TW201922596A - Transport equipment and transport equipment control method - Google Patents

Abstract

Transport equipment according to one embodiment is configured such that when contact between a first reclaimer and a second reclaimer near the boundary of a first region and a second region is determined to be possible, the travel speed of one or both of the first reclaimer and second reclaimer is changed from a preset value within a range in which same does not stop so as to avoid contact between the first reclaimer and the second reclaimer, and after the travel speed of one or both of the reclaimers is changed, the boom angle of the one or both reclaimers is changed from the preset value in accordance with the travel speed after the change to the one or both reclaimers so that delivery volume of bulk solids to be delivered from the one or both reclaimers to a yard conveyor does not fluctuate.

Description

Transporting equipment and control method thereof

The invention relates to a conveying device with a scraper-type reclaimer and a control method for a conveying device with a scraper-type reclaimer.

The scraper-type reclaimer is equipped with a boom with a scraper, and uses this boom to scrape bulk materials from a pile of "bulk materials" such as coal or minerals, and output the scraped bulk materials to the field conveyor ( See Patent Document 1). In the conveying equipment with a plurality of scraper-type reclaimers, as long as different types of bulk materials are stacked and formed into multiple piles, each reclaimer scrapes the bulk materials from each pile and outputs them to the same field conveyor. It is possible to produce a bulk material in which a plurality of kinds of bulk materials are mixed at any ratio. [Antecedent Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open No. 2003-261224

[Questions to be Solved by the Invention]

However, the scraper-type reclaimer reciprocates in a predetermined area while scraping the bulk material. Therefore, if the breadth or speed of the reciprocating area is different, there is a risk that adjacent reclaimers will contact each other. To avoid this, consider stopping one of the adjacent reclaimers. However, since the scraper-type reclaimer presses the scraper set on the boom to the material pile to scrape the bulk material, the scraping amount of the bulk material will vary with the angle (the amount of depth) of the scraper and the running speed. The change. Therefore, if the movement of the reclaimer is stopped, the bulk material will not be output. Therefore, if one of the adjacent reclaimers is stopped, bulk materials will not be output from the stopped reclaimer, so multiple types of bulk materials cannot be mixed at any ratio.

The present invention has been made in view of the above-mentioned circumstances, and an object thereof is to provide a conveying device having a plurality of scraper-type reclaimers, which can prevent the reclaimers from contacting each other while suppressing the bulk of each reclaimer Changes in output of materials. [Technical means to solve the problem]

One aspect of the present invention is a conveying device, comprising a field conveyor extending along a stack formed by stacking bulk materials, and a scraper-type first reclaimer that reciprocates along the aforementioned field conveyor. One side of area 1 scrapes the bulk material from the aforementioned pile with an arm frame provided with a scraper, and outputs the scraped bulk material to the aforementioned field conveyor; the second type of scraper-type reclaimer is along the aforementioned field conveyor The back side of the second area adjacent to the first area is scraped to scrape the bulk material from the aforementioned pile with an arm frame provided with a scraper, and the scraped bulk material is output to the aforementioned field conveyor; and a control device controls the aforementioned The travel speed and boom angle of the first reclaimer, and the travel speed and boom angle of the second reclaimer; and the control device executes a contact avoidance program as follows: When there is a possibility that the first reclaimer and the second reclaimer are in contact near the boundary of the 2 area, the first reclaimer and the second reclaimer can be prevented from contacting the first reclaimer. Reclaimer and The travel speed of one or both of the second reclaimers is changed from a preset value within a non-stop range, and before and after the change of the travel speed of one or both of the reclaimers, According to the way that the output volume of the bulk material output from the one or both of the foregoing parties to the field conveyor does not change, the The boom angle is changed from a preset value.

According to this configuration, it is possible to avoid contact between the first reclaimer and the second reclaimer, and to suppress variations in the output amount of the bulk material output from the reclaimer to the field conveyor.

In the above-mentioned conveying equipment, when the control device executes the contact avoidance program, it is determined that the first reclaimer is in contact with the second reclaimer near the boundary between the first area and the second area. If it is possible, only change the travel speed of one of the first and second reclaimers from the preset value, and then judge again in the first and second regions. When there is a possibility that the first reclaimer and the second reclaimer are in contact near the boundary, the travel speed of the other reclaimer of the first reclaimer and the second reclaimer is set in advance. The value changes.

