WO2012042863A1 - スタッカ・リクレーマのトリッパ連結・分離装置及びその方法 - Google Patents

スタッカ・リクレーマのトリッパ連結・分離装置及びその方法 Download PDF

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Publication number
WO2012042863A1
WO2012042863A1 PCT/JP2011/005451 JP2011005451W WO2012042863A1 WO 2012042863 A1 WO2012042863 A1 WO 2012042863A1 JP 2011005451 W JP2011005451 W JP 2011005451W WO 2012042863 A1 WO2012042863 A1 WO 2012042863A1
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WO
WIPO (PCT)
Prior art keywords
tripper
boom
machine body
traveling machine
traveling
Prior art date
Application number
PCT/JP2011/005451
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
中野　隆志
毅 鴨野
哲也 上杉
明浩 田村
Original Assignee
川崎重工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Priority to AU2011310298A priority Critical patent/AU2011310298B2/en
Priority to KR1020137007091A priority patent/KR101498399B1/ko
Priority to CN201180045485.0A priority patent/CN103108820B/zh
Publication of WO2012042863A1 publication Critical patent/WO2012042863A1/ja

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    • 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
    • B65G65/16—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with rotary pick-up conveyors
    • B65G65/20—Paddle wheels
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/94—Devices for flexing or tilting travelling structures; Throw-off carriages
    • B65G47/95—Devices for flexing or tilting travelling structures; Throw-off carriages adapted for longitudinal delivery
    • 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
    • B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
    • 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
    • B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for

Definitions

  • the present invention relates to a stacker / reclaimer that serves as both a stacker that stacks bulk goods such as coal on a yard and a reclaimer that disassembles and discharges piled bulk goods.
  • the present invention relates to an apparatus for separating and connecting a tripper to be used, and a method thereof.
  • the stacker reclaimer includes a traveling machine body that travels on a rail extending along a yard, a revolving body provided on the revolving body, and a boom that is supported by the revolving body so as to be able to be raised and lowered.
  • the bucket wheel etc. are attached to.
  • a conveyor for carrying in or out is laid between the rails, and a tripper is provided so that the belt of the conveyor is lifted obliquely upward to drop the conveyed product from the top.
  • the tripper is connected to the traveling machine body to transfer the bulk material to the boom conveyor.
  • the bulk material thus transferred to the boom conveyor is transported to the tip of the boom and dropped to the yard. And stacked in a trapezoidal or triangular shape.
  • the bulk material is withdrawn from the mountain by a bucket wheel at the tip of the boom, and is then transported to the base end side of the boom by the boom conveyor and dropped on the hopper below it.
  • the lower end of the hopper is positioned above the carry-in or carry-out conveyor, and the loose article conveyed product is carried out to the outside by the conveyor.
  • trippers that are not used are also separated from the traveling machine when paying out, but it takes time to separate and connect the trippers, and all the work to avoid collisions despite the movement of heavy objects. Relying on the visual confirmation of the actual situation, there was a risk of collision due to the fatigue of the worker and the weather.
  • a long connecting frame is extended from the traveling machine body toward the tripper, and this is extended to the lower side of the cart frame of the tripper.
  • the carriage frame is switched and connected at two positions separated from each other in the longitudinal direction of the connection frame. That is, when the tripper is not used, it is connected to the traveling machine body at a retracted position as far away from the boom as possible.
  • the positional relationship between the two is always determined, so that an unexpected collision can be avoided and the distance corresponding to the interval between the two positions can be avoided.
  • the position can be switched remotely.
  • the connecting frame extending from the traveling machine body to the tripper must be considerably long. Since the connecting frame is required to have appropriate strength and rigidity, the weight of the traveling machine body is greatly increased, resulting in an increase in power consumption.
  • the object of the present invention is to make the tripper detachable in the stacker / reclaimer so as not to increase the weight of the traveling machine as in the conventional example, and to connect and separate the The goal is to make it safe and reliable without relying on confirmation.
  • the present invention provides a stacker / reclaimer in which a boom is supported so as to be able to be lifted and turned on a traveling machine body traveling on a rail, and the tripper is connected to the traveling machine body. ⁇ Applicable to separation devices.
