of FIGS. 9 and 10 and with reference to FIGS. 11A and B. In this connection work, the operator first operates the operation panel in the cab 33, drives the traveling girder to the vicinity of the boundary (commercial limit) of the commercial area, and at the same time, both the buoy and the turning angle of the boom 5 are approximately 0 °. Operate if possible. As shown in the flow chart of FIG. 9, the controller 90 connects and disconnects the touch screen (operation panel) when both the buoy and the turning angle of the boom 5 are near 0 ° (YES in step SB1). The work indicator is turned on (step SB2).

Checking that the lamp is lit, the operator drives the traveling girder 3 closer to the mooring position of the tripper 6. At this time, the controller 90 detects the position of the traveling girder 3 by signals from the wheel rotation angle sensor 93 and the detection sensor 94, and when the traveling girder 3 reaches the commercial limit (step ( &Quot; Yes ") to pause (step SB4). Then, when the traveling girder 3 approaches the tripper mooring position further and the interval with the tripper 6 becomes a predetermined interval (for example, 2-3 m) (YES in step SB5), the controller 90 ) Temporarily stops the traveling girder 3 so that the traveling operation cannot be operated in the cab 33 (step SB6).

At this time, since the rail clamp 32 fixes the traveling girder 3, the operator exits the cab 33 and moves to the field operation box 34, and after opening the rail clamp 32 by the operation here, Run the drive girder 3 slowly to get closer to the tripper mooring position. For this reason, when the space | interval of the traveling girder 3 and the tripper 6 becomes the proximity state of a predetermined space | interval, the limit switch 77 will be turned on by the sensor rod 78. FIG. The controller 90 having received the signal detects that the proximity state has been reached (YES in step SB7), and pauses the traveling girder 3 (step SB8).

In this manner, in the proximity state in which the traveling girder 3 is stopped, the operator performs the connection operation of the connecting device 70 in the operation panel of the field operation box 34 as shown in the sequence (step SB9) of FIG. 10. Receiving this, the controller 90 outputs an operation signal to the electric cylinder 73 of the connecting device 70 and connects it (step SB10). That is, as shown in Fig. 11A, the rod of the electric cylinder 73 is advanced (YES at step SB11), the movable hook 72 is lowered, and the convex portion 72a at the tip thereof is fixed to the fixed hook ( The guide part 71b of 71 is contacted.

In this state, when the operator slowly moves the traveling girder 3 so as to be closer to the tripper 6, the convex portion 72a at the tip of the movable hook 72 slides on the guide portion 71b, and FIG. 11B. It fits in the recessed part 71a of the fixing hook 71 like this. That is, the connecting device 70 is connected (YES at step SB12) and the limit switch 74 is turned on, so that the controller 90, which has received this signal, recognizes the end of the connecting operation and runs the traveling girder ( 3) is stopped (step SB13).

That is, since the traveling girder 3 is automatically paused in the proximal state immediately before the tripper 6 is connected, the operator is allowed to operate the connecting device 70 after the traveling girder 3 is paused. The tripper 6 can be connected easily, safely and reliably.

When the connection of the tripper 6 is completed in this way, the worker connects the connector 36a of the communication cable 36 in the vicinity of the on-site operation box 34 (YES in step SB14). The storm anchor 63 is opened. For this reason, the limit switch 63a of the storm anchor 63 is turned off (YES in step SB15), and the controller 90 which received the signal lights a tripper connection lamp (step SB16). Accordingly, the tripper 6 is released in the holding state at the mooring position and is towed by the traveling girder 3 to travel on the rail 2.

In addition, the procedure of step SA3 shown in the flowchart of FIG. 8 realizes the function of the tripper holding detecting means for detecting that the tripper 6 is held by the storm anchor 63. In addition, the procedure of steps SA3 to SA5 prevents the detaching operation of the connecting device 70 when the holding state of the tripper 6 is not detected, thereby restricting the detachment of the tripper 6. The function is realized. According to this embodiment, in step SA1, the disconnection operation of the connecting device 70 is allowed when it is detected that the boom 5 is located at a predetermined position that does not interfere with the tripper 6, that is, near 0 °.