According to this configuration, the traveling speed and the boom angle are changed alternately between the first reclaimer and the second reclaimer. As a result, one of the stockpiles in the first area and the stockpiles in the second area can be restrained from being greatly deformed compared to the other one.

In the above-mentioned conveying equipment, when the control device executes the contact avoidance program, it is determined that the first reclaimer is in contact with the second reclaimer near the boundary between the first area and the second area. If possible, change the travel speed of one or both of the first and second reclaimers to a value smaller than a preset value.

In the case of a scraper-type reclaimer, if the traveling speed is excessively increased, there is a possibility that the bulk material may be scattered from the scraper set on the boom when scraping the bulk material with the boom, and the bulk material may not be scraped sufficiently. Therefore, in the case where the running speed of one or both of the first and second reclaimers is changed, as long as the running speed is changed to be small as described above, the scraping can be surely performed. Bulk material.

In the above-mentioned conveying equipment, when the aforementioned control device executes the aforementioned contact avoidance program, when the travel speed of the aforementioned one or both of the reclaimers is changed, the reciprocating movement of the reciprocators located in the aforementioned one or both parties Change the travel speed at the end of one of the areas, and maintain the changed travel speed until it reaches the other end.

According to this configuration, the running speed of the reclaimer is constant from one end of the running area to the other end, and the boom angle is also maintained during this period. Thereby, since the boom angle does not change during the area where the reclaimer travels back and forth, it is possible to avoid generation of step differences on the stockpile.

In the above-mentioned conveying equipment, when the aforementioned control device executes the contact avoidance program, it is also possible to change the position of the aforementioned one or both parties in changing positions outside the two ends of the area where the one or both of the reciprocating machines reciprocates. When the traveling speed of the machine is changed and the boom angle is changed, so that a step difference is generated on the stockpile, then, the way of eliminating the step difference generated on the aforementioned stockpile is to reciprocate from the aforementioned one or both of the reclaimers. The angle of the boom of the one or both of the reclaimers is maintained from the area to the end of the other one, and the foregoing changes are passed in such a way that the output does not change before the one or both of the reclaimers pass the aforementioned change position. When the position is changed, the running speed of the reclaimer of one or both parties is changed.

According to this configuration, even if a step difference is generated on the stockpile, thereafter, the step difference generated on the stockpile can be eliminated, and the current output amount variation can be suppressed.

In the above-mentioned conveying equipment, the aforementioned first reclaimer and the aforementioned second reclaimer are both half-door reclaimers that only scrape bulk materials from the aforementioned pile with one boom. The device further includes: a vertical wall that is disposed in parallel with the field conveyor and is located on the opposite side of the field conveyor when viewed from the stock pile; a horizontal wall that is disposed vertically and supports the vertical wall with respect to the vertical wall and is located in the foregoing The boundary between the first region and the second region.

When the reclaimer of the conveying equipment is a half-door type, vertical walls and horizontal walls are provided on the site. In this case, since the bulk material is piled up to the boundary of the horizontal wall, the risk that the reclaimers approach each other to the wall boundary of the horizontal wall increases. Therefore, in the case where the first and second reclaimers are half-door reclaimers as described above, the above-mentioned contact avoidance program is very effective.

In addition, according to one aspect of the present invention, a control method of a conveying device includes: a field conveyor extending along a pile formed by stacking bulk materials; and a scraper-type first reclaimer along one side of the aforementioned field The conveyor moves back and forth in the first area to scrape the bulk material from the aforementioned pile with an arm frame provided with a scraper, and outputs the scraped bulk material to the aforementioned field conveyor; the second scraper of the scraper type, one edge With the aforesaid field conveyor traveling back and forth in the second area adjacent to the aforesaid first area, an arm frame provided with a scraper scrapes the bulk material from the aforementioned pile, and outputs the scraped bulk material to the aforementioned field conveyor; the The control method of the conveying equipment is to avoid the aforesaid first reclaimer when it is judged that there is a possibility that the first reclaimer contacts the second reclaimer near the boundary between the first area and the second area. The method of contacting the machine with the aforementioned second reclaimer is to keep the running speed of one or both of the aforementioned first reclaimer and the second reclaimer within a non-stop range from a preset value. Change, and based on the previous one Before and after the change of the running speed of the reclaimer of one or both parties, the output of the bulk material from the reclaimer of one or both parties to the field conveyor will not change, depending on the change of the reclaimer of one or both parties. For subsequent travel speeds, the boom angle of the reclaimer of one or both of the foregoing parties is changed from a preset value. [Inventive effect]

According to the above-mentioned conveying equipment, while avoiding the contact of the reclaimers with each other, it is possible to suppress the change in the output of the bulk materials of each reclaimer.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following, all drawings are covered, and the same or equivalent elements are given the same symbols, and repeated descriptions are omitted.

