TWI693189B - Transport equipment and control method of transport equipment - Google Patents

Abstract

According to one aspect of the present invention, the conveying equipment can avoid the first reclaimer when judging that there is a possibility that the first reclaimer is in contact with the second reclaimer near the boundary between the first area and the second area The way of contact with the second reclaimer changes the running speed of one or both of the first reclaimer and the second reclaimer from the preset value within the range of non-stop, and Before and after the change of the running speed of the aforementioned one or both of the reclaimers, the way in which the output of the bulk materials output from the aforementioned one or both of the reclaimers to the yard conveyor does not change, corresponds to the aforementioned one or both of the reclaimers After the changed running speed, the boom angle of the reclaimer of one or both of the aforementioned is changed from a preset value.

Description

Transport equipment and control method of transport equipment

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

The scraper-type reclaimer has an arm frame with a scraper, and uses this arm frame to scrape bulk materials from a pile of "bulk materials" such as coal or minerals, and output the scrapped bulk materials to the yard conveyor ( Refer to Patent Document 1). In the conveying equipment with a plurality of scraper-type reclaimers, as long as different types of bulk materials are stacked separately to form a plurality of piles, each reclaimer scrapes the bulk materials from each pile and outputs them to the same field conveyor, Bulk materials can be produced by mixing multiple types of bulk materials in any ratio. [Advanced technical literature] [Patent literature]

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

[Problem to be solved by invention]

However, the scraper-type reclaimer scrapes bulk materials while reciprocating in a pre-set area. Therefore, if the breadth or speed of the reciprocating area is different, there is a possibility that adjacent reclaimers may contact each other. To avoid this situation, consider stopping one of the adjacent reclaimers. However, because the scraper-type reclaimer presses the scraper set on the arm to the stack to scrape the bulk material, the scraping amount of the bulk material will vary with the angle of the scraper (the amount of depth) and the running speed. Change. Therefore, if the movement of the reclaimer stops, the bulk materials will not be output. Therefore, if one of the adjacent reclaimers is stopped, since bulk materials will not be output from the stopped reclaimers, it is impossible to mix multiple types of bulk materials in any proportion.

The present invention has been completed in view of the above circumstances, and its object is to provide a conveying device equipped with a plurality of scraper-type reclaimers, which can suppress the bulk of each reclaimer while avoiding contact between the reclaimers Changes in the output of materials. [Technical means to solve the problem]

The conveying equipment according to one aspect of the present invention is characterized by including: a field conveyor that extends along a pile formed by accumulating bulk materials; a scraper-type first reclaimer that reciprocates along the aforementioned field conveyor 1 area in the area with a scraper arm to scrape bulk materials from the aforementioned pile and output the scrapped bulk materials to the aforementioned field conveyor; a scraper-type second reclaimer, along the aforementioned surface conveyor One side of the second area adjacent to the first area is reciprocated with an arm frame provided with a scraper to scrape bulk materials from the stack and output the scrapped bulk materials to the yard conveyor; and a control device to control the foregoing The running speed and boom angle of the first reclaimer, and the running speed and boom angle of the second reclaimer; and the control device executes a contact avoidance program as follows: when judging between the first area and the first When there is a possibility that the first reclaimer is in contact with the second reclaimer near the boundary of the 2 area, the first reclaimer is contacted with the second reclaimer in such a way as to avoid contact between the first reclaimer and the second reclaimer. The running speed of one or both of the reclaimer and the aforementioned second reclaimer is changed from a preset value within a range that does not stop, and is based on the running speed of the one or both reclaimers Before and after the change, the way in which the output of bulk materials from the reclaimers of one or both parties to the yard conveyor does not change depends on the running speed of the reclaimers of one or both parties after the change. The angle of the boom of the reclaimer is changed from the preset value.

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

In the above conveying equipment, when the control device executes the contact avoidance program, it may be judged that the first reclaimer is in contact with the second reclaimer near the boundary between the first area and the second area When it is possible, only after changing the running speed of one of the first reclaimer and the second reclaimer from the preset value, it is judged again in the first area and the second area When there is a possibility that the first reclaimer is in contact with the second reclaimer near the boundary, the travel speed of the other one of the first reclaimer and the second reclaimer is preset from the preset The value changes.