On the other hand, the procedure of step SB1 shown in the flow chart of Fig. 9 is that when the boom 5 is in the predetermined position, the traveling girder 3 enters a predetermined distance (no entry zone) from the tripper mooring position. The function of the tripper connection regulating means which permits to do so, otherwise inhibits entry and restricts the connection with the tripper 6 is realized. Moreover, the procedure of step SB8 realizes the function of the stop control means which pauses the traveling girder 3 when it is determined that it is in the proximity state.

In addition, since the control procedure shown in the flowcharts of FIGS. 8 to 10 is implemented by the controller 90 executing a predetermined control program, in the present embodiment, the controller 90 controls the tripper holding detection means and the stripper separation regulation. Each control part corresponding to a means, a tripper connection restricting means, and a stop control means is provided in the state of software, respectively.

As described above, according to the stacker / reclaimer 1 according to the embodiment described above, when the dropping of coal is performed first, the tripper 6 is connected to the traveling girder 3 to be pulled, thereby the boom conveyor 53 Coal to be transferred to can be dropped by dropping to the yard from the tip side of the boom 5. On the other hand, when discharging and discharging a pile of coal by the bucket wheel 50, the tripper 6 which obstructs operation | movement of the boom 5 can be isolate | separated and hold | maintained in the mooring position.

That is, when the storm anchor 6 is operated with the tripper 6 in the mooring position, the holding state by this is detected by the signal from the limit switch 63a. By separating the operation, it is possible to safely and reliably detach the tripper 6 without depending on the naked eye of the operator.

On the other hand, when the holding state of the tripper 6 according to the storm anchor 63 is not detected, the detaching operation of the connecting device 70 cannot be performed, so that the tripper 6 can be detached from the traveling girder 3. Can't. In other words, when separated from the traveling girder 3, the tripper 6 is always held in the mooring position, and the position thereof cannot be changed.

Therefore, when it connects to the traveling girder 3 again later, an unexpected collision can be prevented based on the position detection result of the traveling girder 3 on the rail 2, and it does not depend on the operator's visual identification, The connection of the fur 6 can also be performed safely and securely.

Further, on the condition that the buckle and the rotation angle of the boom 5 of the traveling girder 3 are near 0 ° at the time of detachment and connection of the tripper 6, the operation of the connecting device 70 is allowed. There is no possibility that the boom 5 may interfere with the tripper 6 at that time.

Other Embodiments

The description of the above-described embodiments is merely illustrative and is not intended to limit the present invention, its application or its use. For example, according to the above embodiment, when the tripper 6 is held at the mooring position by the storm anchor 63, the detaching operation of the coupling device 70 is permitted, but not only the storm anchor The operator may be notified only of the holding condition according to (63).

In addition, when connecting and disconnecting the tripper 6, the buoyancy and the turning angle of the boom 5 of the traveling girder 3 may not necessarily be near 0 °, for example, the turning angle when the buoy angle is near 0 °. May be a wider range such as within ± 30 °.

In addition, although the storm anchor 63 of the tripper 6 was operated manually by the said embodiment, you may make it possible to operate this in the field operation box 34 of the traveling girder 3. For this purpose, for example, as shown in FIG. 12, the microcomputer 66 is mounted on the tripper 6, and the actuator (Act.) 63b provided in the storm anchor 63 is operated. The microcomputer 66 enables communication with the controller 90 of the traveling girder 3 via a communication cable 36.

Furthermore, in the above embodiment, the tripper 6 is held at a predetermined mooring position and separated, but not only this, but the tripper 6 is also held at the arbitrarily selected mooring position on the rail 2. good. In this case, the tripper holding means may be a mechanism such as the rail clamp 32 of the traveling girder 3 which fits the rail 2 instead of the storm anchor 63.

In this case, the tripper 6 may be provided with a storage device for storing the position and a battery (power supply) used for the operation of the storage device. In this case, even when the tripper 6 is removed from the traveling girder 3 while the tripper 6 is held at an arbitrary mooring position on the rail 2, the mooring position is stored by the storage device. The relative position can be detected. As the storage device, an internal storage device of the microcomputer 66 shown in FIG. 12 can be used.

In addition, as an example according to the present embodiment, the stacker / reclaimer 1 for dropping and discharging coal from the coal raw material yard of an ironworks has been described. However, the present invention is not limited thereto, and the present invention is a quay or quarry. It is also applicable to a stacker / reclaimer for dropping and dispensing various bulk conveyances such as ores in the or the like.