<Overall Configuration of Transport Equipment> First, the overall configuration of the transport equipment 100 will be described. FIG. 1 is a schematic plan view of a transfer device 100 according to this embodiment. The transfer equipment 100 of this embodiment is a device that scrapes the bulk material 101 from a stock pile 102 formed by stacking bulk materials 101 such as coal or minerals, and transfers the bulk material 101 to another location. In addition, in the present embodiment, the right side of the paper surface in FIG. 1 is the conveying direction of the bulk material 101.

As shown in FIG. 1, the conveyance equipment 100 according to the present embodiment includes a vertical wall 10 extending in the conveying direction, and a horizontal wall 11 provided perpendicularly to the vertical wall 10 and supporting the vertical wall 10. These vertical walls 10 and horizontal walls 11 divide the field 103 to form a plurality of areas including a first area 12 and a second area 13. Therefore, the horizontal wall 11 is located at the boundary between the first region 12 and the second region 13. In addition, a stock pile 102 composed of bulk materials 101 of different types is formed in each area.

Further, the transfer facility 100 includes a yard conveyor 14 extending along the stock pile 102, a first reclaimer 15 traveling back and forth along the yard conveyor 14 in the first area 12, and a yard conveyor 14 travels back and forth between the second reclaimer 16 in the second area 13 adjacent to the first area 12.

The field conveyor 14 is a device that transports the bulk material 101 output from the first reclaimer 15 and the second reclaimer 16 in the conveying direction. That is, the bulk materials output from the first and second reclaimers 15 and 16 are supplied to the same field conveyor 14. In addition, the above-mentioned vertical wall 10 is disposed in parallel to the field conveyor 14, and the vertical wall 10 is located on the opposite side of the field conveyor 14 when viewed from a stockpile.

The first reclaimer 15 and the second reclaimer 16 both use a boom 22 provided with a scraper 33 (refer to FIG. 2) to scrape bulk materials from the stock pile 102 and output the scraped bulk materials 101 to the field. Scraper type reclaimer of the conveyor 14. The first reclaimer 15 and the second reclaimer 16 are half-port reclaimers that scrape the bulk material 101 with only one boom.

<Configuration of Reclaimer> Next, the configuration of the first reclaimer 15 and the second reclaimer 16 will be described in more detail. In this embodiment, since the first feeder 15 and the second feeder 16 have the same configuration, the configuration of the first feeder 15 will be described below, and the configuration of the second feeder 16 will be omitted. Description.

FIG. 2 is a side view of the first reclaimer 15. The forward direction of the paper surface in FIG. 2 is the conveying direction of the bulk material 101. The first reclaimer 15 of this embodiment includes a running device 21, a boom 22, and a boom angle adjustment mechanism 23.

The running device 21 is disposed on the opposite side of the stock pile 102 via the field conveyor 14 and travels along the field conveyor 14 on a track outside the figure. The running device 21 includes a wheel 24, a running motor 26 (see FIG. 3) that rotates the wheel 24, and a wheel angle meter 27 that measures a rotation angle of the wheel 24. A door seat 25 is provided on the running device 21 and extends obliquely upward from the running device 21. The front end of the door seat 25 is supported by the upper edge portion of the vertical wall 10, and the front end of the door seat 25 moves along the upper edge portion of the vertical wall 10.

The boom 22 is a device for scraping the bulk material 101 from the stock pile 102. The boom 22 has a main body frame 31 whose base end portion is rotatably supported by the running device 21, a turnover driving portion 32 which is rotated around the main body frame 31, and a plurality of scrapers 33 which are arranged at the same time at the turnover driving portion 32. By turning the turnover driving part 32 (clockwise rotation in FIG. 2), the scraper 33 scrapes the bulk material 101 from the pile 102, and supplies it to the chute 34 near the base end of the boom 22 (see FIG. 2). Of white arrows). Next, the bulk material 101 supplied to the chute 34 is output to the field conveyor 14 located below the chute 34.

