JP3003424B2 - Control method of quantitative scraping of unloader - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling the quantitative removal of an unloader.

[0002]

2. Description of the Related Art An unloader is used when unloading ore, coal, grain and the like from a ship's hold (hold section) to land. The unloader is expected to increase the efficiency of the transfer operation by performing management for keeping the transfer amount (unloading amount) per unit time constant, thereby facilitating unmanned operation and automation.

[0003] As a prior art example related to the unloader, for example, Japanese Unexamined Patent Publication No. 1-26944, "Unloader"
And Japanese Patent Publication No. 4-46861, "Method of Operating Continuous Unloader" has been proposed. In the former technique, the scraping width is changed by adjusting the length of the L-shaped scraping section so as to be able to correspond to the shape of the hold, and in the latter technique, the trajectory of the scraping section is stored during teaching. In the meantime, during playback, each motion such as running, turning, and posture of the scraping unit in each part of the unloader is controlled so as to reproduce the stored locus, thereby achieving automation of driving. .

[0004] During the operation of the unloader, in order to keep the transfer amount constant, it is necessary to make the scraping amount per unit time in the scraping portion at the tip of the unloader constant (perform quantitative scraping). .

[0005] When a fixed amount of scraping is performed, an ultrasonic distance sensor is attached to the front and rear positions of the scraping portion to detect the height of the load, the difference in the load height is used to determine the scraping height, and the width of the scraping is determined. By calculating the scraping speed from the specific gravity and the desired scraping amount, and adjusting the scraping speed according to the scraping height,
A method of making the scraping amount constant is adopted.

[0006]

However, when the scraping section is moved, the scraping amount can be stabilized by performing a straight scraping with the same scraping width. It is necessary to change the scraping width and the scraping direction in accordance with the conversion, etc., and in this case, the quantitative scraping property tends to be impaired.

The present invention has been made in view of these circumstances, and it is intended to secure a quantitative scraping property even when a scraping section is skewed or a moving direction is changed. It is an object.

[0008]

In order to achieve the above object, a step of sequentially setting a scraping operation range, and a step of detecting a load height before and after the advancing direction of the scraping section to detect a scraping height.
And obtaining a (y), the scraping height (y), scraping
Based on the work area (S) and the specific gravity of the load (C)
Determining the scraping weight (G) by using
(G) and the scraping amount per unit time (M)
The step of determining the scraping time (t), and the scraping amount (M)
The scraping weight (G) and the moving distance (Dac) of the scraping section
Obtaining a scraping speed (V) based on
(V) a step of moving the scraper at a constant speed .

[0009]

[Action] The scraping section is moved while sequentially setting the scraping work range, and the scraping speed is determined from the scraping height, the area, the distance and the specific gravity of the scraping work range, and the scraping work is performed at the scraping speed. A quantitative scraping within the range is performed.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a method for controlling the quantitative scraping of an unloader according to the present invention will be described below with reference to FIGS. In each figure, reference numeral 1 denotes a scraping unit, 2 denotes a bucket, 3 denotes a bucket elevator, 4A and 4B denote load height detectors (distance sensors), and W denotes a load to be transferred.

FIG. 1 shows that the scraping section 1 having a scraping width L is moved from the positions a and b to the positions c and d while the scraping area S is quantitatively scraped. This shows a case where the operation is performed. The quantitative scraping in this case means that the scraping amount per unit time is constant.

[Calculation of scraping area] For a range in which a scraping operation is to be performed, a scraping area S is calculated in advance based on positions a and b at the start of scraping and target scraping positions c and d. Can be.

[Setting of scraping section scraping speed] When performing a fixed scraping, a fixed scraping amount (a scraping amount per time: M), a scraping weight (G), a scraping area (S), The following formula is established among the scraping height (y), specific gravity (C), scraping distance (Dac), scraping speed (V), and scraping time (t). G = S × y × C (Equation 1) t = G ÷ M (Equation 2) V = Dac ÷ t (Equation 3) V = M × Dac ÷ (S × y × C) (Equation 4) When an arbitrary portion (for example, the tip of the scraping portion 1) of the scraping portion 1 is specified and the scraping operation is performed while moving the portion at the speed V by the distance Dac, the scraping area S A quantitative scraping of the area will be performed. The scraping height (y) is the difference between the detection distances (load heights) h1 and h2 by the load height detectors 4A and 4B.

Next, a new target working range is set with reference to the position cd in FIG. 1, and the area of the working range is similarly calculated, and the scraping speed is determined from the moving distance of a specific point of the scraping unit 1. , A fixed amount of scraping is performed.

As described above, the scraping operation range is sequentially set, the scraping speed is calculated from the area and the like within the management range, and the scraping unit 1 is moved based on the scraping speed. , Quantitative scraping property is maintained.

[0016]

According to the unloader quantitative scraping control method of the present invention, the control range of the scraping operation is sequentially set, the area within the control range is determined, and the scraping height and the scraping section are determined. The scraping speed is obtained from the moving distance and the specific gravity of the load to be transferred, and the scraping unit is moved by the scraping speed. (1) The scraping area is calculated, a scraping speed corresponding to the moving distance of the moving range of the scraping unit is obtained, and the scraping unit is moved by the scraping speed. Even when the moving state or the moving direction is changed, it is possible to secure the quantitative scraping property. (2) Since the scraping speed is set according to the scraping area, the range to be scraped is not affected by the shape or the movement locus of the scraping unit, and the quantitative scraping property is impaired. Can be prevented. (3) Since a change in the scraping width is allowed, even when scraping the load to be transferred at a corner or the like, a fixed amount of scraping can be performed.

[Brief description of the drawings]

FIG. 1 is a model diagram showing an example of an implementation state of a method for controlling the quantitative removal of an unloader according to the present invention.

FIG. 2 is a side view showing a scraping state in a scraping unit.

FIG. 3 is a front view showing a structural example of a scraping unit.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Scrape part 2 Bucket 3 Bucket elevator 4A, 4B Load height detector (distance sensor) W Load to be transferred

Continuation of the front page (56) References JP-A-60-197535 (JP, A) JP-A-59-194942 (JP, A) JP-B-24-24694 (JP, B2) JP-B4-46861 (JP) , B2) (58) Field surveyed (Int. Cl. ⁷ , DB name) B65G 67/60-67/62 B65G 65/06

Claims (1)

(57) [Claims] A step of sequentially setting a scraping operation range;
A step of determining scraping height (y) to detect a load height before and after the traveling direction of scraping section, the scraping height
(Y), the area of the scraping work area (S) and the ratio of the transferred load
Determining a scraping weight (G) based on the weight (C);
The scraping weight (G) and the scraping amount per unit time (M)
Determining a scraping time (t) based on
(M), the scraping weight (G), and the moving distance of the scraping part
Determining the scraping speed (V) based on the separation (Dac)
And moving the scraping unit at a constant speed at the scraping speed (V).
Quantitative scraping control method of the unloader, characterized in that it has a degree.