  • the traveling body position detection means for detecting the position of the traveling body on the rail, the coupler for detachably connecting the tripper to the traveling body, and the tripper are held at the mooring position on the rail.
  • Tripper holding means, and tripper holding detection means for detecting that the tripper is held by the tripper holding means are provided.
  • the mooring position may be set in advance or arbitrarily selected.
  • the traveling machine body is detected while detecting the position of the traveling machine body on the rail by the traveling machine body position detecting means, and the tripper connected thereto is positioned at the mooring position.
  • the tripper is held at the mooring position by the tripper holding means.
  • the coupler can be separated according to the detection result. That is, the tripper can be separated safely and reliably without relying on the visual confirmation of the operator. If the tripper is separated from the traveling machine body in this way, it will not interfere with the operation of the boom.
  • the tripper when the holding state of the tripper is not detected, it is not separated from the traveling machine body. In other words, the tripper is always held in the mooring position when it is separated from the traveling machine body, and its position does not change. Therefore, after that, even when performing the connection work with the tripper based on the detection result of the position of the traveling machine body on the rail, the unexpected collision can be avoided without depending on the visual confirmation of the operator.
  • a tripper separation restricting means for prohibiting the separation operation of the coupler and restricting the separation of the tripper from the traveling machine body may be provided. In this way, even if the operator mistakenly operates the coupler even though the tripper is not held in the mooring position, it will not be separated.
  • boom position detecting means for detecting the boom raising and lowering position of the boom is provided, and when the boom is detected to be in a predetermined position where it does not interfere with the tripper, the separating operation of the coupler is allowed only for the first time. You may do it. In this way, there is no worry of interfering with the boom when the tripper is separated or immediately after.
  • the boom position detecting means detects that the boom is in the predetermined position
  • the traveling machine body from which the tripper is separated travels toward the mooring position, and enters within a predetermined distance from the mooring position.
  • the traveling machine body may be prohibited from entering within the predetermined distance to restrict the connection with the tripper. In this way, interference with the boom can be prevented even when the tripper is connected.
  • a locking portion provided on one of the traveling machine body and the tripper, and an engagement member provided on the other and operated by an actuator so as to be engaged with and disengaged from the locking portion.
  • a guide portion that can contact the engaging member and guide the engaging member to the locking portion when the distance between the traveling machine body and the tripper is close to a predetermined value. If it carries out like this, an engagement member will contact
  • the proximity state detecting means for detecting the proximity state of the traveling body and the tripper, and when the proximity state is detected thereby, the traveling body that is traveling so as to approach the mooring position is temporarily stopped. Stop control means. By doing so, the traveling machine body is temporarily stopped in the proximity to the tripper, and the coupling member can be operated thereafter to bring the engaging member into contact with the guide portion.
  • the traveling machine body position detecting means includes a rotation angle sensor that detects a rotation angle of a wheel of the traveling machine body, and a detection sensor that detects a detection target provided at a predetermined interval in a longitudinal direction of the rail. It may be. In this way, the position of the traveling machine body can be continuously detected by the signal from the rotation angle sensor, and the error accumulated in the process can be eliminated based on the signal from the detection sensor. Will improve.
  • the tripper may be provided with a storage device for storing the position and a power source used for the operation of the storage device. In this way, even if the tripper is held at an arbitrary mooring position on the rail and separated from the traveling machine body, the mooring position is stored in the storage device, so that the relative position to the traveling machine body can be detected. Become.
  • the tripper holding detection means detects that the tripper is held at the mooring position.
  • the tripper can be separated safely and reliably without relying on the visual confirmation of the operator.
  • the tripper since it is separated after confirming that the tripper is held at the mooring position, there is no fear of the position changing, and an unexpected collision accident when the tripper is connected again can be avoided. In other words, the tripper can be connected safely and reliably without relying on the operator's visual confirmation.
