JP4450494B2 - Control method and apparatus for continuous unloader - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a continuous unloader that unloads bulk loads such as coal, and more particularly to a control method and apparatus for a continuous unloader that can avoid an overload state of a drive device.
[0002]
[Prior art]
As shown in FIG. 6, a continuous unloader that unloads bulk cargo such as coal from a warehouse in a ship to the land is provided with a balanced boom 2 that can be horizontally swiveled and tilted and that is projected on the ship S, and a balanced boom 2. The elevator part 3 stands up with its upper part supported at the tip of the elevator, and can rotate around its standing axis, a scraping part (not shown) provided at the lower part of the elevator part 3, and the lower part of the balance boom 2 A plurality of buckets (not shown) are lifted from the upper part of the scraping part through the distal end part, the bottom part, and the base end part, and then the elevator part 3. It circulates in the path | route which descend | falls and returns to the upper part of a scraping part.
[0003]
This continuous unloader scrapes off a load by cutting a load pile with a bucket that rotates around the scraping portion. At the same time, when the elevator unit 3 is moved by running on a traveling tower that supports the balanced boom 2 on the ground, or by horizontally turning and tilting the balanced boom 2 or rotating the elevator unit 3, the load is continuously applied. The mountain will be cut down. Further, the bucket that holds the scraped load ascends the elevator unit 3, and the bucket inclines at a position on the conveyor 4 that passes through the lower part of the balance boom 2 toward the land and discharges the load. In this manner, scraping and discharging are repeated while the plurality of buckets circulate, so that continuous unloading is realized.
[0004]
[Problems to be solved by the invention]
By the way, the scraping portion receives resistance from the load pile. FIG. 6 shows the direction of motion of the elevator unit 3 and the direction of resistance. This resistance force is received by the drive device for the motion system of the elevator unit 3 and the drive device for the bucket. If this resistance force is too large, an excessive driving torque is applied to these driving devices, and the continuous unloader cannot be operated.
[0005]
If the continuous unloader becomes inoperable due to overload, continuous unloading is interrupted and time is wasted, so overload conditions must be avoided as much as possible. However, because there are several factors that cause the drive unit to become overloaded, even if the continuous unloader stops, the driver cannot determine whether or not the resistance force from the load pile is the factor, which may be difficult to deal with. is there. Further, the driver cannot know in advance whether or not the resistance force received from the load pile is large until the continuous unloader stops.
[0006]
SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a continuous unloader control method and apparatus capable of solving the above-described problems and avoiding an overload state of a drive device.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, the method of the present invention circulates a bucket of a scraping unit provided at the lower part of the elevator unit while moving the elevator unit supported by the balance boom and standing up. In a continuous unloader that scrapes the load from the pile, the magnitude of the resistance force that the scraping portion receives from the load pile is detected from the distortion of the elevator portion, and the magnitude of the resistance force continues for a predetermined time. When the predetermined value is greater than or equal to a predetermined value, a warning is given to prompt manual avoidance, and after the alarm, when the magnitude of the resistance force continues for a predetermined time and is equal to or greater than the predetermined value, the movement of the elevator unit and the scraping unit The bucket circulation is automatically stopped .
[0008]
When the magnitude of the resistance force continues for a predetermined time and is less than the predetermined value and greater than or equal to a second predetermined value smaller than the predetermined value, the movement speed of the elevator section and the bucket circulation speed of the scraping section are decelerated, After the deceleration, if the magnitude of the resistance force continues for a predetermined time and falls below a third predetermined value smaller than the second predetermined value, the movement speed of the elevator section and the bucket circulation speed of the scraping section are set. You may return to the original speed .
[0009]
In addition, the apparatus of the present invention circulates the bucket of the scraping section provided at the lower part of the elevator part while moving the elevator part that is supported by the balance boom, and lifts the load from the load pile. In a continuous unloader for scraping, a resistance detecting means for detecting the magnitude of the resistance force that the scraping part receives from a load pile from the distortion of the elevator part, and the magnitude of the resistance force continues for a predetermined time. Alarm means for issuing an alarm to urge manual avoidance when the value is equal to or greater than a predetermined value; and after the alarm, when the magnitude of the resistance force continues for a predetermined time and is equal to or greater than the predetermined value, the movement of the elevator unit and the scratch And automatic stop means for automatically stopping the bucket circulation of the take section.
[0010]
When the magnitude of the resistance force continues for a predetermined time and is less than the predetermined value and greater than or equal to a second predetermined value smaller than the predetermined value, the movement speed of the elevator section and the bucket circulation speed of the scraping section are decelerated, After the deceleration, if the magnitude of the resistance force continues for a predetermined time and falls below a third predetermined value smaller than the second predetermined value, the movement speed of the elevator section and the bucket circulation speed of the scraping section are set. Speed control means for returning to the original speed may be provided.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
[0012]
As shown in FIG. 1, a continuous unloader according to the present invention includes a traveling tower 1 that travels along a quay G, and a horizontally swingable and tiltable balanced boom 2 that projects from the traveling tower 1 to the sea. The upper part of the balance boom 2 is supported upright, and an elevator part 3 that can rotate around its standing shaft, a scraping part 4 provided at the lower part of the elevator part 3, and a lower part of the balance boom 2 It has the conveyor 5 which goes to the land from the street elevator part 3. FIG. A plurality of buckets 6 are provided in a chain on the elevator unit 3 and the scraping unit 4. Although not shown in the figure, there are provided a driving device for a moving system that moves the traveling tower 1, horizontally swings and tilts the balance boom 2, and moves the elevator section 3 by rotating the elevator section 3, and a driving apparatus that circulates the bucket 6. ing.
