JP3496462B2 - Bucket elevator driving apparatus and method for continuous 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 bucket elevator drive device and method for a continuous unloader for continuously scraping and carrying out a load in a hold, and more particularly to a bucket elevator driven by an electric motor. is there.

[0002]

2. Description of the Related Art A continuous unloader of this kind has been actively developed in recent years because it can be easily increased in size.

A conventional bucket elevator drive device for a continuous unloader is, for example, Japanese Patent Laid-Open No. 8-310666.
As described in Japanese Patent Publication, a hydraulic pump drives a bucket elevator composed of a bucket conveyor having a large number of buckets suspended at the boom tip, and the hydraulic motor supplies hydraulic oil to the hydraulic motor. It is general that the control device controls the discharge amount of the hydraulic pump by supplying the control hydraulic pressure from the drive.

The reason why the bucket conveyor is driven by the hydraulic motor in this way is that a large number of buckets are mounted on the bucket conveyor, and iron ore, coal and other loose materials in the hold are scraped by these buckets and conveyed upward. This is because a large driving torque is required when driving the bucket conveyor.

[0005]

However, in the above-mentioned conventional bucket elevator driving device for the continuous unloader, since the bucket conveyor is driven by the hydraulic motor, a large driving torque is generated and smooth. Although it can be driven, the use of a hydraulic motor requires a hydraulic supply source including a large hydraulic pump and high-pressure piping. And the overall configuration has become larger,
There is an unsolved problem that the bucket elevator is heavy and requires a large installation space.

When the bucket elevator itself becomes large in size as described above, since it is suspended at the tip of the boom, it is necessary to sufficiently increase the mechanical strength of the boom and other supporting portions. However, there is a problem in that the size increases and the cost increases.

Therefore, the present invention has been made by paying attention to the unsolved problem of the above-mentioned conventional example, and also copes with the load balance fluctuation of the bucket conveyor while using the electric motor to downsize the bucket elevator. It is an object of the present invention to provide a drive device and method for a bucket elevator in a continuous unloader that can be used.

[0008]

In order to achieve the above object, a bucket elevator drive device for a continuous unloader according to claim 1 of the present invention has a plurality of buckets mounted between a pair of endless chains. A chain is stretched between a pair of drive sprockets arranged in the upper part and a scraping part arranged in the lower part through a bucket insertion cylinder suspended from the tip of the boom, and by rotating the drive sprockets. In a bucket elevator drive device of a continuous unloader in which the scraping unit scrapes the cargo in the cargo into the bucket and conveys it to the upper collecting unit, the pair of drive sprockets are connected to each other via a speed reducer. a plurality of electric motors which are vector <br/> Le control was, the plurality of the electric motor
And a control device for controlling the
Electric Motor Torque Current Target for Drive Sprocket
The value is the torque of the electric motor for the other drive sprocket.
The other drive sprocket.
Set the speed adjustment gain of the electric motor to "0" at startup.
It is configured to be set to a normal value after being activated .

In the invention according to claim 1,
The pair of drive sprockets are individually driven by the electric motors via the reduction gears, and the control devices vector-control these electric motors, whereby the drive sprockets can be stably driven by the electric motors. And the control device
When starting up, the motor is not connected to one of the drive sprockets.
Both electric motors based on the torque current target value of the motor
Prevents interference of each electric motor by driving synchronously
After starting, both drive sprockets are speed controlled independently
By doing so, the occurrence of load imbalance is prevented.

According to a second aspect of the invention, there is provided the bucket elevator drive device for a continuous unloader according to the first aspect of the invention, wherein the control device performs speed sensorless vector control of each electric motor.

According to the second aspect of the present invention, the control device controls the electric motor by the speed sensorless vector control so that the torque can be accurately controlled even when the slip ring is interposed between the electric motor and the control device. You can

[0012]

[0013]

Further, according to a third aspect of the present invention, there is provided a bucket elevator driving method for a continuous unloader, wherein a plurality of buckets are mounted between a pair of endless chains, and the endless chains are provided on a pair of drive sprockets and a lower portion. It is stretched through the bucket insertion cylinder hanging at the tip of the boom between the scraping parts provided, and the scraping part scrapes the cargo in the hold into the bucket by rotating the drive sprocket. In the bucket elevator drive method of the continuous unloader configured to convey to the upper recovery section, one of the pair of drive sprockets is connected to a master electric motor that is vector-controlled via a reducer, and the other is connected to the reducer. A sub-master electric motor, which is vector-controlled via the Drive control of the master electric motor, drive control by the torque current target value from the sub-master electric motor side, and drive control of the master electric motor and the sub-master electric motor by an independent speed control system after starting. Is characterized by.

