ZA200908884B - Displaceable curve-negotiable solids conveyor - Google Patents

Description

Cow oo Ulrich Hilgefort, Maximilianstrasse 2, 49413 Dinklage > Frank Baumfalk, Schiittenmoor 1, 27801 Détlingen/Brettorf

Displaceable curve-negotiatable solids conveyor

The present invention concerns a method of controlling a solids conveyor comprising a plurality of travel modules which are arranged one behind the other in a row and which are respectively connected together.

The invention further concerns a solids conveyor comprising a plurality of travel modules which are arranged one behind the other in a row and which are respectively connected together and each of which has at least two separately drivable propulsion units in the form of wheels, travel chains or the like and for each propulsion unit at least one sensor for providing a measurement value describing ‘the travel thereof and a measurement value storage means, with an operating unit associated with the first travel module in the direction of travel, wherein the first travel module in the direction of travel has an operating unit for control of the solids conveyor, wherein the operating unit is adapted to actuate the propulsion units of the first travel module.

Solids conveyors and corresponding methods for the control thereof “are used for conveyor purposes in open cast mining. The conveyors are usually employed to convey materials which are conveyed underground from the extraction site by way of conveyor belts or tub systems to a removal location which is closer to an exit, from where the materials can be transported away.

By virtue of the progressively advancing discharge of material from the conveyor locations the conveyor distances to be covered are increasing with time and the various galleries are being advanced to a progressively = increasing depth. Known stationary conveyor arrangements involve" difficulties in progressing ahead into the adits which are becoming more and more difficult to reach. There exist displaceable conveyor systems comprising a plurality of segments which are either arranged rigidly relative to each other or which are separately displaceable and controllable. Curve

A negotiatability is also limited in the case of known conveyor systems by ] virtue of the long segments.

Taking that as the basic starting point the object of the invention was to provide a method and an apparatus, by means of which the noted disadvantages in the state of the art can be moderated.

In a method of the above-indicated kind that object is attained in that in each travel module at least two separately drivable propulsion units in the form of wheels, travel chains or the like are driven, for each propulsion unit at least one sensor provides a measurement value describing the travel thereof for a measurement value storage means, and the measurement values of each preceding travel module are forwarded to the following travel module for positioning thereof.

The invention makes use of the realisation that control of a multi- member vehicle depends only on the movement parameters of the first member in the direction of travel, if the aim is to provide that all members are to travel in a track like a centipede. Insofar as the measurement values which are representative of the travel distance covered by the respective travel module are stored and are respectively passed to the next following module, it is possible to provide, with a radical simplification in the level of control complication and expenditure, that the following travel modules cover the same travel distance as the travel module which is first in the direction of travel. :

By way of example the speed of revolution of the propulsion units has proven to be advantageous as the measurement value as, with a low level of computing complication and expenditure, it is possible to ascertain therefrom the distance covered by the module - and with different speeds on both sides the curved path - of the travel module.

In an advantageous development of the method according to the invention the travel module which is first in the direction of travel ‘is controlled by an operating unit. As the following travel modules respectively trackingly follow a preceding travel module and adopt the control commands thereof for the propulsion units, it is only necessary to provide one module with an operating unit. The entire conveyor chain is controlled } thereby.

A further advantageous development of the method provides that in accordance with the respectively desired travel direction the operating unit is associated with the travel module which is first in the desired direction of travel. From the point of view of the operator, from a standpoint at the front - in the direction of movement - the distance to be covered can be best viewed in that way and operation of the travel module which is first in the travel direction is optimally possible. :

In accordance with a further advantageous configuration of the method at each moment in time x for a period y which is also interruptible the measurement values of all drives of all travel modules are detected, in particular by a sensor, and stored. The sensors of the travel modules are considered as such sensors. Detection and storage of all measurement values of all propulsion units provides that monitoring of deviations between the successive travel modules is possible, calculation of the desired or reference travel distances of the travel modules is further simplified and it is also possible to view same outside the conveyor environment, for example by remote data transmission, and/or to comprehend same at later times.

Advantageously in the method according to the invention in each following travel module the measurement values are applied to the drive when the module has reached the location at which said measurement values were applied in the preceding travel module. For example in the case of a conveyor having three travel modules the first module is controlled as a consequence of application of the measurement values and the second travel module follows the preceding one. The third travel modules follows the second travel module. Prolongation of the travel module chain is possible as desired by passing the control commands from one module to another. That procedure permits a high degree of tracking truth and repetition accuracy. In addition the amounts of data and the computation complication and expenditure required therewith can be greatly reduced.