According to this configuration, the running speed and the boom angle are changed alternately in the first reclaimer and the second reclaimer. As a result, it can be suppressed that one of the stock piles in the first area and the second area is significantly deformed than the other.

In the above conveying equipment, when the control device executes the contact avoidance program, it may be judged that the first reclaimer is in contact with the second reclaimer near the boundary between the first area and the second area When it is possible, change the running speed of one or both of the first reclaimer and the second reclaimer to a value lower than a preset value.

In the case of a scraper-type reclaimer, if the running speed is excessively increased, there may be a possibility that the bulk material falls sporadically from the scraper provided on the boom and cannot be scraped sufficiently. Therefore, when the traveling speed of one or both of the first reclaimer and the second reclaimer is changed, as long as the traveling speed is changed to be smaller as described above, it is possible to reliably scrape Bulk materials.

In the above-mentioned conveying equipment, it may also be that when the control device executes the contact avoidance program, when changing the running speed of the one or both reclaimers, the reclaimers located in the one or both reciprocate Change the running speed at the end of one side of the area and maintain the changed running speed until it reaches the other end.

According to this configuration, the traveling speed of the reclaimer is constant from one end of the traveling area to the other end, and the boom angle is also maintained during this period. In this way, since the angle of the boom does not change in the area where the reclaimer travels back and forth, it is possible to avoid a step difference in the pile.

In the above conveying equipment, the control device may change the position of the one or both of the reclaimers except for the two ends of the reciprocating area of the reciprocating travel of the one or both parties when the contact avoidance program is executed. The speed of the machine and the angle of the boom are changed, thereby generating a step difference on the pile, and then reciprocating from the one or both of the reclaimers to eliminate the step difference generated on the pile From the area, the boom angle of the one or both reclaimers is maintained until the end of the other, and the output is not changed before and after the one or both reclaimers pass through the changed position. When the position is changed, the running speed of the reclaimer of one or both sides is changed.

According to this configuration, even if a step difference occurs in the pile, thereafter, the step difference generated in the pile can be eliminated, and the variation of the current output amount can be suppressed.

In the above-mentioned conveying equipment, the first reclaimer and the second reclaimer can also be half-port reclaimers that scrape bulk materials from the stack with only one boom. The device further includes: a vertical wall, which is arranged parallel to the field conveyor and is located on the opposite side of the field conveyor when viewed from the pile; a horizontal wall, which is arranged perpendicular to the vertical wall and supports the vertical wall, is located on the The boundary between the first area and the second area.

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

In addition, a control method of a conveying device according to an aspect of the present invention includes: a field conveyor that extends along a pile formed by accumulating bulk materials; a scraper-type first reclaimer that extends along the aforementioned field The conveyor in the first area of reciprocating movement scrapes the bulk material from the aforementioned pile with an arm frame equipped with a scraper, and outputs the scrapped bulk material to the aforementioned conveyor; the scraper-type second reclaimer, along one side Follow the aforementioned conveyor to reciprocate on the side of the second area adjacent to the aforementioned first area with an arm frame equipped with a scraper to scrape bulk materials from the aforementioned pile and output the scrapped bulk materials to the aforementioned conveyor; The control method of the conveying equipment is to avoid the first reclaiming when it is judged that there is a possibility that the first reclaimer is in contact with the second reclaiming machine near the boundary between the first area and the second area The contact speed between the machine and the second reclaimer is that the running speed of one or both of the first reclaimer and the second reclaimer is within a range that does not stop from a preset value Change, and in such a way that the output of bulk materials output from the reclaimers of one or both parties to the yard conveyor does not change before and after the travel speed of the reclaimers of one or both parties is changed, depending on the one or both parties The running speed after the change of the reclaimer is changed from the preset value of the boom angle of one or both of the reclaimers. [Effect of the invention]

According to the above conveying equipment, while avoiding contact between the reclaimers, 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, 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 the conveying equipment 100 of this embodiment. The conveying equipment 100 of the present embodiment is an equipment that scrapes the bulk material 101 from a pile 102 formed by stacking bulk materials 101 such as coal or minerals and transports it to another place. In addition, in this embodiment, the right side of the paper in FIG. 1 is the transport direction of the bulk material 101.