In the invention according to claim 3 , the same operation as the invention according to claim 1 can be obtained.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below. FIG. 1 is a schematic configuration diagram showing an embodiment of the present invention, in which a continuous unloader 7 is driven by an electric motor (not shown) to roll on traveling rails 4a and 4b installed on the quay 1. A traveling frame 10 having moving wheels 9a and 9b is provided.

On the traveling frame 10, a swirling tower 11 having a conveyor 11a for vertically conveying and effecting the scattered matter inside is installed at 125 ° to the left and right around a line passing through the swivel center and orthogonal to the quay 1. The hopper 12 is supported so as to be rotatable within the range, and a hopper 12 is fixedly arranged below the swirling tower 11. The cutout on the lower end side of the hopper 12 receives the scattered matter in the hopper 12 and a belt conveyor 5
A belt feeder 13 that discharges a fixed amount toward is provided. Then, an in-machine conveyor 14 that conveys the scattered matter to the position above the receiving belt conveyor 5 is disposed at the falling position of the belt feeder 13, and the scattered matter that drops from the in-machine conveyor 14 is received through a cushion frame (not shown). It is transferred onto the conveyor 5.

At the upper end of the swivel tower 11, a swivel boom 15 having a belt conveyor 15a for transporting scattered matter therein is rotatably supported in a vertical plane. A balance weight 16 is arranged on the opposite side. Inclination support links 17 and 18 are rotatably supported at both ends of the swing boom 15, and these link 17 and
A link 19 parallel to the swing boom 15 is rotatably connected to the free end of 18 to form a parallel link, and a bucket elevator 20 extending vertically is fixed to the inclined support link 17 on the free end side.

The bucket elevator 20 has a cylindrical fixed frame 21 fixed to the support link 17, and a cylindrical column member 22 constituting an elevator shaft rotatably supported by the fixed frame 21.

At the upper end of the column member 22, a pair of front and rear chain drive sprockets 23A mechanically connected to each other by a drive shaft 23a, as is particularly clear in FIG.
23B is provided, and an L-shaped excavation portion 24 is provided at the lower end, and a pair of front and rear endless chains 25A, 25B are passed through the column member 22 to form sprocket 23A, 2B.
3B and the excavation section 24 are stretched so as to move around, and a large number of buckets 26 are mounted between the pair of chains 25A and 25B at predetermined intervals to form a bucket conveyor.

The column member 22 is fixed to the fixed frame 2.
1 is rotated by a rotary drive mechanism such as an electric motor, and the sprockets 23A and 23B are also rotated counterclockwise in FIG. 1 by a sprocket rotary drive mechanism including an electric motor.

As shown in FIG. 2, the sprocket rotation drive mechanism has speed reducers 27A and 27B connected to both ends of the drive shaft 23a.
In 7B, output side gears 28A and 28B are connected to the drive shaft 23a, and two sets of input side gears 29 are connected to the output side gear 28.
AF, 29AR and 29BF, 29BR mesh with each other, and these input side gears 29AF, 29AR and 29BF, 29
BR is electromagnetic brake 30AF, 30A and 30BF, 3
0BR and torque limiters 31AF, 31AR and 31B
Induction electric motor 32A through F and 31BR in that order
It is connected to F, 32AR and 32BF, 32BR.

Each of the induction electric motors 32AF to 32BR is connected to motor drive circuits 34A and 34B constituting a control device via slip rings 33AF to 33BR, and is driven and controlled by the motor drive circuits 34A and 34B.