An advantageous development of the present method provides that to take account of variable speeds of the vehicle a correction factor is applied to the measurement values, the correction factor being derived for each travel module from its curve radius which is just being travelled.

A further advantageous development of the method according to the invention provides that a bridge module is arranged between two respective travel modules. The connection of two travel modules with a bridge module advantageously provides for horizontal mobility as between those modules. Here for example pin/fork connections are suitable as the horizontal pivot joint.

Vertical pivotability can be achieved for example by a frame structure comprising two identical, mutually corresponding, pivotably interconnected frame members. In this case also a pin/fork connection can be provided as the pivot joint. That also permits particularly flexible adaptation to horizontal ground irregularities. In cumulative terms, the crawler track travel units would be pivotably connected at that axis to the travel unit modules. That pivotal connection permits additional adaptation options to the nature of the ground.

An advantageous development of the invention provides that at least one hydraulic adjusting unit is further arranged between two respective modules and is adjusted for steering of the travel modules approximately in the longitudinal direction of the modules connected on both sides into respective predetermined positions, wherein the positions of the adjusting units are possibly indirectly detected similarly to the measurement values, in dependence on or independently thereof, according to claims 4 - 6, . stored and applied.

Those hydraulic adjusting units can be in the form of hydraulic cylinders, in terms of their function as holding cylinders, and are intended to hold the frame structure of the solids conveyor in position and shape.

Those adjusting units are re-set in accordance with the evaluated movements of the travel modules. By virtue of the positioning of the adjusting units, it is possible for the position of the travel modules to be additionally monitored relative to each other. If the propulsion units do not cover the allocated path but for example by virtue of slippage or data transmission errors deviate from the preceding travel module paths, the ] adjusting units can be so controlled that the-modules are returned to the intended course again. 5 The adjusting units fix the shape of the entire conveyor and prevent influences for example arising from the nature of the ground beneath and/or limited mechanical foreign effects.

In accordance with a further advantageous embodiment of the method according to the invention the primary control of the travel modules is the control of the propulsion units thereof and the control of the hydraulic adjusting units replaces or supports the primary control if the adjusting values produced by the propulsion units depart from a tolerance zone. A travel measuring system integrated in the adjusting units advantageously additionally ascertains the shape of the conveyor. Those additional data are used to adjust the data from the measurement value storage means. Any differences can be evaluated upon permanent adjustment of the data by the control system. Depending on the respective result of such evaluation the position of the conveyor is then re-adjusted by way of the primary control of the travel modules or the control of the hydraulic adjusting units.

By virtue of the required accuracy and the mutual influences of the various measurement values, for ascertaining the position of the conveyor, the arrangement of the adjusting units is to be so selected that a mathematical system can be simulated for the control software. For structural design reasons it is advantageous to use two holding cylinders operating in mutually parallel relationship. From the hydraulic point of view it is advantageous for those cylinders to be coupled in mutually opposite relationship. In terms of control technology it is advantageous in a pair of cylinders to equip only one respective cylinder with an integrated travel measurement system. That reduces the amounts of data. The complication and expenditure in interpolating tolerances would be reduced thereby.

In accordance with a further embodiment the operating unit is a remote operating system.

In an apparatus of the kind set forth in the opening part of this specification, the object of the invention is attained by least one control } unit adapted to communicate the measurement values of the measurement value storage means associated therewith as control commands to one or more following travel modules. In regard to the advantages in this respect attention is directed to the foregoing description relating to the method according to the invention.

Advantageously the control unit is adapted to receive data by means of shielded cables to minimise electromagnetic interference.

In a further advantageous embodiment of the solids conveyor according to the invention the sensors are adapted, at each moment in time x for a period y which can also be interrupted, to detect the measurement values of the respective travel module and communicate same to the measurement value storage means and the measurement - value storage means are adapted to receive and store the measurement values and to transmit same to the control unit. It has proven to be advantageous to mount the sensors directly on the propulsion unit, for example the drive wheel of each travel module, to minimise inaccuracies arising out of tolerances in respect of the hydraulic system and the transmission arrangement. That results in high demands on the sensors by virtue of the extreme stressing due to temperature, vibration and the ingress of dirt. It is possible to counteract that by the sensors being of an encapsulated nature and operating in contact-free manner, thereby also ensuring operational reliability.

In accordance with an advantageous embodiment of the invention the control unit is adapted to apply to the measurement values a correction value derived from the curve radius covered by the respectively associated travel module.