  • FIG. 1 is an overall configuration diagram of a stacker / reclaimer according to an embodiment of the present invention. It is the top view which expanded the connection part vicinity of the traveling body and tripper of the same stacker reclaimer, and was seen from the upper part. It is a side view which shows the structure of the coupling device of the traveling body and a tripper, and shows a connection state. It is FIG. 3A equivalent figure which shows a isolation
  • FIG. 11B is a view corresponding to FIG. 11A showing a connected state in which the convex portion of the movable hook is fitted into the concave portion of the fixed hook.
  • FIG. 6 is a view corresponding to FIG. 5 according to another embodiment in which an actuator is provided in a storm anchor of a tripper.
  • FIG. 1 is an overall configuration diagram of a stacker / reclaimer 1 according to an embodiment.
  • the stacker / reclaimer 1 is loaded with coal (conveyed material) conveyed in a conveyor in a coal raw material yard of an ironworks.
  • the stacker is used in combination with a reclaimer that disposes and discharges the piled coal.
  • the basic structure of the stacker / reclaimer 1 according to the present embodiment is conventionally known, and travels reciprocally on a pair of rails 2 laid along the coal raw material yard so as to extend to the left and right in FIG.
  • a girder 3 running aircraft
  • the direction in which the rail 2 extends will be referred to as the front-rear direction
  • the left side in FIG. 1 will be referred to as the front side and the right side as the rear side.
  • the traveling girder 3 includes a carriage 30 to which a traveling device 31 having a plurality of wheels is attached, and a rail clamp 32 that sandwiches the rail 2 so as to keep the carriage 30 from moving after being stopped. ing. Further, the trolley 30 supports the turning tower 4 so as to be able to turn around the vertical axis Z, and is provided adjacent to this with a cab 33 for an operator to perform a driving operation. There are also a walkway and stairs for workers.
  • the boom 5 is supported on the turning tower 4 so that the boom 5 can be raised and lowered, and the boom 5 can be raised and lowered with respect to the traveling girder 3.
  • the bucket wheel 50 is attached to the front-end
  • a counterweight 52 is attached to an arm 51 that extends on the opposite side of the boom 5 with the turning tower 4 interposed therebetween.
  • the boom conveyor 53 is arrange
  • FIG. If the boom conveyor 53 is operated in the reverse direction, the coal transported from the outside can be transported from the proximal end side of the boom 5 to the distal end side and dropped onto the yard as described below.
  • a belt conveyor 20 used for loading and discharging coal is laid between the pair of rails 2.
  • two belt conveyors 20 are laid as an example (one may be used), one of which is used for both loading and dispensing, and the other is dispensing. Used only for.
  • a tripper 6 is provided so that the belt of the belt conveyor 20 for loading and discharging is lifted obliquely upward and coal is transferred to the boom conveyor 53 from its upper end.
  • the tripper 6 is adjacent to the carriage 30 of the traveling girder 3 and is supported on the carriage 2 so as to be able to run on the rail 2.
  • An inclined frame 61 is provided, and when viewed from the side as shown in the figure, the whole has a wedge shape.
  • the carriage frame 60 is provided with a plurality of wheels 62, and a storm anchor 63 (tripper holding means) for fixing and holding the wheels 62 with respect to the ground.
  • the inclined frame 61 rises from the rear end (right end in the figure) of the carriage frame 60 toward the front side (left side in the figure), and extends further obliquely upward beyond the front end of the carriage frame 60.
  • the belt of the belt conveyor 20 is turned upside down at the upper end of the inclined frame 61, folded back and extended downward, and then folded back toward the front again by a roller disposed at the lower part of the carriage frame 60.
  • a chute 64 is disposed on the upper end of the inclined frame 61 so as to receive the coal falling from the belt of the belt conveyor 20 that is reversed.
  • the chute 64 is positioned in the vicinity of the base end portion of the boom 5, more specifically on the base end side of the boom conveyor 53, with the tripper 6 connected to the traveling girder 3 as shown in the figure.
  • the tripper 6 is connected to the traveling girder 3 and is pulled, so that it travels integrally on the rail 2. That is, the cart 30 of the traveling girder 3 is provided with an extending portion so as to face the rear tripper 6, and the rear end portion and the front end portion of the cart frame 60 of the tripper 6 are denoted as S in FIG. In the site
  • a connecting unit 7 is provided.