Each of the motor drive circuits 34A and 34B performs speed sensorless vector control, as shown in FIG. That is, the motor drive circuits 34A and 34B
3, target value calculation circuits 35A and 35B for calculating the torque current target value i _1T ^* and the magnetizing current target value i _1M ^* on the basis of the speed command value N _ref , and these target value calculation circuits 35A. And the target value i _1T ^* of the magnetizing current and the target value i _1M ^{* of the} magnetizing current output from the current sensor 38A and the detected current value I ₁ from the current sensor 38A which will be described later are input, and subtracters 36AFT and 36AFM output the deviations thereof. 36
36, ART, 36ARM and 36BFT, 36BFM;
ART, 36ARM and these subtracters 36AFT, 36
AFM; 36ART, 36ARM and 36BFT, 36
BFM; deviation signal output from 36ART, 36ARM and 1 output from target value calculation circuits 34A and 34B
Current vector calculation circuit 37 to which the next frequency ω ₁ is input
AF, 37AR and 37BF, 36BR, and these current vector calculation circuits 36AF, 36AR and 36BF, 3
The 3-phase current target value output from the 7BR is input, and based on this, the induction electric motors 32AF, 32AR and 32 are input.
Voltage type pulse width modulation (PW) for driving BF and 32BR
M) Inverters 38AF, 38R and 38BF, 38B
It is composed of R and.

Here, the target value calculation circuit 35A detects the three-phase current value of the inverter 38AF, converts it into a single-phase current, and outputs it, and the inverter 3.
A voltage sensor 42AF that detects a three-phase voltage value of 8AF, converts the three-phase voltage value into a single-phase voltage, and outputs the single-phase voltage. The current detection value I ₁ of the current sensor 41A and the voltage detection value V ₁ of the voltage sensor 42A are 2 It is supplied to the current / flux conversion circuit 43A that calculates the torque current I ₂ as the next current and the magnetic flux φ.

At this time, the voltage detection value V ₁ of the voltage sensor 42A is obtained by multiplying the current detection value I ₁ of the current sensor 41A by the addition value of the primary resistance r ₁ and the cable resistance r _{f in} the multiplication circuit 44A. A voltage drop correction value of the temporary resistance of the cable and the electric motor 32A is calculated, and this value is subtracted from the subtractor 45.
The voltage detection value V ₁ is subtracted and corrected by the subtractor 45A, and the voltage correction value output from the subtractor 45A is supplied to the current / magnetic flux conversion circuit 43A.

Then, the torque current I ₂ output from the current / flux conversion circuit 43A is supplied to the subtracter 46A to which the torque current target value i _1TA ^* is input, and this subtractor 46A is supplied.
The deviation between the two is supplied to the speed estimation circuit 47A to calculate the speed estimation value N _det.
det and the speed command value N _ref are input to the subtractor 48A,
The difference between the two is input to the speed adjuster 49A, the torque current command value i _1TA is calculated by this speed adjuster 49A, and this is input to the adder 51A via the first-order lag filter 50A.

In the adder 51A, a torque current compensation value i _AT for securing a starting torque is added and corrected to the filter output of the first-order lag filter 47A, and the limiter 52A limits this added correction value to the maximum torque value. , Its output is the subtractor 36AFT and 3 as the torque current target value i _1TA ^*.
Output to 6ART.

On the other hand, the estimated speed value N _det output from the speed estimation circuit 47A is supplied to the magnetic flux command value calculation circuit 53A, and the estimated speed value N _det is calculated by the magnetic flux command value calculation circuit 53A.
When the absolute value of is less than or equal to a preset value, a constant secondary magnetic flux target value φ ₂ ^* is calculated, and the estimated speed value N
_{When det} exceeds the set value, the secondary magnetic flux target value φ decreases as the speed estimated value N _det increases in the positive and negative directions.
₂ ^* is calculated, and this secondary magnetic flux target value φ ₂ ^* is calculated by the subtractor 54.
Input to A.

The magnetic flux φ output from the current / magnetic flux conversion circuit 43A is input to the subtractor 54A,
The deviation between this and the secondary magnetic flux target value φ ₂ ^* is the magnetic flux controller 55.
The magnetic flux controller 55A outputs the magnetizing current target value i _1MA ^* , which is supplied to the subtractors 36AFM and 3A.
Input to 6ARM.

Further, the output from the limiter 52A is
Luk current target value i_{1 TA} ^*Is input to the slip calculation circuit 56A.
Then, the torque calculation target value i_{1 TA}
^*Based on the slip angular frequency ω_SAnd calculate this
Estimated speed N of constant circuit 47A _detAnd are added by the adder 57A
By calculating the primary frequency ω₁And calculate this
It is supplied to the flow vector calculation circuits 37AF and 37AR.

