KR970043082A - Positioning Method of Drive Shaft in Raw Material Discharge Reclaimer - Google Patents

Positioning Method of Drive Shaft in Raw Material Discharge Reclaimer Download PDF

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Publication number
KR970043082A
KR970043082A KR1019950068461A KR19950068461A KR970043082A KR 970043082 A KR970043082 A KR 970043082A KR 1019950068461 A KR1019950068461 A KR 1019950068461A KR 19950068461 A KR19950068461 A KR 19950068461A KR 970043082 A KR970043082 A KR 970043082A
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KR
South Korea
Prior art keywords
reclaimer
raw material
point
drive shaft
equation
Prior art date
Application number
KR1019950068461A
Other languages
Korean (ko)
Other versions
KR100217857B1 (en
Inventor
신기태
최진태
이관희
김종국
Original Assignee
김종진
포항종합제철 주식회사
신창식
재단법인 산업과학기술연구소
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Application filed by 김종진, 포항종합제철 주식회사, 신창식, 재단법인 산업과학기술연구소 filed Critical 김종진
Priority to KR1019950068461A priority Critical patent/KR100217857B1/en
Publication of KR970043082A publication Critical patent/KR970043082A/en
Application granted granted Critical
Publication of KR100217857B1 publication Critical patent/KR100217857B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/005—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
    • B65G2814/03—Loading or unloading means
    • B65G2814/0301—General arrangements
    • B65G2814/0326—General arrangements for moving bulk material upwards or horizontally
    • B65G2814/0328—Picking-up means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/10—Sequence control of conveyors operating in combination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Conveyors (AREA)

Abstract

본 발명은 제철소의 원료공장에서 원료를 파내는데 사용하는 원료불출 리클레이머를 무인자동화 하기 위하여 리클레이머의 구동축의 위치를 결정하는 방법에 관한 것으로서, 리클레이머가 불출점으로 이동하기 위하여 리클레이머의 각축에 대항 이동거리 및 각도 등을 기 추출된 원료파일의 3차원 위치값을 이용하여 불출점을 구한 후 불출점 주변의 국소평면의 방정식을 유도하여 이 평면과 버킷의 끝을 연결한 원이 접하여야 한다는 조건을 이용하여 불출점에 대한 리클레이머의 구동축의 위치를 정확하고 신속하게 결정하는 방법을 제공하고자 하는데 그 목적이 있다.The present invention relates to a method of determining the position of the drive shaft of the reclaimer for unmanned automated raw material reclaimer used to dig the raw material in the steel mill of the steel mill, the reclaimer to move to the discharge point Using the three-dimensional position value of the raw material file extracted from the moving distance and angle of each axis of the machine, the discharge point is obtained and the equation of the local plane around the discharge point is derived to connect the circle to the end of the bucket. It is an object of the present invention to provide a method for accurately and quickly determining the position of a drive shaft of a reclaimer with respect to a launch point.

본 발명은 리클레이머의 기구학적 구조에 대하여 기준좌표와 국부 또는 관절좌표계를 설정하여, 설정된 좌표계를 바탕으로 리클레이머의 순기구학의 계산 및 불출점(reclaiming point)과 불출점주변의 점들에 대한 3차원 위치값을 이용하여 불출점 주변의 국소 평면 방정식을 기준좌표에 대하여 정의하는 단계;The present invention sets a reference coordinate and a local or joint coordinate system with respect to the kinematic structure of the reclaimer, and calculates the forward kinematics of the reclaimer based on the set coordinate system. Defining a local plane equation around the launch point with respect to the reference coordinate using a three-dimensional position value for the reference point;

불출점을 포함하는 국소 평면에서 버킷이 접해야 한다는 관점에서 국소평면의 평면방정식의 법선벡터와 불출점에서 버킷의 끝단의 좌표계의 노말(normal)벡터가 서로 수직이어야 한다는 조건으로부터 리클레이머의 구동축의 위치를 유일하게 결성하는 단계를 포함하여 구성되는 원료불출 리클레이머의 구동축 위치결정방법을 그 요지로 한다.From the point of view that the bucket should be in contact with the local plane including the launch point, the normal vector of the plane equation of the local plane and the normal vector of the coordinate system of the end of the bucket at the launch point must be perpendicular to each other. A summary of the drive shaft positioning method of the raw material discharging reclaimer including the step of forming the position uniquely is provided.