  • the coupling unit 7 includes a shock absorber 75 for alleviating the impact during the coupling.
  • a limit state detecting means is used as a proximity state detecting means for detecting that the traveling girder 3 and the tripper 6 are close to each other at a very small interval (about 30 to 50 cm as an example) below a predetermined value.
  • a proximity detector consisting of a switch 77 and a sensor rod 78 is included.
  • the coupler 70 is attached to the fixed hook 71 provided on the cart frame 60 of the tripper 6 and the cart 30 of the traveling girder 3 so as to be swingable up and down.
  • a movable hook 72 (engagement member) is provided, and an electric cylinder 73 that swings the movable hook 72 up and down to engage with and disengage from the fixed hook 71 is provided.
  • the fixed hook 71 is attached to the tip of a columnar support portion 60 a that extends forward from the front end portion of the carriage frame 60, and extends further forward therefrom.
  • a concave portion 71a (locking portion) is formed on the upper portion of the fixed hook 71 slightly behind the central portion in the longitudinal direction so that the convex portion 72a at the tip of the movable hook 72 is locked at the time of connection shown in FIG. 3A. It has become.
  • FIG. 3B when the electric cylinder 73 is separated and the rod 73a is retracted, the movable hook 72 is lifted up and the movable hook 72 swings upward. Detach from 71a (during separation). Such connection / disconnection of the coupler 70 is detected by a limit switch 74.
  • a surface 71b is formed on the upper portion of the fixed hook 71 so as to extend back and forth substantially flatly on the tip side of the recess 71a.
  • the flat surface 71b functions as a guide portion that guides the convex portion 72a of the movable hook 72 toward the concave portion 72a that continues to the rear side, the flat surface 71b is hereinafter referred to as a guide portion 71b.
  • the electric cylinder 73 is swingably supported by the rear end of the L-shaped column 30a that once extends upward from the rear end of the carriage 30 of the traveling girder 3 and then bends and extends rearward. ing.
  • the electric cylinder 73 swings up and down the movable hook 72 suspended at the lower end thereof by the expansion and contraction of the rod 73a.
  • the suspension position is displaced back and forth with the swinging of the movable hook 72.
  • the electric cylinder 73 and the rod 73a are also swung.
  • a shock absorber 75 that absorbs and relaxes an impact that may occur during the connection is provided inside the connector 70 having such a configuration.
  • the shock absorber 75 is formed by attaching, for example, a urethane ring-shaped cushioning material 75b in the front-rear direction to a columnar support portion 75a extending rearward from the rear end portion of the carriage 30 of the traveling girder 3.
  • a strut 76 extends forward from the front end portion of the carriage frame 60 of the tripper 6 so as to face the rear of the cushioning material 75b, and in the event of a collision, the cushioning material 75b is compressed in the front-rear direction to apply an impact. It is designed to absorb.
  • a contact plate 76a is provided at the front end of the support column 76, and a slight amount (for example, 5 cm or less) is provided between the buffer member 75b facing the front in the connected state of the connector 70 shown in FIG. 3A. ) A gap is formed. In addition, the distance between the cushioning material 75b and the contact plate 76a in the proximity state prior to connection is a very small distance of about 30 to 50 cm.
  • a limit switch 77 is provided below the shock absorber 75 as a detector for detecting the proximity state.
  • a limit switch 77 is attached to the support portion 75a of the shock absorber 75 via a bracket 75c that extends downward.
  • a rectangular support frame 76b that hangs down is attached, and a sensor rod 78 is supported so as to extend forward on the lower end side of the support frame 76b.
  • the sensor rod 78 is positioned so that the front end contacts the limit switch 77 in the proximity state.
  • the length of the sensor rod 78 is set in correspondence with the distance between the support portion 75a of the shock absorber 75 and the support column 76 in the proximity state, and the front end portion thereof is more forward as it goes upward. It has an inclined shape that protrudes, and when it enters a close state as shown in the figure, it contacts the limit switch 77 to turn it on.
  • the operation of the coupler 70, etc. is performed when the tripper 6 is connected to or separated from the carriage frame 60 by the operation of the coupler 70 described above.
