JP3453261B2 - Control method of unloading amount of continuous unloader - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] The present invention relates to a continuous unloader.
Related to the method of controlling the amount of unloading
It relates to a control method that can be followed. [0002] 2. Description of the Related Art A continuous unloader is a type of ore loaded in a hold.
It is a large-sized transport machine that continuously unloads loads such as stone and coal.
And has a schematic configuration as shown in FIG. That is, the figure
5, the boot is mounted on the leg provided with the traveling drive device 11.
The boom is mounted so that it can be turned by the
Control devices 12 and input devices by the operator
Table 13 is placed, conveyor 8 runs on the boom,
Column that can be turned by the DE turning drive 9 at the tip of theFifteenBut
Mounted, this, strutFifteenExcavation part 2 is attached to the tip
Between the excavating section 2 and the bucket driving hydraulic motor 7.
The chain 4 to which the unit 3 is attached
is there. In addition, lifting part 14Pillar 15The excavation part 2
The tilting cylinder 6 is variably supported by the tilting cylinder. In such a structure, a bucket driving hydraulic motor
The chain 4 is driven in the direction of arrow 5 by driving the
The cargo in the hold 1 is scraped off by the bucket 3 and
The conveyor 8 is lifted up to the height of the
It has been moved to and exhaled on land. this
In this case, the excavating part 2 moves in the hold 1 in order as shown in FIG.
Traverse mode, DE turning mode, and drive mode
Commanded by the pererator, boom swing for each mode
Drive device 10, DE turning drive device 9, traveling drive device 11
Command values are distributed and driven. In controlling the unloading amount by the excavation section 2,
Controls a predetermined amount of unloading amount by the control method shown in FIG.
I do. That is, the unloading amount target value Q_sIs an operation
Block A, the bucket hydraulic pressure target
Value P_bsConvert to Bucket hydraulic pressure
The load is proportional to the excavating force applied to the
The larger the value, the smaller the value. For this reason. load
There is a proportional relationship between the frying amount and the bucket oil pressure.
Conversion of values can be performed in block A. Next,
Bucket by bucket driving hydraulic motor 7 at matching point B
Actual hydraulic pressure value P_bfAnd the aforementioned target value P_bsComparison with
The comparison value is calculated by the PI control block C in the traverse speed.
Command V and target value P_bsActual value P_bsIs larger
If so, reduce the traverse speed according to the size, and conversely
Value P_bfIs smaller, the traverse speed is set according to the difference.
You're fast. Speed command at which traverse speed command V is input
In the distribution block D, the traverse operation mode is input,
DE turning speed command V_d, Boom swing speed command V_b, Running
Speed command V_sIs output. Thus, the unloading target value
Q_sSo that the actual value P_bfOf excavation part 2 based on
Control to obtain a constant amount of excavation (force)
I have. [0005] SUMMARY OF THE INVENTION In the above-mentioned unloading amount control,
Therefore, the bucket oil pressure converted by the control is actually
The digging force to scrape the load at the digging section 2 and the load at the lift 14
It is the sum of the lifting force to lift and
The lifting part 14 is longer, and the lifting force is larger than the excavation force
The bucket oil pressure is controlled by the lifting force
There is a problem of life, that is, because the lifting power is large
The change in the digging force of the digging section 2 does not become a large change. That
In addition, the relationship between the excavating force and the lifting force is obtained by multiplying the excavating force by a certain factor.
Because the lifting force is the value integrated over a certain period of time,
Even if the excavation force suddenly changes due to collapse of the load, the lifting force is gradually reduced
Only changes individually. As a result, the excavation force due to collapse
And the excavation power suddenly drops due to a sudden shortage of cargo.
A sudden change in excavation force cannot be detected, and
In the controlled bucket oil pressure, even further changes are detected.
It becomes hard. Thus, the change in unloading amount due to the change in excavation force
Can not respond quickly, and the fluctuation of the unloading amount is large after all.
There is ever. The present invention has been made in view of the above-described problems, and has been made in consideration of the above circumstances.
Continuous type that detects fluctuations and suppresses fluctuations in unloading amount
An object of the present invention is to provide a method for controlling the unloading amount of an unloader. [0007] In order to achieve the above-mentioned object, the following is provided.
Of the invention.Traveling drive device provided on the leg
And a boom mounted on the leg, and swiveling the boom
Boom swing drive device and attached to the boom tip
DE turning drive device and the DE turning drive device
A turning column and an excavation attached to the tip of the column
Part, between the excavation part and the bucket drive hydraulic motor
Chain with buckled bucket and lift
Tilting that variably supports the excavation part with respect to the support column
Cylinder and attached to the bucket drive hydraulic motor
With a pressure sensor,Unloading target valueConverted fromBa
Ket oil pressure target valueBy the pressure sensorBucket hydraulic
Compare with the actual value and determine the traverse speed command from the difference.valueSeeking
,This traverse speed command value is stored in the traverse mode and the DE turning mode.