The other target value calculation circuit 35B is also added by the adder 51.
As the torque compensation input to B, the target value calculation circuit 35
The torque current target value i _1TA ^{* of A} is input, and the gain of the speed controller 49B is set to the bucket elevator 2
The target value calculation circuit is set except that the gain is set to "0" at the start of 0 and the gain in the normal state thereafter is set smaller than the gain of the speed controller 49A of the target value calculation circuit 35A. The reference numeral A has the same configuration as that of the reference numeral 35A, and the reference numeral A of each portion is replaced by the reference numeral B in the portion corresponding to the target value calculation circuit 35A, and the detailed description thereof will be omitted.

Further, the current vector calculation circuits 37AF to 3AF
In 7BR, the input primary frequency ω ₁ is integrated to obtain the relative electrical angle φ ₁ of the rotating magnetic field axis with respect to the stator winding axis, and the input torque current deviation Δi _T and magnetizing current deviation Δi are calculated. A coordinate transformation from the rotating magnetic field coordinate system to the stator winding coordinate system is performed based on _M and the voltage type pulse width modulation inverters 38AF to 38 by performing the two-phase / 3-phase conversion.
A target current value to be supplied to BR is calculated and output to inverters 38AF to 38BR.

Voltage type pulse width modulation inverter 38AF-
Each of 38BR has a current vector calculation circuit 37AF to 3AF.
The three-phase power supplied to the induction electric motors 32AF to 32BR is controlled according to the current target value output from the 7BR.

Returning to FIG. 1, the fixed frame 21 is provided with a chute 51 below the sprockets 23A and 23B for receiving scattered particles falling from the bucket 26 inverted by the sprockets 23A and 23B. The conveyor 1 in the swing boom 15 is provided with a rotary feeder 52 provided on the lower end side of the dust guided by the chute 51.
It is transferred to 5a.

The excavation section 24 includes a support frame 61 rotatably supported at the lower end of the column member 22, a horizontal support frame 62 similarly rotatably supported at the lower end thereof, and left and right ends of the support frame 62. 25A, 25B on the part
Sprocket 63 and 64 for guiding the horizontal support frame 62 are rotated by rotating the support frames 61 and 62 by a rotary drive mechanism such as a hydraulic motor.
Can be moved back and forth while maintaining the horizontal state.

Therefore, as shown in FIG. 1, the bucket elevator 20 is inserted into the hold A, the bucket 26 on the lower end side of the horizontal support frame 62 is brought into contact with the dust 65 to be scraped off, and the column member 22 is removed. It is conveyed vertically upward through the inside, and the bucket 26 is inverted at the upper sprocket 23A and 23B positions, so that the scattered matters inside the swing boom 15 through the chute 51 and the rotary feeder 52.
It is transferred to the inner conveyor 15a, then vertically lowered by the conveyor 11a in the swirling tower 11 and temporarily stored in the hopper 12.

From the hopper 12, the belt feeder 13 discharges a fixed amount according to the carrying capacity of the receiving belt conveyor 5, and passes it through the in-machine conveyor 14 to the selling belt conveyor 5. By carrying out this operation, for example, the bucket elevator 20 is moved around in the hold A, and the like, the scattered substances in the hold A are successively carried out.

Next, the operation of the above embodiment will be described based on the timing chart at the time of startup shown in FIG. Assuming that the continuous unloader is in a stopped state, the scraping section 24 is inserted into the hold A as shown in FIG.
Set the bucket 26 on the lower end side of the horizontal support frame 62 to
Set on 5.

In this state, when the bucket elevator 20 is started to start scraping off the dust 63, first, the gain of the speed controller 49B of the target value calculation circuit 35B is set to "0". Together with the electromagnetic brake 30AF ~
The 30BR is set in the operating state, and in this state, FIG.
As shown in FIG. 4, the operation start command is turned on at time t ₁ , and the speed command value N _ref is set to the initial excitation state of about 10% of the target speed as shown in FIG. 4B.

At this time, since the gain of the speed adjuster 49B of the target value calculation circuit 35B is set to "0", the torque current command value output from this speed adjuster 49B becomes zero, and the adder 51B receives it. The input torque value target value i _1TA ^* from the target value calculation circuit 35A is output as it is as the torque current target value i _1TB ^* .