  • a field operation box 34 having operation panels such as the traveling device 31, the rail clamp 32, the coupler 70, and the like is provided so that the traveling girder 3 can be operated while visually confirming the above.
  • the field operation box 34 is disposed along a walkway 35 for an operator, and the tip of a communication cable 36 extending obliquely rearward therefrom is connected to the system on the tripper 6 side.
  • Connector 36a is provided.
  • the walkway 35 is provided so as to be connected to the walkway 65 on the tripper 6 side.
  • FIG. 5 is a functional block diagram schematically showing the control system of the stacker / reclaimer 1 of the present embodiment, and shows a case where the controller 90 is mounted on the traveling girder 3 as an example.
  • the controller 90 includes at least a signal from the boom elevation angle sensor 91 and the boom turning angle sensor 92 for detecting the elevation and turning angles of the boom 5 and a wheel for detecting the rotation angle of the wheels of the traveling device 31.
  • the controller 90 inputs signals from the operation panels of the cab 33 and the on-site operation box 34, and outputs operation signals to the drive circuits 95 such as the turning tower 4, the boom 5, the traveling device 31, and the like. 3 and the boom 5 are lifted and turned, and an operation signal is also output to the brake 95 and the rail clamp 32 of the traveling girder 3. Further, the controller 90 also outputs an operation signal to the electric cylinder 73 (Act.) Of the coupler 70, and causes it to be coupled / separated. Further, an ON / OFF signal from the limit switch 63a (tripper holding detection means) indicating the operating state of the storm anchor 63 is also input from the side of the tripper 6 connected by the connector 36a.
  • the limit switch 63a tripper holding detection means
  • the tripper 6 when coal is stacked on the yard by the stacker / reclaimer 1, the tripper 6 is pulled while being connected to the traveling girder 3, the boom 5 is lifted and swung, and the coal is dropped to the yard. .
  • the turning of the boom 5 is restricted, and the turning angle is set to ⁇ 105 ⁇ with reference to the position where the boom 5 extends toward the front opposite to the opposite side (the turning angle is 0 °). Up to about 110 °.
  • the tripper 6 when pulling out the coal pile, the tripper 6 is separated and held on the rail 2 at a predetermined mooring position.
  • the traveling girder 3 can move up and down the boom 5 while traveling alone on the rail 2 and turn up the coal pile with the bucket wheel 50 at the tip.
  • the boom 5 can be lifted and swung almost freely.
  • the traveling girder 3 cannot be brought close to the mooring position while the boom 5 is greatly lifted and swung, and the raising and lowering of the boom 5 is not limited in a place that is not separated from the mooring position by a predetermined distance or more. Must not. For this reason, an interlock is provided between the raising / lowering of the boom 5 and the turning operation and the traveling operation of the traveling girder 3.
  • the traveling girder 3 As schematically shown in FIG. 6A as an example, if the traveling girder 3 is in a normal area sufficiently separated from the tripper 6 (for example, 80 to 100 m or more away), the boom 5 is mechanically restricted from being lifted and swung.
  • the traveling girder 3 can also travel freely up to the service limit which is the boundary of the service area.
  • the tripper 6 approaches the mooring position beyond the normal limit, the boom 5 is prohibited from being lifted and turned, and both the angles are limited to around 0 °.
  • the traveling girder 3 can freely approach the tripper 6 until the normal use limit, but there is a limit beyond that and the entry prohibition area Cannot enter. If the turning angle of the boom 5 is ⁇ 90 ° or more, the counterweight 52 is on the side opposite to the tripper 6, so that the vehicle can travel beyond the normal range and before the entry prohibition range. However, outside the normal range, the boom 5 cannot be rotated ⁇ 90 ° or less as shown in FIG. 6C (because the counterweight 52 comes to the tripper 6 side).
  • the traveling girder 3 can travel away from the tripper 6, but the boom 5 is facing upward as shown in FIG. 7C, and the counterweight 52 may interfere with the tripper 6. It is also impossible to travel away from the tripper 6. In this case, it is necessary to operate the boom 5 downward so that the elevation angle is in the vicinity of 0 °.