Traverse command specified in the modeIn operation mode
DependingAnd the boom swing speed command value, travel speed command value and DE
Three of the turning speed command valuesSpeed commandTo the valueDistributionAnd this speed
The boom swing drive device and the travel drive device are
Drive the DE turning driveContinuous unloader
In the method of controlling the unloading amount ofTake the tilt cylinder
Depending on the attached pressure sensorDrilling based on tilt cylinder pressure
Excavation force fluctuation is calculated from the force, and this excavation force fluctuation is proportionally calculated.
Traverse speed commandvalueIs characterized by correcting
You. [0008] When the excavation zone is integrated, the lifting force is obtained.
And bucket hydraulic pressure are almost equal,
G can be regarded as a derivative of the hydraulic pressure. Therefore, the drilling power
Adding proportional control makes differential control of bucket oil pressure
It is equivalent to adding. In other words, (1) collapse of cargo
When the excavation increases in
With the differential information that it is going up,
(2) When excavation is reduced due to shallower load, etc.
Before the ket oil pressure drops,
Using the minute information to increase the traversing speed in advance
In order to raise or lower the traverse speed command in advance,
Immediately return fluctuations in unloading amount to the original specified value.
Responsiveness is improved. [0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring now to FIGS.
A description will be given of an embodiment according to the present invention. FIG. 1 is an overall configuration diagram of an example.
And has substantially the same configuration as that of FIG.
The tilting cylinder 6 and the DE turning drive
Installation 9, bucket drive hydraulic motor 7, boom swing drive
10, a traveling drive device 11, and an input device by an operator.
There is a class 13. In the configuration of FIG.
The configuration of the devices 13 and the control devices 12 is as shown in FIG.
become. That is, in the input devices 13, the operator input terminal
The unloading target value Q at the end 13a_sIs output, and
From traversing, DE turning and running from the operator operation panel 13b
Is output. Control equipment 12
Is a control device 1 for performing the processing shown in FIGS. 3 and 4.
2a and a DE turning command from the output of the control device 12a,
Motorized motor that outputs each signal of boom turning command and running command
It has a live board 12b. The input of the control unit 12a is an operation
Unloading amount target value Q from the data input terminal 13a_s, Operating
Traverse operation mode from bucket operation panel 13b, bucket
Bucket by pressure sensor attached to hydraulic drive motor 7
Oil pressure actual value signal P_bfAttached to the tilt cylinder 6
Tilt sensor pressure signal P_kfThere
You. The control device 12a controls the block shown in FIG.
The processing indicated by the arrow is performed. Here, shown in FIG.
As with the processing, the unloading target value Q_sTo the bucket hydraulic pressure
Converted by example calculation, this bucket oil pressure target value P_bsAnd bake
Oil pressure actual value P_bfAnd both of them are controlled by PI control.
Output a speed command that matches the driver. In this embodiment, the pressure P by the tilt cylinder 6 is further increased.
_kfIs input to the control device 12a. Now excavation force F_dfChanges
When the excavation part 2 is increased by the
The pressure on the head side of the rotary cylinder 6 increases and the pressure on the rod side
Becomes smaller. Also, the excavating force F_dfReverse if decreases
Phenomenon occurs. This head side pressure and rod side pressure
Excavation force F_dfCan be converted
Cutting force F_dfSudden change is detected by this pressure of the tilt cylinder 6.
Will be done. On the other hand, when excavating force is integrated, lifting force and
Since the lifting force and the bucket hydraulic pressure are almost equal,
The cutting force can be regarded as the differential of the bucket oil pressure,
G can be regarded as a change in hydraulic pressure. Therefore, dig
Adding proportional control of cutting force is differential control of bucket hydraulic pressure.
Will be added. Therefore, for example,
When the cutting force increases, the bucket
When the differential information is being added and the load becomes shallow again
Before the bucket oil pressure drops due to the decrease in excavation power,
We will add falling differential information. This result
As a result, tilt cylinder pressure P_kfExcavation force F at_dfGet this
Is obtained through the P control,
The main circuit of the feed speed command V responds quickly to changes in excavation force.
Differential information. The blocks added in FIG.
The excavation force control unit X for controlling
Pressure P_kfExcavation force F at block E_dfSeeking and digging
Eliminates cutting force offset errors and allows rapid
High-pass filter to pass low-frequency components
F, this excavating force fluctuation component F_dfhTo a strange goal
Therefore, the horizontal feed, which is the PI control output of the main circuit by the P control G,
To the command V. As a result, if the drilling power increases
A minus (slow) traverse speed command is issued, and the excavation force
If it goes down, it becomes a plus (faster) traverse speed command,
Corrects traverse speed command value by conventional bucket hydraulic control
I do. The traverse speed command value is sent to the operator.