As shown in FIG. 1, the transport equipment 100 of the present embodiment includes a vertical wall 10 extending in the transport direction, and a horizontal wall 11 that is provided perpendicular to the vertical wall 10 and supports the vertical wall 10. The vertical wall 10 and the lateral wall 11 divide the site 103 to form a plurality of areas including the first area 12 and the second area 13. Therefore, the lateral wall 11 is located at the boundary between the first region 12 and the second region 13. In addition, in each area, a pile 102 composed of bulk materials 101 of different types is formed.

Furthermore, the conveying equipment 100 includes a yard conveyor 14 that extends along the stack 102, a first reclaimer 15 that reciprocates along the yard conveyor 14 in the first area 12, and an along-yard conveyor 14 Reciprocate the second reclaimer 16 in the second area 13 adjacent to the first area 12.

The yard 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 output from the first reclaimer 15 and the second reclaimer 16 is supplied to the same yard conveyor 14. In addition, the above-mentioned vertical wall 10 is disposed 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 the stack.

Both the first reclaimer 15 and the second reclaimer 16 use an arm 22 provided with a scraper 33 (refer to FIG. 2) to scrape bulk materials from the stack 102 and output the scrapped bulk materials 101 to the site The scraper reclaimer of conveyor 14. In addition, the first reclaimer 15 and the second reclaimer 16 are half-gate reclaimers that scrape the bulk material 101 with only one boom.

<Configuration of Reclaimer> Next, the configurations of the first reclaimer 15 and the second reclaimer 16 will be described in more detail. In the present embodiment, since the first reclaimer 15 and the second reclaimer 16 have the same configuration, the configuration of the first reclaimer 15 will be described below, and the configuration of the second reclaimer 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 transport direction of the bulk material 101. The first reclaimer 15 of this embodiment includes a traveling device 21, a boom 22, and a boom angle adjustment mechanism 23.

The traveling device 21 is arranged on the opposite side of the stack 102 across the field conveyor 14 and travels along the track outside the figure along the field conveyor 14. The running device 21 has wheels 24, a running motor 26 (see FIG. 3) that rotates the wheels 24, and a wheel angle meter 27 that measures the rotation angle of the wheels 24. In addition, the running device 21 is provided with a door base 25 extending diagonally upward from the running device 21. The front end of the door base 25 is supported by the upper edge of the vertical wall 10, and the front end of the door base 25 moves along the upper edge of the vertical wall 10.

The boom 22 is a device for scraping bulk materials 101 from the stack 102. The boom 22 has a body frame 31 whose base end portion is rotatably supported by the running device 21, a revolving drive part 32 revolving around the body frame 31, and a plurality of scrapers 33 provided at equal intervals on the revolving drive part 32. By revolving the revolving drive unit 32 (clockwise revolving in FIG. 2), the scraper 33 scrapes the bulk material 101 from the stack 102 and supplies it to the chute 34 near the base end of the arm 22 (refer to FIG. 2 Of the white arrows). Then, the bulk material 101 supplied to the chute 34 is output to the yard 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 has a boom hook 35 provided in 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 cable 36 with the winch 37, the angle of the boom 22 can be set to be arbitrary.

In addition, in this embodiment, the position when the front end of the boom 22 is located at the bottom is taken as the reference position, and the angle with respect to the boom 22 at the reference position is referred to as the "boom angle". That is, when the hanging rope 36 is shortened and the front end of the boom 22 is at a higher position, the boom angle is larger, and when the hanging rope 36 is increased and the front end of the boom 22 is at a lower position, the boom angle is smaller. In addition, the boom 22 is provided with a boom angle meter 38 (see FIG. 3) for measuring the boom angle.

The first reclaimer 15 is configured as described above, and generally, the travel speed from one end of the first region 12 to the other end is set to be constant while scraping from the stack 102 with the arm 22 Take the bulk material 101. In addition, if the first reclaimer 15 reaches the other end, the boom angle is reduced, and the running speed from one end to the other end is set to be constant on one side, and the boom 22 is used on the other side. Bulk material 101 is scraped from the stack 102.