  • the controller 90 is such that both the elevation and turning angles of the boom 5 are close to 0 °. After confirming, travel to the mooring position is allowed. Similarly, when separating the tripper 6 from the traveling girder 3, the controller 90 confirms that both the elevation and turning angles of the boom 5 are close to 0 °. And after confirming that the tripper 6 is hold
  • FIG. 8 is a flowchart showing an example of a control procedure by the controller 90 when the tripper 6 is separated, and FIG. 9 shows an example of a control procedure at the time of connection.
  • FIG. 10 shows the operation of the coupler 70 when the tripper 6 is coupled.
  • the operator when separating the tripper 6 from the traveling girder 3, the operator operates the joystick of the operation panel in the cab 33 to operate the boom 5 so that both the elevation and the turning angle are about 0 °. Further, the traveling girder 3 is caused to travel to the rear tripper mooring position. At this time, the controller 90 detects the position of the boom 5 based on signals from the boom elevation angle sensor 91 and the boom turning 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 or not the tripper 6 is in the mooring position.
  • the wheel rotation angle sensor 93, the detection sensor 94, and the position calculation unit of the controller 90 constitute a traveling machine body position detection means.
  • step SA1 if both the elevation and turning angles of the boom 5 are near 0 ° and the tripper 6 is in the mooring position (YES in step SA1), the controller 90 The connection / separation operation enable lamp is turned on on the touch panel (operation panel) (step SA2). After confirming that the lamp is lit, the operator leaves the cab 33 and moves to the vicinity of the site operation box 34 to operate the storm anchor 63 of the tripper 6.
  • the tripper 6 is held at the mooring position by the storm anchor 63 and the limit switch 63a (tripper holding detection means) for detecting the operation of the storm anchor 63 is turned on, and the signal is sent to the controller 90 via the communication cable 36. Sent to.
  • the coupler 70 can be separated. Further, some display may be made on the field operation box 34.
  • step SA4 the controller 90 outputs an operation signal to the electric cylinder 73 to separate the coupler 70 (step SA5). That is, as shown in FIG. 3B, the movable hook 72 of the coupler 70 is lifted, and the convex portion 72 a at the tip thereof is detached from the concave portion 71 a of the fixed hook 71. Along with this, the limit switch 74 is turned off, and the signal is sent to the controller 90.
  • the controller 90 detects the position of the traveling girder 3 based on signals from the wheel rotation angle sensor 93 and the detection sensor 94, and determines whether or not a predetermined distance (2 to 3 m as an example) is away from the mooring position of the tripper 6 (step 1). SA6). If this determination is YES, the controller 90 temporarily stops the traveling girder 3 and allows the traveling girder 3 to travel by an operation in the cab 33 (step SA7).
  • the controller 90 detects the position of the traveling girder 3 based on signals from the wheel rotation angle sensor 93 and the detection sensor 94, and when it enters the normal range (YES in step SA8), the controller 90 turns on the tripper separation lamp on the touch panel of the cab 33. Turn on (step SA9). This completes the separation of the tripper 6.
  • Step SB2 a control procedure when the tripper 6 separated as described above is connected to the traveling girder 3 again will be described with reference to FIGS. 11A and 11B based on the flowcharts of FIGS.
  • the operator first operates the operation panel in the cab 33 to run the traveling girder to the vicinity of the boundary of the normal range (normal limit), and the boom 5 is lifted and turned at about the angle. Operate to 0 °.
  • the controller 90 turns on the connection / separation operation enable lamp on the touch panel (operation panel) if the elevation and turning angle of the boom 5 are both near 0 ° (YES in step SB1). (Step SB2).
  • the controller 90 After confirming the lighting of the lamp, the operator causes the traveling girder 3 to travel further closer to the mooring position of the tripper 6. At this time, the controller 90 detects the position of the traveling girder 3 based on signals from the wheel rotation angle sensor 93 and the detection sensor 94, and temporarily stops when the traveling girder 3 reaches the normal limit (YES in step SB3) (step SB3). SB4). Thereafter, when the traveling girder 3 further approaches the tripper mooring position and the distance from the tripper 6 reaches a predetermined interval (for example, 2 to 3 m) (YES in step SB5), the controller 90 temporarily stops the traveling girder 3 again. The traveling operation is prevented from being performed by an operation in the cab 33 (step SB6).