Depending on the traversing operation mode set by
The motor is distributed to three speed command values, boom turning and running.
Command the drive panel 17. Motor drive board 17 is D
E-turn drive 9, boom-turn drive 10, traveling drive
The device 11 is driven. FIG. 4 is a control flow based on the block of FIG.
It is a chart. That is, the unloading amount target value Q_sIs
Converted to bucket hydraulic pressure by lock A and P_bs= K_bs× Q_s
At the point of addition B_bsTo the actual value P_bf
And e = P_bs-P_bfAnd After this, in block C
Perform PI calculation and V₁Get. On the other hand, tilt cylinder pressure
Force P_kfIs converted to excavating force at block E and F_df= F
(P_kf), And then pass through a high-pass filter F to obtain F_dfl=
(A₁+ A_Two) F_df, F_{df h}= F_df-F_dfl, And P
V in control G_TwoGet. At the addition point H, V₁+ V_Two=
V for V_TwoTraverse speed command V after correction
Thereafter, in block D, distribution of speed commands is performed, and each command is distributed.
V_d, V_b, V _sGet. [0014] According to the quantitative unloading control of the present invention, the conventional oil
Excavation force control is added to pressure control, and
Improved responsiveness. In this way, the unloading amount is maintained at a predetermined value.
Chitzu. Large unloading amount, which has conventionally occurred due to collapse of cargo
Significant fluctuations can be reduced. to this
Operation due to unloading load and shortage of unloading
It has the beneficial effect of improving unloading capacity.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall configuration diagram of an example of an embodiment of the present invention. FIG. 2 is a block diagram of control devices and input devices. FIG. 3 is a control block diagram. FIG. 4 is a control flowchart. FIG. 5 is an overall configuration diagram of a continuous unloader. FIG. 6 is an explanatory diagram of a trajectory of a digging section. FIG. 7 is a conventional control block diagram. [Description of Signs] 1 Hold 2 Excavation part 3 Bucket 4 Chain 5 Chain drive direction 6 Tilt cylinder 7 Bucket drive hydraulic motor 8 Conveyor 9 DE turning drive 10 Boom turning drive 11 Traveling drive 12 Control equipment 12a Control device 12b Motor drive panel 13 Input devices 13a Operator input terminal 13b Operator operation panel 14 Upper support 15 Prop A to H blocks

──────────────────────────────────────────────────続 き Continuing on the front page (72) Hiroshi Nibo, Inventor Hiroshima Prefecture, Hiroshima 4-6-22 Kannon Shinmachi, Hiroshima Works, Mitsubishi Heavy Industries, Ltd. No. 6-22 Mitsubishi Heavy Industries, Ltd.Hiroshima Plant (72) Inventor Shigeru Kiyota 20-1 Shintomi, Futtsu City, Chiba Prefecture Nippon Steel Corporation Technology Development Division (72) Inventor Yoshihiko Miyazaki Shintomi, Futtsu City, Chiba Prefecture 20-1 Inside the Technology Development Division of Nippon Steel Corporation (56) References JP-A-9-315586 (JP, A) JP-A 8-119461 (JP, A) (58) Fields surveyed (Int. Cl. ⁷ , DB name) B65G 67/60 B65G 65/06

Claims (1)

(57) [Claims 1] A traveling drive device provided on a leg, a boom mounted on the leg, a boom turning drive device for turning the boom, and a boom turning drive device mounted on a tip of the boom. DE turning drive device, a strut turned by the DE turning drive device, a digging portion attached to the tip of the post, and a swinging motor between the digging portion and the bucket driving hydraulic motor.
The digging part is variably supported with respect to the chain to which the bucket is attached, and
A tilting cylinder, and a pressure sensor attached to the bucket drive hydraulic motor.
The provided, bucket hydraulic target value converted from unloading amount target value and the previous
Calculated lateral feed speed command value from the difference is compared with the bucket hydraulic actual value by serial pressure sensor, the traversing speed finger
Set the quotation value in the traversing mode, DE turning mode, and driving mode.
Boom rotation speed according to the commanded traverse operation mode
Command value, travel speed command value and DE turning speed command value
The speed command value, and based on the speed command,
System turning drive device, the traveling drive device, the DE turning drive
In the method for controlling the unloading amount of a continuous unloader that drives the apparatus, a digging force variation is obtained from a digging force based on a tilting cylinder pressure by a pressure sensor attached to the tilting cylinder, and the digging force variation is proportionally controlled. A method for controlling the unloading amount of a continuous unloader, wherein the lateral feed speed command value is corrected.