In addition, as long as the running speed of the first reclaimer 15 is the same, the smaller the boom angle, the greater the depth of the scraper 33 into the stack 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 running speed, the greater the supply amount per unit time.

<Configuration of Control System> Next, the configuration of the control system of the conveyance facility 100 will be described. FIG. 3 is a block diagram of the 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 has a processor, volatile memory, non-volatile memory, and I/O interface, etc., and controls the running speed and boom angle of the first reclaimer 15 and the running of the second reclaimer 16 Speed and boom angle.

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

In addition, the control device 40 is electrically connected to the traveling motor 26 and the winch 37 of the first reclaimer 15 and the second reclaimer 16, respectively, 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 running speed and boom angle of the first reclaimer 15 and the running 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 flow chart of the contact avoidance program.

As shown in FIG. 4, after the contact avoidance program starts, the control device 40 obtains the information of each reclaimer 15, 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 running speed (step S1).

Then, based on the position and running speed of each reclaimer 15, 16 the control device 40 determines whether there is a possibility that two reclaimers 15, 16 are near the boundary between the first area 12 and the second area 13 (step S2) . When it is judged that there is no possibility that the two reclaimers 15 and 16 are in contact (No in step S2), the process returns to step S1 and the process 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), the reclaimer whose setting is to be changed is determined (step S3). That is, although the setting of the reclaimer is changed in the following steps as described later, it is necessary to decide which of the first reclaimer 15 and the second reclaimer 16 is to be changed.

In the present embodiment, it is determined that the first reclaimer 15 and the second reclaimer 16 are alternately used as reclaimers for setting changes. That is, if, for example, the reclaimer whose setting is changed is determined as the first reclaimer 15 in step S3, and then, after returning to step S3 after passing through other steps, the reclaimer whose setting is changed is determined as the second reclaimer料机16。 16. Feeder 16.

Then, the control device 40 determines whether 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 region 12 near the second region 13 or away from the second The end of the area 13. When the reclaimer with changed settings is not located at the end of the reciprocating area (No in step S4), repeat step S4 until it is located at the end.

On the other hand, when the reclaimer whose setting is changed is located at the end of the area (Yes in step S4), the running speed and boom angle of the reclaimer are changed from the set values (step S5). In this embodiment, in order to avoid contact between the two reclaimers 15, 16, the traveling speed of the reclaimer is changed from a preset value within a range where it does not stop. In the case of changing the running speed, the variable may be larger than the preset value, or may be changed to be smaller than the preset value. However, if the traveling speed is too high, the bulk material may be leaked from the scraper 33 when the boom 22 scrapes the bulk material. Therefore, it is preferable to set the value smaller than the preset value when changing the running speed.

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

Then, the control device 40 determines whether the reclaimer after the setting change is located at the other end different from the end where the setting was changed (step S6). For example, if the first reclaimer 15 has changed the setting when it is located at the end of the first area 12 farther from the second area 13, it is determined whether the first reclaimer 15 is located closer to the second area than the first area 12 The end of 13. When the reclaimer after the setting change is not located at the other end (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 change is located at the other end (YES in step S6), the running 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 flow of contact avoidance program.

The contact avoidance program of this embodiment changes the travel speed when the reclaimer is located at one end of the reciprocating travel area, and maintains the changed travel speed until it reaches the other end. That is, the running speed of one end to the other end of the reciprocating area 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 in the middle of the reciprocating area, there is no step difference in the stack 102, and it is possible to prevent the output of the reclaimer from fluctuating when passing through the step difference portion.

<Modification> Next, a modification of the above embodiment will be described. Fig. 5 is a flowchart of a contact avoidance program in a modification. The contact avoidance program of the modified example is to change the setting of the reclaimer on the way of the reciprocating area and eliminate the resulting step difference of the pile 102 after 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 starts, the control device 40 obtains the position and running speed of each reclaimer 15, 16 (step S11), and determines whether there is a possibility that the two reclaimers 15, 16 are in contact (Step S12). When it is determined that there is no possibility that the two reclaimers 15 and 16 are in contact (NO in step S12), the process returns to step S11, and the 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), the reclaimer whose setting is to be changed is determined (step S13).