  • a predetermined interval for example, 2 to 3 m
  • the traveling girder 3 is slowly moved. Drive and move closer to the tripper mooring position.
  • the limit switch 77 is turned on by the sensor rod 78.
  • the controller 90 detects that it is in the proximity state (YES in step SB7), and temporarily stops the traveling girder 3 (step SB8).
  • the controller 90 outputs an operation signal to the electric cylinder 73 of the coupler 70 to perform a coupling operation (step SB10). That is, as shown in FIG. 11A, the rod of the electric cylinder 73 advances (YES in step SB11), the movable hook 72 descends, and the convex portion 72a at the tip thereof contacts the guide portion 71b of the fixed hook 71.
  • the traveling girder 3 is automatically paused immediately before the tripper 6 is connected, the operator can easily and safely simply connect the coupler 70 after the traveling girder 3 is temporarily stopped.
  • the tripper 6 can be reliably connected.
  • the worker connects the connector 36a of the communication cable 36 in the vicinity of the field operation box 34 (YES in Step SB14), and then opens the storm anchor 63.
  • the limit switch 63a of the storm anchor 63 is turned off (YES in step SB15), and the controller 90 receiving the signal turns on the tripper connection lamp (step SB16).
  • the tripper 6 is released from the holding state at the mooring position, and is pulled by the traveling girder 3 to travel on the rail 2.
  • step SA3 realizes the function of the tripper holding detection means for detecting that the tripper 6 is held by the storm anchor 63.
  • the procedure of steps SA3 to SA5 realizes the function of the tripper separation regulating means for prohibiting the separation operation of the coupler 70 and regulating the separation of the tripper 6 when the holding state of the tripper 6 is not detected. ing.
  • the separating operation of the coupler 70 is permitted.
  • step SB1 the procedure of step SB1 shown in the flowchart of FIG. 9 allows the traveling girder 3 to enter within a predetermined distance (entry prohibited area) from the tripper mooring position when the boom 5 is at the predetermined position. Otherwise, entry is prohibited and the function of the tripper connection restricting means for restricting the connection with the tripper 6 is realized.
  • control procedures shown in the flowcharts of FIGS. 8 to 10 are realized by the controller 90 executing a predetermined control program.
  • the controller 90 includes the tripper holding detection unit.
  • the control units corresponding to the tripper separation regulating means, the tripper connection regulating means, and the stop control means are respectively provided in the form of software.
  • the tripper 6 when coal is first loaded, the tripper 6 is connected to the traveling girder 3 and pulled, and the coal transferred to the boom conveyor 53 is thereby pulled. Can be dropped into the yard from the tip side of the boom 5 and piled up. On the other hand, when the pile of coal is withdrawn and discharged by the bucket wheel 50, the tripper 6 that interferes with the operation of the boom 5 can be separated and held at the mooring position.
  • the holding state by this is detected by a signal from the limit switch 63a, so that the coupler 70 is separated according to the detection result.
  • the tripper 6 can be separated safely and reliably without relying on the visual confirmation of the operator.
  • the operation of the coupler 70 is allowed on condition that the elevation and turning angle of the boom 5 of the traveling girder 3 are in the vicinity of 0 °. Further, there is no possibility that the boom 5 interferes with the tripper 6.
  • the elevation and turning angle of the boom 5 of the traveling girder 3 do not necessarily have to be in the vicinity of 0 °.
  • the elevation angle is in the vicinity of 0 °
  • the turning angle is ⁇ 30 °. A wider range may be used.
  • the storm anchor 63 of the tripper 6 is manually operated. However, it may be operated from the field operation box 34 of the traveling girder 3.
  • a microcomputer 66 is mounted on the tripper 6, and an actuator 63b (Act.) Provided on the storm anchor 63 is operated.
  • the microcomputer 66 can communicate with the controller 90 of the traveling girder 3 via the communication cable 36.
  • the tripper 6 is held and separated at a preset mooring position.
  • the tripper 6 is not limited to this and is held at an arbitrarily selected mooring position on the rail 2. It may be.