According to the stacker / reclaimer according to the present invention, the connection and disconnection of the tripper is performed without depending on the operator's visual identification, so that it is not easily affected by the fatigue and bad weather of the operator, which is safe, reliable and very useful.

1: stacker / reclaimer
2: rail
3: driving girder
5: boom
6: tripper
63: Storm Anchor (Triper Retention Means)
63a: limit switch (tripper holding detection means)
66: Microcomputer (storage device)
7: connecting unit
70: connecting device
71a: recessed portion of retaining hook (engagement retaining portion)
71b: guide part of the same member
72: movable hook (coupling member)
73: electric cylinder (actuator)
77: limit switch (proximity detection means)
90: controller (tripper holding detecting means, tripper separating regulating means, tripper connecting regulating means and stop controlling means)
91: boom elevation angle sensor (boom position detection means)
92: boom swing angle sensor (boom position detection means)
93: wheel rotation angle sensor (vehicle position detection means)
94: detection sensor (driving body position detection means)

Claims (11)

A device for connecting and disconnecting a tripper in a stacker / reclaimer in which a boom is supported on a traveling body traveling on a rail so as to buckle and pivot, while a tripper is connected to the traveling body,
Traveling body position detecting means for detecting a position of the traveling body on the rail;
A connecting device detachably connecting the tripper to the traveling body;
Tripper holding means for holding the tripper at a mooring position on the rail;
And a tripper holding detection means for detecting that the tripper is held by the tripper holding means. The method of claim 1,
When the holding state of the tripper is not detected by the tripper holding detecting means, further comprising tripper separating regulating means for prohibiting the detaching operation of the connecting device to regulate the detachment of the tripper from the traveling body. Characterized in that the connection and disconnection device of the tripper. The method of claim 2,
And a boom position detecting means for detecting the buoyancy and the turning position of the boom,
The tripper disconnection restricting means permits the disconnecting operation of the connector when the boom position detecting means detects that the boom is at a predetermined position that does not interfere with the tripper. . The method of claim 3,
When it is detected by the boom position detecting means that the boom is in the predetermined position, the separated traveling body of the tripper is allowed to enter within a predetermined distance from the mooring position, while the boom is not in the predetermined position. And a tripper connection regulating means for restricting the connection of the tripper by preventing the traveling body from entering the predetermined distance. The method of claim 1,
The connecting device,
An engagement holder provided on one of the traveling body and the tripper;
A coupling member installed on the other side and operated by an actuator to engage and separate from the coupling portion,
And a guide portion for contacting the engaging member in a proximate state where the distance between the traveling body and the tripper is less than or equal to a predetermined value, and guiding the engaging member to the engaging retaining portion. The method of claim 5,
Proximity state detecting means for detecting the proximity state of the traveling body and the tripper;
And a stop control means for pausing the traveling body traveling to approach the mooring position when it is detected that the proximity state is detected by the proximity state detecting means. The method of claim 1,
The traveling body position detecting means includes a rotation angle sensor for detecting a rotation angle of the wheel of the traveling body and a sensing sensor for detecting a target to be installed at a predetermined interval in a longitudinal direction of the rail. Connecting and disconnecting devices. The method of claim 1,
The tripper is provided with a memory device for storing the position, and a power supply used for the operation of the memory device. A method of connecting and disconnecting the tripper in a stacker / reclaimer in which a boom is supported on the traveling body traveling on a rail so as to buckle and pivot, while the tripper is connected to the traveling body,
And a tripper holding detecting means for detecting that the tripper is held at a mooring position on the rail,
First, while driving the traveling body while detecting the position of the traveling body on the rail, a tripper connected thereto is positioned at the mooring position,
Next, the tripper is held at the mooring position, and the holding state at the mooring position of the tripper is not separated from the traveling body until the holding state is detected by the tripper holding detecting means. And detecting the tripper from the traveling body when detected. 10. The method of claim 9,
And a boom position detecting means for detecting the buoyancy and the turning position of the boom,
And disconnecting the tripper after detecting that the boom is at a predetermined position not interfering with the tripper by the boom position detecting means. The method of claim 10,
And after the boom position detecting means detects that the boom is in the predetermined position, the traveling body separated from the tripper is driven toward the mooring position, and entered into the mooring position and within a predetermined distance. How to connect and disconnect the trippers.

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