Next, in the contact avoidance program of the modification, regardless of whether the reclaimer whose setting is changed is located at the end of the reciprocating traveling area, the traveling speed and the angle of the boom are changed (step S14). In this way, although the contact between the two reclaimers 15 and 16 is avoided, a step difference occurs in the stack 102. Therefore, in order to eliminate this level difference, the steps described below are performed. In addition, hereinafter, the position in the traveling direction 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 the reclaimer with the changed settings is located at the end of the reciprocating area (step S15). When the reclaimer after the setting change is not located at the end of the reciprocating traveling area (No in step S15), step S15 is repeated until the reclaimer is located at the end of the reciprocating traveling area.

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

Therefore, in step S16, the running speed is changed from the preset value so that the predetermined output amount can be achieved without returning to the preset value. For example, when the height of the stack 102 is low and the output is less than the originally predetermined value, the running speed is increased.

Then, the control apparatus 40 determines whether the reclaimer after setting change is located in a changed position (step S17). That is, it is determined whether the reclaimer after the setting change is returned to the position where the setting has been made. When the reclaimer after the setting change is not in the changed position (No in step S17), step S17 is repeated until the reclaimer is in the changed position. On the other hand, when the reclaimer is located at the changed position (YES in step S17), the traveling speed is returned to the preset value (step S18). In this way, the travel speed of the reclaimer is changed when passing through the position change in such a way that the output does not change before and after the reclaimer passes through the change position.

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

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

In addition, in the above embodiment, the control device 40 determines whether there is a possibility that the two reclaimers 15 and 16 are in contact while the first reclaimer 15 and the second reclaimer 16 are reciprocating. It is determined before the first reclaimer 15 and the second reclaimer 16 travel back and forth. For example, when the control device 40 grasps the movement of the first reclaimer 15 and the second reclaimer 16 for one day, it can determine whether there is a reciprocating movement of the first reclaimer 15 and the second reclaimer 16 Possibility of contact between the two reclaimers 15, 16.

In addition, although in the above-mentioned embodiment, the case where the first reclaimer 15 and the second reclaimer 16 are both reclaimers having one arm frame has been described, each of the reclaimers 15, 16 also It can be a reclaimer with a plurality of arm frames 22. In addition, although in the above-mentioned embodiment, the case where the conveying equipment 100 has two reclaimers (the first reclaimer 15 and the second reclaimer 16) has been described, the conveying equipment 100 may also have three Reclaimer above.

10 ‧ ‧ ‧ vertical wall 11 ‧ ‧ ‧ horizontal wall 12 ‧ ‧ ‧ first area 13 ‧ ‧ ‧ second area 14 ‧ ‧ ‧ conveyor 15 ‧ ‧ ‧ first reclaimer 16 ‧ ‧ ‧ second reclaim Machine 21 ‧ ‧ ‧ travel device 22 ‧ ‧ ‧ arm frame 33 ‧ ‧ ‧ scraper 40 ‧ ‧ ‧ control device 100 ‧ ‧ ‧ transport equipment 101 ‧ ‧ ‧ bulk material 102 ‧ ‧ ‧ 103 pile ‧ ‧ ‧

FIG. 1 is a schematic plan view showing the conveying equipment. Figure 2 is a side view of the reclaimer. FIG. 3 is a block diagram showing the control system of the conveying equipment. Fig. 4 is a flowchart showing the contact avoidance program. FIG. 5 is a flowchart showing a contact avoidance program in a modification.

10‧‧‧Vertical wall

11‧‧‧Horizontal

12‧‧‧ Region 1

13‧‧‧ Region 2

14‧‧‧Conveyor

15‧‧‧The first reclaimer

16‧‧‧Second reclaimer

21‧‧‧ Walking device

22‧‧‧Boom

100‧‧‧Transport equipment

101‧‧‧ bulk materials

102‧‧‧material pile

103‧‧‧ Venue

Claims (7)