The boom angle adjustment mechanism 23 is a mechanism for adjusting the angle of the boom 22. The boom angle adjustment mechanism 23 includes a boom hook 35 provided on the body frame 31 of the boom 22, a hanging rope 36 connecting the boom hook 35 and the door base 25, and a winch 37 for adjusting the length of the hanging rope 36. By adjusting the length of the hanging wire 36 with the winch 37, the angle of the boom 22 can be set to be arbitrary.

In addition, in the present embodiment, the position when the front end of the boom 22 is at the bottom is used as a reference position, and the angle with respect to the boom 22 at the reference position is referred to as the "arm angle". That is, the boom angle is large when the hanging wire 36 is shortened and the front end of the boom 22 is located at a high position, and the boom angle is small when the hanging wire 36 is increased and the front end of the boom 22 is located at a lower position. A boom angle meter 38 (see FIG. 3) for measuring the boom angle is provided on the boom 22.

The first reclaimer 15 is configured as described above. Generally, the first reclaimer 15 travels at a constant travel speed from one end of the first region 12 to the other end, and scrapes from the stock pile 102 with the boom 22. Take the bulk material 101. In addition, when the first picker 15 reaches the other end, the boom angle is reduced, while one side travels at a constant travel speed from the other end to the other end, and the other side uses the boom 22 Bulk material 101 is scraped from the stock pile 102.

In addition, as long as the traveling speed of the first reclaimer 15 is the same, the smaller the boom angle, the greater the depth of the scraper 33 to the pile 102, and the bulk material supplied from the first reclaimer 15 to the field conveyor 14 The more supply per unit time. On the other hand, as long as the boom angles are the same, the faster the traveling speed, the more the supply amount per unit time.

<Configuration of Control System> Next, the configuration of the control system of the transfer device 100 will be described. FIG. 3 is a block diagram of a control system of the conveying equipment 100. As shown in FIG. 3, the transport facility 100 includes a control device 40. The control device 40 includes a processor, a volatile memory, a non-volatile memory, an I / O interface, and the like, and controls the travel speed and boom angle of the first reclaimer 15 and the travel of the second reclaimer 16 Speed and boom angle.

The control device 40 is electrically connected to a wheel angle gauge 27 and a boom angle gauge 38 respectively provided in the first reclaimer 15 and the second reclaimer 16, and receives measurement signals sent from these machines. Based on the measurement signals received from the wheel angle meters 27, the control device 40 can obtain the positions and running speeds of the first and second reclaimers 15 and 16. In addition, the control device 40 can obtain the boom angles of the first and second reclaimers 15 and 16 based on the measurement signals received from the boom angle meters 38.

In addition, the control device 40 is electrically connected to the travel motor 26 and the winch 37 respectively provided in the first reclaimer 15 and the second reclaimer 16, and sends control signals to these devices. Thereby, the traveling speed and boom angle of the first reclaimer 15 and the traveling speed and boom angle of the second reclaimer 16 can be controlled. In this embodiment, the travel speed and boom angle of the first reclaimer 15 and the travel speed and boom angle of the second reclaimer 16 are set in advance. However, as long as the control device 40 executes a contact avoidance program described later and satisfies a predetermined condition, various settings are changed.

<Contact avoidance program> Next, the contact avoidance program will be described. The contact avoidance program is executed by the control device 40. Figure 4 is a flowchart of a contact avoidance program.

As shown in FIG. 4, after the contact avoidance program is started, the control device 40 obtains the values of each of the reclaimers 15 and 16 based on the measurement signals received from the wheel angle meters 27 of the first reclaimer 15 and the second reclaimer 16. Position and travel speed (step S1).

Then, the control device 40 determines, based on the positions and travel speeds of the respective reclaimers 15, 16 whether or not there is a possibility that the two reclaimers 15, 16 are in contact near the boundary between the first region 12 and the second region 13 (step S2). . When it is determined that there is no possibility of contact between the two reclaimers 15, 16 (No in step S2), the process returns to step S1, and processing is performed again from step S1.

On the other hand, when it is determined that there is a possibility that the two reclaimers 15, 16 are in contact (YES in step S2), it is determined that the set reclaimer is to be changed (step S3). That is, as described later, the setting of the reclaimer is changed at a later step, but it is necessary to decide which of the first reclaimer 15 and the second reclaimer 16 is to be changed.

In this embodiment, it is determined that the first reclaimer 15 and the second reciprocator 16 are alternately used as reclaimers for changing the settings. That is, if in step S3, for example, the reclaimer whose setting is changed is determined as the first reclaimer 15, and then after returning to step S3 again after other steps, the reclaimer whose setting is changed is determined as the second reclaimer.料 机 16。 Material machine 16.