As a result, based on the torque current target value i _1TA ^* calculated by the target value calculation circuit 35A, the current vector calculation circuits 37AF to 37BR drive the inverters 38AF to 3BR.
By calculating and outputting the target current value for 8BR, the induction electric motors 32AF to 32BR are activated synchronously, and stable activation can be performed without causing interference with each other.

Next, at a time t ₂ after a lapse of a predetermined time (for example, 1 second), a torque command set to about 10% of the torque command at the normal time is output as shown in FIG.
Then it outputs a brake release command to the released state this for electromagnetic brake 30AF~30BR as shown in FIG. 4 (d) at time t _3, immediately after the electromagnetic brake release at t ₄ after the passage of the brake release delay time In order to secure the starting torque of the above, the torque compensation i _AT is generated as shown in FIG. 4 (e) and is input to the adder 51A.

Then, the electromagnetic brakes 30AF to 30BR
The induction electric motor 32AF
The drive torque of ~ 32BR is transmitted to the drive shaft 23a via the speed reducers 27A and 27B, whereby the sprockets 23A and 23B start rotating at a low speed, and the dust 65 of the bucket 26 in the scraping unit 24 is removed. scraping is started, the speed estimated value N _{de t} calculated by the velocity estimation circuit 47A and 47B is increased in accordance with the low-speed driving state as shown in FIG. 4 (f) accordingly.

By maintaining this low speed state until time t ₅ , each induction electric motor 32AF is maintained during this period.
The impact due to the inertia torque generated when absorbing the backlash of the drive system of .about.32BR is suppressed.

At time t ₅ , the speed command value N _ref is gradually increased by gradually increasing the speed command value N _ref as shown in FIG. 4 (b), and the speed estimated value N _det is increased as shown in FIG. 4 (f). When the speed command value N _ref reaches the target speed at t _6, the speed estimated value N _{de t} reaches the target speed at a later time t _7.

When the estimated speed value N _det reaches the target speed in this way, the gain of the speed controller 49B of the target value calculation circuit 35B is switched to a normal gain smaller than the gain of the speed controller 49A of the target value calculation circuit 35A. To be

Therefore, the target value calculation circuit 35B calculates an independent torque current command value based on the speed command value N _ref , and the torque current target value i calculated by the target value calculation circuit 35A is calculated. _The torque current target value i _1TB ^* is calculated by adding _1TA ^* as torque compensation, and the induction electric motors 32BF, 32B are thereby calculated.
Since R is drive-controlled independently of the induction electric motors 32AF and 32AR, during normal load balancing, the drive is controlled by the torque current target value i _1TA calculated by the target value calculation circuit 35A. 23A and 23
When the loads on B are different, these are controlled independently to prevent the occurrence of load imbalance.

Moreover, the gain of the speed adjuster 49B of the target value calculating circuit 35B is set to a value smaller than the gain of the speed adjuster 49A of the target value calculating circuit 35A, and the target value calculating circuit 35A side only performs the PI control and the target. Since only the P control is performed on the value calculation circuit 35B side, the sprocket 23
When the load balance between A and 23B is lost and a speed deviation occurs, the correction operation can be performed without interference between the two.

Therefore, when the bucket elevator 20 is actually started by the above-described starting method, as shown in FIG. 5, by shifting to the low speed holding state at time t ₁₂ , the torque command in the motor drive circuits 34A and 34B is changed. The value increases substantially in synchronization, and at time t ₁₃ , the electromagnetic brake 30AF
With releasing the ～30BR, by adding a torque compensation input i _AT, and both increase torque at each motor driving circuits 34A and 34B, Chibutsu 75 Tsu scraping in the bucket 26 in this case is accommodated In this case, it is possible to generate a driving torque that resists the reverse rotation torque due to its own weight, which drives the driving sprockets 23A and 23B to rotate, and the speed estimation circuits 47A and 47B in the respective motor driving circuits 34A and 34B at this time. The speed estimated value N _det based on the current value I ₁ and the voltage value V ₁ becomes an accurate value according to the speed command, stable startup is performed without occurrence of speed abnormality, and the speed command value at time t ₁₄ It was confirmed that the speed estimation value also increased stably according to the increase.