In a further advantageous configuration the control unit is associated with the travel module which is first in the travel direction and is adapted for data processing of all travel modules. That spatial concentration provides that all the control hardware of the vehicle is collected at a point,

the central control unit, which reduces maintenance complication and expenditure and improves accessibility. ) With an alternative and also advantageous embodiment associated with each travel module is a control unit which is adapted for data processing of the measurement values of its travel module and for actuation of the propulsion units of the respective travel module. Primarily economic advantages are involved in unification of the travel modules which in this embodiment each have a respective control unit. The travel modules are readily interchangeable with each other.

In an advantageous embodiment the solids conveyor according to the invention has at least one bridge module arranged between two travel modules and pivotably connecting the travel modules. It is possible in that way to increase the distance between two travel modules. The bridge module is substantially straight in the conveyor direction and in turn has conveyor means for further transportation of the material being conveyed.

In accordance with a further advantageous development of the invention at least one hydraulic adjusting unit is arranged between each two modules and can be displaced into respectively predetermined positions for steering the travel modules approximately in the longitudinal direction of the modules connected on both sides, whereby the vehicle is controllable entirely or partially by means of the hydraulic adjusting unit.

In an advantageous embodiment the operating unit of the solids conveyor is a remote operating system.

Further advantageous features of the invention concern the configuration of the conveyor apparatus:

Conveyor tubs which are arranged together in a row are suitable as the conveyor means. They are screwed to each other. Screwing is advantageously effected, by virtue of the required mobility/flexibility, only in the region of the upper termination edge of the tubs. The tubs should have a pronounced curvature. That space is to accommodate a part of the compressions or upsettings in the inside radius, which occur in negotiating curves. For that purpose it is proposed that the tubs have corrugated edges as their side walls. That technology makes it possible to compensate for compression and upsetting effects and stretching effects in negotiating curves. The stretching effect at the outside radius can be compensated on the one hand from the corrugated edges and on the other hand from the curvature of the tubs.

Energy-saving and low-wear conveyance on the conveyor can be achieved if all tubs are screwed on trucks with rollers. That alleviates the occurrence of static friction or sliding friction problems. The rollers provided move in a guide. In that respect it is necessary for the transitions of the guides between the individual modules to have no gaps. However, by virtue of the required curved negotiatability (horizontal pivot), they are present in the region of the outside guide, at up to 250 mm. Guidance for the rollers without any gap is achieved by fitting transfer bridges between the travel modules and bridge modules. For that purpose the truck is equipped with a total of six rollers. Then, before the respective gaps, the load is transferred from the outside wheel or the outside guide to an inside wheel. The inside wheel then moves in the region of the gaps on to an inwardly displaced transfer bridge. After the transfer bridge has been passed the load is then transferred again on to the outside wheel or the outside guide.

The trucks with the tubs of the tub conveyor, that are screwed thereon, are advantageously secured to a drive chain. That drive chain is in the form of a circulating chain carrying the traction forces while the trucks secured to the chain carry substantially no traction forces. The chain is guided along the neutral fibre of the conveyor. The chain, as a force- carrying element, can thus be of a completely rigid nature because no change in length as a consequence of curves occurs in the neutral fibre.

That is advantageous for the service life of the drive chain.

The supply of the system with hydraulic energy is effected separately on the drive module for the drive of the tub chain. That drive module is arranged at one end of the solids conveyor and is at the same time a dump discharge module. That is advantageous insofar as the electrical energy for the entire conveyor can be supplied here. A hydraulic assembly for energy and force generation is used, which performs that function.

For reasons related to operating economy it is advantageous if three respective travel modules include a hydraulic assembly mounted to the , central travel module. That is advantageous in particular as on the one hand the number of components can be reduced and on the other hand modularity is attained. That division is also particularly inexpensive and considerably reduces the maintenance complication and expenditure to be expected.

Control of the solids conveyor according to the invention is simplified by the assumption that the conveyor is only ever travelling forwards. The travel module which is first in the travel direction is controlled by an operator and the following travel modules receive their control commands from the control unit. A reversal in the direction of movement is easily implemented by the control unit interpreting the travel module which is last in the travel direction, as a new ‘first’ travel module. Control is then effected in a similar fashion to previously. The control complication and expenditure can also be greatly reduced by that operating procedure. The operator only has to change from the beginning of the conveyor (loading station) to the end of the conveyor (unloading station) and to give the required signal for calculation reversal by implementing a switching signal for the control unit.