Then, the control device 40 determines whether or not the reclaimer whose setting has been changed is located at the end of the reciprocating area (step S4). For example, in step S3, when the reclaimer whose setting is changed is determined as the first reclaimer 15, it is determined whether the first reclaimer 15 is located at the end of the first area 12 near the second area 13 or away from the second The end of the area 13. When the reclaimer whose setting is changed is not located at the end of the reciprocating area (No in step S4), step S4 is repeated until it is located at the end.

On the other hand, in the case where the setting changer is located at the end of the area (YES in step S4), the running speed and boom angle of the changer are changed from the set values (step S5). In this embodiment, in a manner to avoid contact between the two reclaimers 15, 16, the travel speed of the reclaimer is changed from a preset value within a non-stop range. When the running speed is changed, the value can be changed to be larger than the preset value, or it can be changed to be smaller than the preset value. However, if the traveling speed is too large, the bulk material may be leaked from the scraper 33 when scraping the bulk material by the arm frame 22. Therefore, when changing the traveling speed, it is preferable to make it smaller than a preset value.

Here, if the running speed is changed, the output amount of the bulk material output from the reclaimer to the field conveyor 14 after changing the running speed also changes. Therefore, in this embodiment, the boom angle is changed in accordance with the changed traveling speed so that the output does not change before and after the traveling speed is changed. For example, when the traveling speed of the reclaimer is reduced, the boom angle is set to be smaller than a preset value (that is, to increase the depth of penetration).

Then, the control device 40 determines whether or not the picker after the setting change is located at the other end portion which is different from the end portion located when the setting change has been performed (step S6). For example, if the first reclaimer 15 is located at an end of the first region 12 that is farther from the second region 13, it is determined whether the first reclaimer 15 is located closer to the second region of the first region 12 13 of the end. When the reclaimer is not located at the other end after the setting is changed (No in step S6), repeat step S6 until it is located at the other end.

On the other hand, when the reclaimer after the setting is changed is located at the other end (YES in step S6), the traveling speed and boom angle of the reclaimer are returned to the preset values (step S7). After step S7, return to step S1 again, and repeat steps S1 to S7. The above is the process of contact avoidance program.

The contact avoidance program of this embodiment is to change the traveling speed when the reclaimer is located at one end of one of the reciprocating areas, and maintain the changed traveling speed until it reaches the other end. That is, the traveling speed of one end to the other end of the reciprocating region is constant. In addition, in order to keep the output of the bulk material output from the reclaimer to the field conveyor 14 unchanged, the boom angle does not need to be changed, so the boom angle also becomes constant. As described above, in this embodiment, since the boom angle does not change during the reciprocating area, a step difference does not occur in the stockpile 102, and it is possible to prevent the output of the reclaimer from changing when passing through the step portion.

<Modification> Next, a modification of the above embodiment will be described. FIG. 5 is a flowchart of a contact avoidance program according to a modification. The modification of the contact avoidance program is to change the setting of the reclaimer during the reciprocating area and eliminate the resulting section of the pile 102 worse than the contact avoidance, which is different from the aforementioned contact avoidance program.

As shown in FIG. 5, after the contact avoidance program of the modified example is started, the control device 40 obtains the positions and running speeds of the respective reclaimers 15 and 16 (step S11) and determines whether there is a possibility that the two reclaimers 15 and 16 are in contact. (Step S12). When it is determined that there is no possibility of contact between the two reclaimers 15, 16 (No in step S12), the process returns to step S11, and processing is performed again from step S11. On the other hand, when it is determined that there is a possibility that the two reclaimers 15, 16 are in contact (YES in step S12), it is determined that the set reclaimer is to be changed (step S13).

Next, in the contact avoidance program of the modified example, the traveling speed and the boom angle are changed regardless of whether or not the set-up reclaimer is located at the end of the reciprocating traveling area (step S14). Thus, although the contact between the two reclaimers 15 and 16 is avoided, a step difference is generated in the stock pile 102. Therefore, in order to eliminate this step, the steps described below are performed. In the following, the position in the direction of travel of the reclaimer when the setting of the reclaimer has been changed is referred to as "change position".