Description

원료불출 리클레이머의 구동축 위치결정방법Positioning Method of Drive Shaft in Raw Material Discharge Reclaimer

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 리클레이머가 원료파일에서 원료를 불출하는 방법의 개략도.1 is a schematic diagram of how a reclaimer dispenses raw materials from a raw pile.

제2도는 리클레이머의 기구학적 형상을 선으로 간략화하고 여기에 좌표계를 설정하여 리클레이머의 수학적 모델을 정의한 모식도.2 is a schematic diagram of a mathematical model of a reclaimer defined by simplifying the kinematic shape of the reclaimer with a line and setting a coordinate system therein.

Claims (1)

리클레이머를 사용하여 원료파일에서 원료를 불출하는 방법에 있어서, 원료파일에 임의의 불출점을 설정하는 단계; 3차원형상 측정기에 의해 상기 원료파일에 대하여 상기 불출점을 포함하는 3차원 파일형상을 검출하는 단계; 주행축의 끝단을 중심으로 하는 X0, Y0, Z0로 이루어지는 3차원기준 좌표계를 설정하는 단계; 좌표값이(X|0, Y0, Z0)로 주어지는 불출점에 대한 리클레이머의 순기구학 방정식을 하기식 (1), (2), (3)과 같이 구하는 단계;CLAIMS 1. A method for dispensing a raw material from a raw file using a reclaimer, the method comprising: setting an arbitrary discharge point in the raw file; Detecting a three-dimensional pile shape including the dispensing point with respect to the raw material pile by a three-dimensional shape measuring instrument; Setting a three-dimensional reference coordinate system composed of X 0 , Y 0 , and Z 0 centered on the end of the travel shaft; Obtaining a forward kinematic equation of the reclaimer for a launch point whose coordinate value is given by (X | 0 , Y 0 , Z 0 ) as shown in the following equations (1), (2) and (3); 상기 불출점 주위에 복수개의 점을 선정하는 단계; 상기 불출점을 포함하는 원료파일의 국소평면에 대한 평면방정식을 하기식(4)와 같이 구하는 단계; Selecting a plurality of points around the launch point; Obtaining a plane equation for the local plane of the raw material pile including the discharge point as shown in Equation (4); 불출부의 버킷의 선단과 원료파일의 불출점과 접한다는 조건하에 하기식(7)을 구하는 단계;Obtaining the following equation (7) under the condition that it is in contact with the tip of the bucket of the discharge part and the discharge point of the raw material pile; 상기식 (1),(2),(3) 및 (7)을 이용하여 리클레이머의 구동축을 구하는 단계를 포함하여 구성되는 원료불출 리클레이머의 구동축 위치 결정방법.A method of positioning a drive shaft of a raw material discharging reclaimer, comprising the step of obtaining a drive shaft of a reclaimer using the formulas (1), (2), (3) and (7).
KR1019950068461A 1995-12-30 1995-12-30 Positioning method for reclaimer KR100217857B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019950068461A KR100217857B1 (en) 1995-12-30 1995-12-30 Positioning method for reclaimer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019950068461A KR100217857B1 (en) 1995-12-30 1995-12-30 Positioning method for reclaimer

Publications (2)

Publication Number Publication Date
KR970043082A true KR970043082A (en) 1997-07-26
KR100217857B1 KR100217857B1 (en) 1999-10-01

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Application Number Title Priority Date Filing Date
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100489677B1 (en) * 2002-08-30 2005-05-17 재단법인 포항산업과학연구원 Method for controlling position of reclaimer

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100489677B1 (en) * 2002-08-30 2005-05-17 재단법인 포항산업과학연구원 Method for controlling position of reclaimer

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Publication number Publication date
KR100217857B1 (en) 1999-10-01

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