Incidentally, as in the above-described embodiment, the synchronous start is not performed when the bucket elevator 20 is started, and the motor drive circuits 34A and 34B use the sprockets 23A and 23B.
It is conceivable that the induction electric motors 32AF to 32BR for driving the motors are independently controlled and the load balance of the induction electric motors 32AF to 32BR is given by the respective drooping characteristics. In this case, the sprocket wheels 23A and 23B are used. When the load is unbalanced, the four induction electric motors 32AF to 32BR transiently interfere with each other by being rotated or rotated by other machines, and a large inertia torque is generated, resulting in the teeth of the reducer. Drive damage due to damage to the motor and the operation of the torque limiter.

That is, as shown in FIG. 6, when the torque command rises at time t ₂₂ , the electromagnetic brake is released at time t ₂₃ , and the torque compensation input is applied,
Transient interference due to load imbalance occurs and torque fluctuations occur. Therefore, the speed estimation value in each speed estimation circuit shows an abnormal value at time t ₂₄ , and the subsequent time t
It was confirmed that the torque calculation was stopped at ₂₅ , the start of the bucket elevator 20 was stopped, and stable start could not be performed in some cases.

On the other hand, in this embodiment, at the time of startup, the induction electric motors 32AF to 32BR are synchronously started based on the torque current target value i _1TA ^* calculated by the target value calculation circuit 35A on the master side. Therefore, stable startup can be performed without causing transient interference.

Moreover, each induction electric motor 32AF, 32
Since the AR, 32BF, and 32BR are subjected to speed sensorless vector control, slip rings 33AF, 33AR, and 33 are provided between the control circuit and the induction electric motor.
Even when connecting by BF and 33BR, the torque calculation accuracy can be improved and more accurate speed control can be performed.

After that, the excavation depth in the excavation section 24 is controlled, and the bucket elevator 20 is moved while the longitudinal direction of the excavation section 24 and the ship wall are kept substantially vertical to scrape out the scattered matter. .

On the other hand, when scraping off the scattered material in the corner portion of the hold A, the swing boom 15 and other parts are operated to rotate the bucket elevator 20 and rotate the excavation portion 24 along the corner portion. If necessary, the support frames 31 and 32 are rotated to move the excavation portion 24 in the longitudinal direction thereof, thereby scraping out the scattered material in the corner portion.

In the above embodiment, the case where the target value calculation circuits 35A and 35B perform speed estimation calculation based on the deviation between the torque current value I ₂ and the torque current target values i _1TA ^* , i _1TB ^* will be described. However, the invention is not limited to this, and the back electromotive force calculation circuit calculates the induced voltage based on the current detection value I ₁ and the voltage detection value V ₁ , and the speed estimation value is calculated based on this. Alternatively, the voltage model method may be used to calculate the electrical angle φ ₁ relative to the stator winding axis of the next rotation axis, and the secondary chain can be calculated while adaptively estimating the rotation speed. It is also possible to apply velocity sensorless vector control using a velocity adaptive secondary flux observer that estimates the cross flux.

Further, in the above embodiment, the case where the drive system is constituted by the two induction electric motors 32AF, 32AR and 32BF, 32BR for each sprocket 23A and 23B has been described, but the present invention is not limited to this. But 3 for each sprocket 23A and 23B
It is also possible to apply more than one induction electric motor.

Furthermore, in the above embodiment, each induction electric motor 32AF, 32AR and 32BF, 32BR.
However, the present invention is not limited to this, and normal vector control can be performed by detecting the rotation speed of each induction electric motor 32AF, 32AR and 32BF, 32BR with a pulse encoder or the like. However, in this case, if a slip ring is used, the accuracy of torque calculation due to noise decreases, so it is preferable to wirelessly transmit the rotation speed detection value to the control circuit using, for example, a wireless device. A synchronous electric motor can be applied instead of the induction electric motor, and even in this case, each synchronous electric motor may be vector-controlled.