First, the control device 40 determines whether or not the reclaimer after the setting change is located at the end of the reciprocating region (step S15). When the reclaimer after the setting is changed is not located at the end of the reciprocating area (No in step S15), step S15 is repeated until the reclaimer is at the end of the reciprocating area.

On the other hand, when the reclaimer after the setting is changed is located at the end of the reciprocating area (YES in step S15), the boom angle is returned to a preset value (step S16). As long as the boom angle is set to be constant and the reciprocator travels in this way, the bulk material 101 will be scraped at the same height position, so the step difference of the stock pile 102 is eliminated. However, in the area where the picker passes after the boom angle is changed in step S4 (hereinafter referred to as "change area"), the height of the stock pile 102 is different from the original predetermined height. Therefore, if the running speed and the boom angle are returned to the preset values, the depth of the scraper 33 in the change area is different from the originally scheduled amount, so the output is also different from the originally scheduled value. For example, because the boom angle is set to be smaller than a preset value in step S4 (by increasing the depth of the scraper 33), the height of the stock pile 102 in the changed area is lower than the original predetermined height When the travel speed and boom angle are returned to the preset values, the output will decrease.

Therefore, in step S16, the traveling speed is changed from a preset value in such a manner that a predetermined output amount can be achieved without returning to a preset value. For example, when the height of the stockpile 102 is low and the output is less than the originally planned value, the traveling speed is increased.

Next, the control device 40 determines whether or not the picker after the setting change is located at the changed position (step S17). That is, it is determined whether the reclaimer after the setting is changed returns to the position where the setting has been made. When the reclaimer is not located at the changed position after the setting is changed (No in step S17), step S17 is repeated until the reclaimer is at the changed position. On the other hand, when the reclaimer is located at a changed position (YES in step S17), the running speed is returned to a preset value (step S18). In this way, the travel speed of the reclaimer is changed when the position is passed so that the output amount does not change before and after the reclaimer passes the change position.

After step S18 described above, return to step S11 again and repeat steps S11 to S18. The above is the contact avoidance formula of the modification.

In the above-mentioned embodiment, although the settings of the first reclaimer 15 and the second reclaimer 16 are changed alternately, the settings of only one reclaimer may be changed all the time. In addition, although the case where the setting of one of the first and second reclaimers 15 and 16 is changed has been described, it is also possible to change the first and second reclaimers 15 and 2 16 of the two settings.

Moreover, in the above-mentioned embodiment, while the first reclaimer 15 and the second reclaimer 16 are traveling back and forth, the control device 40 determines whether there is a possibility that the two reclaimers 15 and 16 are in contact, but it may be It is determined before the first and second reclaimers 15 and 16 reciprocate. For example, when the control device 40 grasps the movement of one day of the first reclaimer 15 and the second reclaimer 16, it is possible to determine whether or not the first reclaimer 15 and the second reciprocator 16 travel back and forth. Possibility of contact between two reclaimers 15,16.

In addition, in the embodiment described above, the case where the first and second reclaimers 15 and 16 are both reclaimers with one boom has been described, but each of the reclaimers 15 and 16 also It may be a reclaimer having a plurality of booms 22. In addition, in the above-mentioned embodiment, the case where the conveying equipment 100 is provided with two reclaimers (the first reclaimer 15 and the second reclaimer 16) has been described, but the conveying equipment 100 may be provided with three The above reclaimer.

10‧‧‧ vertical wall

11‧‧‧ horizontal wall

12‧‧‧ Zone 1

13‧‧‧ Zone 2

14‧‧‧field conveyor

15‧‧‧The first reclaimer

16‧‧‧The second reclaimer

21‧‧‧Running device

22‧‧‧ boom

33‧‧‧Scraper

40‧‧‧control device

100‧‧‧ transport equipment

101‧‧‧Bulk materials

102‧‧‧stock pile

103‧‧‧ Venue

FIG. 1 is a schematic plan view showing a transfer facility. Fig. 2 is a side view showing the reclaimer. Fig. 3 is a block diagram showing a control system of the transfer equipment. FIG. 4 is a flowchart showing a contact avoidance program. FIG. 5 is a flowchart showing a contact avoidance formula of a modified example.