A conveying device, characterized by a field conveyor, which extends along a pile formed by accumulating bulk materials; a scraper-type first reclaimer, which reciprocates along the field conveyor in the first area The scraper arm is used to scrape bulk materials from the aforementioned pile and output the scrapped bulk materials to the aforementioned conveyor; the scraper-type second reclaimer is reciprocating along the aforementioned conveyor The second area adjacent to the first area and different from the first area in the second area is provided with a scraper arm to scrape the bulk material from the stack and output the scrapped bulk material to the yard conveyor; and The control device controls the running speed and boom angle of the first reclaimer, and the running speed and boom angle of the second reclaimer; and the control device executes the contact avoidance program as follows: When there is a possibility of contact between the first reclaimer and the second reclaimer near the boundary between the first area and the second area, the method can avoid contact between the first reclaimer and the second reclaimer , The running speed of one or both of the first reclaimer and the second reclaimer should be changed from a preset value within a range that does not stop, and the reclaiming of the one or both Before and after the change of the running speed of the machine, the way that the output of the bulk materials output from the aforementioned one or both of the reclaimers to the aforementioned conveyor does not change, depending on the changed running speed of the aforementioned one or both of the reclaimers, will The boom angle of one or both of the aforementioned reclaimers is changed from a preset value. The conveying equipment according to claim 1, wherein the control device determines that the first reclaimer and the second fetcher are near the boundary between the first area and the second area when performing the contact avoidance program When the possibility of contact of the feeder is changed, only the travel speed of one of the first reclaimer and the second reclaimer is changed from the preset value, and then again judged in the first area and the previous When there is a possibility that the first reclaimer is in contact with the second reclaimer near the boundary of the second area, only the The traveling speed of the other one of the first reclaimer and the second reclaimer is changed from a preset value. The conveying equipment according to claim 1, wherein the control device determines that the first reclaimer and the second fetcher are near the boundary between the first area and the second area when performing the contact avoidance program When the possibility of contact of the feeder is changed, the traveling speed of one or both of the first reclaimer and the second reclaimer is changed to be smaller than a preset value. The conveying equipment according to claim 1, wherein, when the control device executes the contact avoidance program, when changing the running speed of the reclaimer of the one or both parties, the reclaimer located on the one or both parties Change the running speed at the end of one side of the reciprocating running area, and maintain the changed running speed until it reaches the other end. The conveying equipment according to claim 1, wherein, when the contact avoidance program is executed, the control device changes the position of the one or both of the reciprocators of the one or both of the reciprocating areas, and changes the position of the one or both of them. The speed of the reclaimer and the angle of the boom are changed, so when there is a step difference on the pile, afterwards, reciprocate from the one or both of the reclaimers in a way to eliminate the step difference generated on the aforementioned pile From the running area, maintain the boom angle of the one or both of the reclaimers until the end of the other, and pass the way that the output does not change before and after the one or both of the reclaimers pass through the changed position When the aforementioned position is changed, the running speed of the one or both reclaimers is changed. The conveying equipment according to any one of claims 1 to 5, wherein the conveying equipment further includes: a vertical wall, which is provided parallel to the field conveyor and is located opposite to the field conveyor when viewed from the stack Side; and the lateral wall, which is perpendicular to the longitudinal wall and supports the longitudinal wall, is located at the boundary between the first region and the second region. A control method for conveying equipment, the conveying equipment is provided with: a field conveyor, which extends along the pile formed by accumulating bulk materials; a scraper-type first reclaimer, which reciprocates along the aforementioned field conveyor in the first area Inside, one side is equipped with a scraper arm to scrape bulk materials from the aforementioned pile, and the scrapped bulk materials are output to the aforementioned field conveyor; the scraper-type second reclaimer, while reciprocating along the aforementioned field conveyor Walk on the side of the second area adjacent to the first area and different from the first area. The arm with a scraper scrapes the bulk material from the stack and outputs the scrapped bulk material to the conveyor. The control method of the conveying equipment is to avoid the aforementioned first when judging that there is a possibility that the first reclaimer is in contact with the second reclaimer near the boundary between the first area and the second area The contact speed between the reclaimer and the second reclaimer is that the travel speed of one or both of the first reclaimer and the second reclaimer does not stop from the preset value. Change within the scope, and in such a way that the output of the bulk material output from the one or both of the reclaimers to the yard conveyor does not change before and after the change of the travel speed of the one or both of the reclaimers, depending on the foregoing After changing the running speed of one or both reclaimers, the boom angle of the one or both reclaimers will be changed from the preset value.

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