  • the tripper holding means may be a mechanism such as the rail clamp 32 of the traveling girder 3 that sandwiches the rail 2 instead of the storm anchor 63.
  • the tripper 6 may be provided with a storage device for storing the position and a battery (power source) used for the operation of the storage device.
  • a storage device for storing the position and a battery (power source) used for the operation of the storage device.
  • the mooring position is stored in the storage device, so that the relative position with respect to the traveling girder 3 is maintained. Can be detected.
  • the storage device the internal storage device of the microcomputer 66 shown in FIG. 12 can be used.
  • the stacker / reclaimer 1 for loading and unloading coal in a coal raw material yard of an ironworks has been described.
  • the present invention is not limited to this, and the present invention The present invention can also be applied to stackers and reclaimers that load and discharge various materials such as ores in quarries.
  • connection and separation of the tripper can be performed without relying on the operator's visual confirmation, and it is difficult to be affected by the operator's fatigue and bad weather, so it is safe, reliable and extremely useful. It is.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)
  • Control And Safety Of Cranes (AREA)
  • Ship Loading And Unloading (AREA)
PCT/JP2011/005451 2010-09-29 2011-09-28 スタッカ・リクレーマのトリッパ連結・分離装置及びその方法 WO2012042863A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU2011310298A AU2011310298B2 (en) 2010-09-29 2011-09-28 Apparatus for the Coupling and Decoupling of a Tripper of a Stacker Reclaimer and method therefor
KR1020137007091A KR101498399B1 (ko) 2010-09-29 2011-09-28 스태커/리클레이머의 트리퍼 연결/분리 장치 및 그 방법
CN201180045485.0A CN103108820B (zh) 2010-09-29 2011-09-28 堆取料机的尾车连接·分离装置及连接·分离方法

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JP2010219815A JP5739633B2 (ja) 2010-09-29 2010-09-29 スタッカ・リクレーマのトリッパ連結・分離装置及びその方法
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CN103057981A (zh) * 2012-12-14 2013-04-24 天津钢铁集团有限公司 一种缩堆堆料装置及堆料方法
CN106966195A (zh) * 2017-05-16 2017-07-21 江苏万宝机械有限公司 一种轮胎式尾车输送装船机
CN113204733A (zh) * 2021-05-24 2021-08-03 中冶南方工程技术有限公司 一种同轨道斗轮堆取料机防碰撞方法

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CN103950738B (zh) * 2014-04-30 2015-12-02 钦州学院 平面两自由度冗余驱动闭链式电动斗轮堆取料机
CN103950740B (zh) * 2014-04-30 2016-02-10 钦州学院 两活动度大工作空间连杆机构式斗轮堆取料机
CN103950735B (zh) * 2014-04-30 2015-12-02 钦州学院 混合驱动机构式斗轮堆取料机
CN104163341B (zh) * 2014-05-02 2016-06-01 襄阳忠良工程机械有限责任公司 移动式装卸机
CN104058265B (zh) * 2014-06-26 2016-08-24 泰富国际工程有限公司 一种无尾车堆料设备
KR102478926B1 (ko) * 2020-11-10 2022-12-20 주식회사 포스코플랜텍 양방향 스태커 리클레이머

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CN103057981A (zh) * 2012-12-14 2013-04-24 天津钢铁集团有限公司 一种缩堆堆料装置及堆料方法
CN106966195A (zh) * 2017-05-16 2017-07-21 江苏万宝机械有限公司 一种轮胎式尾车输送装船机
CN113204733A (zh) * 2021-05-24 2021-08-03 中冶南方工程技术有限公司 一种同轨道斗轮堆取料机防碰撞方法
CN113204733B (zh) * 2021-05-24 2024-04-16 中冶南方工程技术有限公司 一种同轨道斗轮堆取料机防碰撞方法

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JP5739633B2 (ja) 2015-06-24
CN103108820B (zh) 2015-08-26
CN103108820A (zh) 2013-05-15
AU2011310298B2 (en) 2013-12-19
AU2011310298A1 (en) 2013-03-21
KR20130069769A (ko) 2013-06-26
JP2012071973A (ja) 2012-04-12

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