Claims (7)

A conveying device, comprising: a field conveyor extending along a pile formed by stacking bulk materials; and a scraper-type first reclaimer, which reciprocates along the field conveyor in the first area Use a jib with a scraper to scrape the bulk material from the aforementioned pile and output the scraped bulk material to the aforementioned field conveyor; the second scraper type reclaimer travels along the aforementioned field conveyor to and fro The side in the second area adjacent to the first area is used to scrape the bulk material from the aforementioned pile by an arm frame provided with a scraper, and the scraped bulk material is output to the aforementioned field conveyor; and a control device controls the first area The travel speed and boom angle of the reclaimer, and the travel speed and boom angle of the aforementioned second reclaimer; and the aforementioned control device executes the contact avoidance program as follows: in determining the aforementioned first area and the aforementioned second area When there is a possibility that the first picker and the second picker are in contact near the boundary, the first picker and the second picker can be prevented from contacting the first picker and the second picker. The running speed of one or both of the reclaimer and the aforementioned two reclaimers can be changed within a non-stop range from a preset value, and is based on the speed of the reclaimer Before and after the change, the quantity of bulk material output from the aforesaid one or both of the reclaimers to the aforesaid field conveyor does not change, depending on the travel speed of the aforesaid one or both of the reclaimers, the The boom angle of the reclaimer is changed from a preset value. The conveyance equipment according to claim 1, wherein when the control device executes the contact avoidance program, it is determined that the first reclaimer and the second reclaimer are located near a boundary between the first area and the second area. When the possibility of contact of the feeder is changed, only the travel speed of one of the aforementioned first reclaimer and the aforementioned second reclaimer is changed from a preset value, and then it is judged again in the aforementioned first area and the aforementioned When there is a possibility that the first reclaimer and the second reclaimer may come into contact near the boundary of the second area, only the other reclaimer of the first reclaimer and the second reclaimer will be moved. The speed is changed from a preset value. The conveyance equipment according to claim 1, wherein when the control device executes the contact avoidance program, it is determined that the first reclaimer and the second reclaimer are located near a boundary between the first area and the second area. When the possibility of contact of the feeder is changed, the running speed of one or both of the aforementioned first reclaimer and the aforementioned second reclaimer is changed to a value smaller than a preset value. The conveying equipment according to claim 1, wherein when the control device executes the contact avoidance program, when the travel speed of the one or both of the reclaimers is changed, the control device is located on the one or both reclaimers. Change the travel speed when moving to the end of one of the reciprocating areas, and maintain the changed travel speed until it reaches the other end. The conveying equipment according to claim 1, wherein the control device, when executing the contact avoidance program, changes positions other than the two ends of the area where the one or both of the reciprocators move back and forth, and changes the one or both of the foregoing The speed of the reclaimer and the angle of the boom are changed. Therefore, when a step difference occurs on the material pile, then, in order to eliminate the step difference generated on the material pile, it is reciprocated from the one or both of the foregoing material machine From the running area, the boom angle of the one or both of the reclaimers is maintained until the end of the other one, and the one or both reclaimers are passed in a manner that the aforementioned output does not change before passing the repositioned position. When changing the position, the travel speed of the reclaimer of one or both parties is changed. The conveying equipment according to any one of claims 1 to 5, further comprising: a vertical wall, which is disposed in parallel with the field conveyor and is located opposite to the field conveyor when viewed from the material pile. A side wall, and a horizontal wall that is provided perpendicular to the vertical wall and supports the vertical wall, and is located at a boundary between the first region and the second region. A control method of a conveying equipment, the conveying equipment includes: a field conveyor extending along a pile formed by stacking bulk materials; a scraper-type first reclaimer, which reciprocates along the aforementioned field conveyor in the first area Inside, one side scrapes the bulk material from the aforementioned pile with an arm frame provided with a scraper, and outputs the scraped bulk material to the aforementioned field conveyor; the second scraper of the scraper type reciprocates along the aforementioned field conveyor Walking on the side in the second area adjacent to the aforementioned first area, an arm frame provided with a scraper scrapes the bulk material from the aforementioned pile, and outputs the scraped bulk material to the aforementioned field conveyor; a control method of the transfer equipment , When it is judged that there is a possibility that the first picker and the second picker are in contact near the boundary between the first and second regions, in order to avoid the first picker and the second picker. The contact method of the reclaimer is to change the running speed of one or both of the first reclaimer and the second reclaimer from a preset value within a non-stop range, and to The previous one Or before and after the change of the running speed of the reclaimers of the two parties, the output of the bulk material from the reclaimer of the one or both parties to the conveyor of the field does not change, depending on the change of the reclaimer of the one or both parties After traveling speed, change the boom angle of one or both of the aforementioned reclaimers from a preset value.