Moreover it is to be noted that the travel movement of the solids conveyor is independent of the conveyor drive of the chain and thus independent of transport of the material being conveyed. Thus in principle displacement of the solids conveyor is also possible while material to be conveyed is transported in the tubs or by means of the conveyor apparatus.

The invention is described in greater detail hereinafter with reference to the accompanying Figure in which:

The Figure shows a diagrammatic view of the solids conveyor according to the invention.

The Figure diagrammatically shows a plan view of the solids conveyor 1 according to the invention. The solids conveyor 1 is disposed towards the left in the travel direction in the illustrated orientation. In the illustrated embodiment it has three travel modules 7, 9 and 15. The first travel module 7 in the travel direction has a right propulsion unit 3 and a , left propulsion unit 5 which in the present case are in the form of chain drives. The second travel module 9 following the first travel module 7 also has two propulsion units 11 (at the right) and 13 (at the left) in the form of a chain drive. The third travel module 15 also has a right propulsion unit 17 and a left propulsion unit 19 which are each in the form of a chain drive.

The travel modules 7 and 9 are pivotably connected together by means of a bridge module 21. The travel module 9 and the travel module are in turn pivotably connected with a bridge module 23. The third travel module 15 is further pivotably connected to a bridge module 25. As shown in the Figure the bridge module 25 is not connected to a further travel module, but the vehicle chain could be continued in a similar fashion.

Associated with the travel modules 7 and 9 are a right hydraulic 15 adjusting unit 27 and a left hydraulic adjusting unit 29 each co-operating with respective adjusting units 27' and 29'. In the same way arranged between the travel modules 9 and 15 are adjusting units 31 and 33 co- operating with adjusting units 31' and 33'. The adjusting units 35 and 37 arranged after the travel module 15 are adapted to co-operate with further adjusting units (not shown).

The control and the mode of operation of the solids conveyor are described hereinafter.

The drive speeds of the propulsion units 3, 5 are calculated in accordance with the presetting of the operator by the control unit (not shown) and the propulsion units are then appropriately actuated. When travelling straight ahead the right propulsion unit 3 and the left propulsion unit 5 move at the same speed. When negotiating a curve the control unit interprets the setting from the operator in such a way that the speeds of the propulsion units 3 and 5 are different. The propulsion unit at the outside of the curve rotates correspondingly faster and that at the inside of the curve correspondingly more slowly. In that situation the primary system of the control is the specifically targeted actuation of the travel units.

- In operation of the illustrated vehicle in addition the positions of the adjusting units 27 and 29 (27' and 29') are ascertained and compared by . the control unit to the measurement values of the sensors arranged at the propulsion units 3, 5. As a consequence of a travel module 7 negotiating the curve the adjusting units on both sides of the travel module are shortened on one side and extended on the opposite side. If the adjusting units are in the form of stroke cylinders, that is expressed in the cylinder position.

In the normal situation the adjusting units 27, 29 (27', 29") are controlled in accordance with evaluation of the measurement values.

Possible differences are evaluated upon permanent comparison of the data between the propulsion units 3, 5 and the holding cylinders 27, 29 (27', 29'), by the control unit. Depending on the respective result of such evaluation the position .of the conveyor is regulated by way of the primary travel measuring system - that is to say control of the speeds of the propulsion units - or the secondary position holding system - that is to say control of the adjusting units 27, 29 (27', 29'). The control unit interprets deviations between the position data calculated from the measurement values, and the positions of the hydraulic adjusting units 27, 29 (27', 29").

The adjusting units are then possibly adaptively regulated in accordance with the travel sequence until the travel modules again make evaluatable values available.

The adjusting units 31, 31' and 33, 33' co-operate in the same manner as the adjusting units 27, 27' and 29, 29'. As a consequence of negotiating a curve and a change in angle between the travel modules 9 and 15 the positions of the adjusting units are altered, and measured. In that respect attention is directed to the foregoing description.

The adjusting units can alternatively be arranged directly both at the bridge modules 21, 23, 25 which pivotably interconnect the travel modules 7,9, 15, and also at the travel modules 7, 9, 15.

The control unit communicates the sequences, stored in the measurement value storage means, of the measurement values from the sensors, with associated time durations of the first travel module in the travel direction, as control commands to the propulsion units 11 and 13 of the following travel module 9. The travel module 9 then follows precisely in , the track of the first travel module 7.