[0060]

As described above, according to the first aspect of the present invention.
According to the bucket elevator drive device of the continuous unloader according to, it becomes possible to drive the pair of drive sprockets for driving the bucket conveyor with an electric motor, and the entire configuration of the bucket elevator is compared with the case where a hydraulic motor is applied. It is possible to simply and miniaturize, and it is possible to obtain an effect that the configuration of the entire continuous unloader can be miniaturized and lightened. In addition, the control device
The torque of the electric motor for one drive sprocket
Drive both electric motors synchronously based on the current target value
This prevents interference between the electric motors, and the
By controlling the drive sprocket on one side independently,
Unbalance can be prevented and stable driving
The effect that dynamic control can be performed is obtained.

According to the bucket elevator drive device of the continuous unloader according to the second aspect of the present invention, the control device controls the electric motor by the speed sensorless vector control,
Even if the slip ring is interposed between the electric motor and the control device, the effect that the torque control can be accurately performed is obtained.

[0062]

[0063] the of et, according to the bucket elevator drive method of a continuous unloader according to claim 3, as with claim 1, the interference of the electric motor is prevented at the time of startup, after starting both drive sprocket By controlling independently,
It is possible to prevent the load imbalance from occurring and to achieve stable drive control.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing an overall configuration of a continuous unloader to which the present invention can be applied.

FIG. 2 is a configuration diagram of a bucket elevator drive unit showing an embodiment of the present invention.

FIG. 3 is a block diagram showing an example of a control device in FIG.

FIG. 4 is a time chart used to explain the operation of the present embodiment.

FIG. 5 is a time chart showing a state of each unit when the start-up is performed according to the present embodiment.

FIG. 6 is a time chart for explaining the occurrence of an abnormality when independently controlling each electric motor from the time of startup.

[Explanation of symbols]

1 quay 7 Continuous unloader 15 boom 20 bucket elevator 23A, 23B drive sprocket 24 Excavator 25A, 25B chain 26 buckets 27A, 27B reducer 32AF-32BR Induction electric motor 33AF-33BR Slip ring 34A, 34B motor drive circuit 35A, 35B Target value calculation circuit 37AF to 37BR Current Vector Operation Circuit 38AF-38BR Voltage type pulse width modulation inverter 49A, 49B Speed controller

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hiroaki Ishikawa 1-chome, Mizushima Kawasaki-dori, Kurashiki City, Okayama Prefecture (no address), Kawasaki Steel Co., Ltd. Mizushima Works (56) Reference JP-A-9-30654 (JP, A) ) JP-A-8-301456 (JP, A) JP-A-8-268566 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B65G 67/60 B65G 23/08 H02P 21 / 00

Claims (3)

(57) [Claims] 1. A plurality of buckets are mounted between a pair of endless chains, and the endless chains are suspended from a boom tip between a pair of drive sprockets disposed at an upper portion and a scraping portion disposed at a lower portion. A continuous type unloader that is stretched through the bucket insertion cylinder and rotates the drive sprocket to scrape the cargo in the cargo into the bucket at the scraping section and convey it to the upper collecting section. In the bucket elevator drive device, a plurality of vector-controlled electric motors in which the pair of drive sprockets are respectively connected via reduction gears and a plurality of electric motors are controlled.
And a control device that controls one of the drive
The target value of the torque current of the electric motor for the rocket is set to the other
Torque compensation of the electric motor for the drive sprocket
Used as force and electric to the other drive sprocket
Set the motor speed adjustment gain to "0" at startup and
A bucket elevator drive device for a continuous unloader, which is configured to be set to a normal value after operation. 2. The bucket elevator drive device for a continuous unloader according to claim 1, wherein the control device controls each electric motor by speed sensorless vector control. 3. A plurality of buckets are provided between a pair of endless chains.
A pair of endless chains attached to the upper part
The boot is installed between the drive sprocket and the scraping section arranged at the bottom.
It is stretched through the bucket insertion cylinder that hangs at the tip of the
By rotating the drive sprocket,
The scraping unit scrapes the cargo in the hold into the bucket and collects the upper part.
Bucket unloader for continuous unloader
In the method of driving a rebate, the pair of drive sprocket
One of the masters is vector-controlled via a speed reducer
Vector control via electric motor connected to the other and reduction gear
Controlled sub-master electric motor is connected,
According to the speed command from the control system on the master electric motor side
Drive control of the master electric motor, and
-Drive control according to the torque current target value from the electric motor side
After starting, the master electric motor and submaster
Bucket elevator drive side of the continuous expression unloader you characterized that you control driven by the dynamic motor independent of the speed control system
Law .