In the same way the control commands on the basis of the pairs of measurement values of the second travel module 9 are communicated to the third travel module 15 and in particular to the propulsion units 17, 19 thereof, whereupon the third travel module 15 follows the second travel module 9 in the track thereof.

Claims (18)

1. Cae IVI eee . 1. A method of controlling a vehicle comprising a plurality of travel modules which are arranged one behind the other in a row and which are respectively connected together, in which each travel module is driven by at least two separately drivable propulsion units in the form of wheels, travel chains or the like, for each propulsion unit at least one sensor provides a measurement value describing the travel thereof for a measurement value storage means, and the measurement values of each preceding travel module are forwarded to the following travel module for positioning thereof.
2. 2. A method according to claim 1 characterised in that the travel module which is first in the direction of travel is controlled by an operating unit.
3. 3. A method according to claim 2 in which in accordance with the respectively desired direction of travel the operating unit is associated with the travel module which is first in the desired direction of travel.
4. 4. A method according to at least one of claims 1 to 3 characterised in that at each moment in time x for a period y which is also interruptible the measurement values of all drives of all travel modules are detected, in particular by a sensor, and stored.
5. 5. A method at least according to claim 1 in which in each following travel module the measurement values are applied to the drive when the module has reached the location at which said measurement values were applied in the preceding travel module.
6. 6. A method at least according to claim 1 in which to take account of variable speeds of the vehicle a correction factor is applied to the measurement values, the correction factor being derived for each travel ) module from its curve radius which is just being travelled.
7. 7. A method according to claim 1 in which a bridge module is further arranged between two respective travel modules.
8. 8. A method according to claim 1 in which at least one hydraulic adjusting unit is further arranged between two respective modules and is adjustable for steering of the travel modules approximately in the longitudinal direction of the modules connected on both sides into respective predetermined positions, characterised in that the positions of the adjusting units are possibly indirectly detected similarly to the measurement values, in dependence on or independently thereof, according to claims 4 - 6, stored and applied.
9. 9. A method according to claim 8 characterised in that the primary control of the travel modules is the control of the propulsion units thereof and the control of the hydraulic adjusting units replaces or supports the primary control if the adjusting values produced by the propulsion units depart from a tolerance zone. .
10. 10. A method according to claim 1 and/or 2 characterised in that the operating unit is a remote operating system.
11. 11. A solids conveyor comprising a plurality of travel modules which are arranged one behind the other in a row and which are respectively connected together and each of which has at least two separately drivable propulsion units in the form of wheels, travel chains or the like and for each propulsion unit at least one sensor for providing a measurement value describing the travel thereof and a measurement value storage means, with an operating unit associated with the first travel module in the direction of travel, wherein the first travel module in the direction of travel has an bo operating unit for control of the solids conveyor, wherein the operating unit ) is adapted to actuate the propulsion units of the first travel module,

    . characterised by at least one control unit which is adapted to communicate the measurement values of the measurement value storage means associated therewith as control commands to one or more subsequent travel modules.
12. 12. A solids conveyor according to claim 11 characterised in that the sensors are adapted at each moment in time x for a period y which can also be interrupted to detect the measurement values of the respective travel module and communicate same to the measurement value storage means, and the measurement value storage means are adapted to receive and store the measurement values and to transmit same to the control unit.
13. 13. A solids conveyor according to claim 11 or claim 12 characterised in that the control unit is adapted to apply to the measurement values a correction value derived from the curve radius covered by the respectively associated travel module.
14. 14. A solids conveyor according to one of claims 11 to 13 characterised in that the control unit is associated with the travel module which is first in the travel direction and is adapted for data processing of all travel modules.
15. 15. A solids conveyor according to one of claims 11 to 13 : characterised in that associated with each travel module is a control unit adapted for data processing of the measurement values of its travel module and for actuation of the propulsion units of the respective travel module.
16. 16. A solids conveyor according to one of claims 11 to 15 characterised by at least one bridge module arranged between two travel modules and pivotably connecting the travel modules. x
17. 17. A vehicle according to one of claims 11 to 16 characterised in } that at least one hydraulic adjusting unit is arranged between each two . respective modules and is displaceable into respectively predetermined positions for steering the travel modules approximately in the longitudinal direction of the modules connected on both sides, wherein the vehicle is entirely or partially controllable by means of the hydraulic adjusting unit.
18. 18. A vehicle according to one of claims 11 to 17 characterised in that the operating unit is a remote operating system. +h Dated this |'2 day of Tebruany 30l0 Patent wi / Agent for the Applicant bh