[0013]
As shown in FIG. 2, the resistance force detecting means for detecting the magnitude of the resistance force that the scraping portion 4 receives from the load pile is realized by a strain gauge 21 that detects the strain of the elevator portion 3. That is, the resistance detection means attaches strain gauges 21X, 21X ′, 21Y, and 21Y ′ to the four side surfaces of the casing of the elevator section 3 having a substantially rectangular horizontal section, respectively, and on the side surfaces facing the tip of the scraping section. The bending strain in the scraping direction is detected by the strain gauge 21X attached and the strain gauge 21X ′ attached to the opposite side surface, and the right angle of scraping is obtained by the two strain gauges 21Y and 21Y ′ attached to the other two side surfaces. It detects the bending strain in the direction. 22 is a bridge box for taking out the output of the strain gauge in each direction, and 23 is a strain amplifier for outputting the value of strain in each direction. The output of the distortion amplifier is connected to the control panel of the continuous unloader. The four strain gauges 21 are attached at the same height position. As shown in FIG. 1, these four strain gauges 21 are attached at positions close to the balanced boom 2.
[0014]
2, the main excavation resistance value is converted from the value of the bending strain in the scraping direction, and the lateral excavation resistance value is converted from the value of the bending strain in the direction perpendicular to the scraping direction. This conversion can be performed by measuring the relationship between the strain value and the resistance value in advance. For example, as shown in FIG. 3, the weight 31 is pulled by the scraping unit 4 on the ground, and the load applied to the wire rope 32 is measured to obtain the resistance value. In addition to examining the relationship between the measured resistance value and the value of the bending strain, the attachment position of the strain gauge at which this relationship becomes prominent is examined. The pulling direction of the weight 31 with respect to the scraping unit 4 is not limited to the front.
[0015]
The control method and apparatus for the continuous unloader according to the present invention converts the value of the bending strain in the two directions generated in the elevator unit 3 into a resistance value received by the scraping unit by the resistance force detection unit, and the load state determination unit from the resistance value. Is used to determine the load state. There are the following two forms of the load state determination operation and the control operation based on the determined load state.
[0016]
In the first form, an alarm or automatic stop is performed according to the degree of the load state. As shown in FIG. 4, the control operation related to the side excavation resistance value is performed in parallel with the control operation related to the main excavation resistance value.
[0017]
First, the main excavation resistance value is measured to check whether the main excavation resistance value exceeds a predetermined value (16 ton). If the main excavation resistance value does not exceed the predetermined value, the procedure is terminated. If the main excavation resistance value exceeds the predetermined value, whether the predetermined time (5 seconds) has been exceeded beyond the predetermined value or predetermined Check if the time (2 seconds) has continued. If the duration does not exceed 2 seconds, the procedure is terminated. However, if the duration is in the range of 2 to 5 seconds, it is determined that there is a minor failure, and a warning is given to the driver by displaying a message on the image display. At this time, the driver shall perform an overload avoidance operation by manual operation. For example, the motion system of the elevator unit 3 is stopped manually. When the predetermined time (5 seconds) continues with the main excavation resistance value exceeding the predetermined value, it is determined that there is a serious failure, and the motion system of the elevator unit 3 and the bucket 6 are automatically stopped.
[0018]
In the same way for the side excavation resistance value, if the side excavation resistance value exceeds a predetermined value (8 ton) and the value continues for a predetermined time (2 seconds), it is determined that there is a minor failure and a warning is given to the driver. I do. At this time, the driver shall perform an overload avoidance operation by manual operation. For example, the motion system of the elevator unit 3 is stopped manually. When the main excavation resistance value exceeds a predetermined value and continues for a predetermined time (5 seconds), it is determined that there is a serious failure, and the motion system of the elevator unit 3 and the bucket 6 are automatically stopped.
[0019]
As described above, in a load state in which the resistance value exceeds a predetermined value and continues for a predetermined time, the driver is notified by an alarm that it is close to an overload. By doing so, it is possible to perform an operation that avoids overload. In addition, if the driver's manual operation is not effective and the resistance value does not decrease and further continues for a predetermined time, all the motion systems and buckets are forcibly stopped by automatic operation, so that the driver may stop immediately before becoming overloaded. it can.
[0020]
In the second embodiment, the speed control is performed by feeding back the improvement result of the load state. As shown in FIG. 5, the control operation related to the side excavation resistance value is performed in parallel with the control operation related to the main excavation resistance value.
[0021]
First, a main excavation resistance value is measured, and it is checked whether the main excavation resistance value is greater than or equal to a predetermined value (14 ton) and less than a predetermined value (16 ton). If the main excavation resistance value is not 14 ton or more, the procedure is terminated. If the main excavation resistance value is 16 ton or more, the procedure of the first mode is entered. If the main excavation resistance value is 14 ton or more and less than 16 ton, it is checked whether or not the duration exceeds a predetermined time (2 seconds). If the duration does not exceed 2 seconds, the procedure is terminated. If the duration exceeds 2 seconds, deceleration control is performed. In the deceleration control, for example, the motion speed of the elevator unit is reduced to 50% so far, and the circulation speed of the bucket is reduced to 50% so far. Thereafter, if the main excavation resistance value does not become a predetermined value (13 ton) or less, a further 50% deceleration is performed. When the main excavation resistance value becomes equal to or less than a predetermined value (13 ton) and the value continues for a predetermined time (1 second), the motion system and the bucket are returned to the original speed of 100%.
[0022]
In the same way for the side excavation resistance value, when the side excavation resistance value is equal to or greater than the predetermined value (7 ton) and less than the predetermined value (8 ton) and the predetermined time (2 seconds) continues, deceleration control is performed. For example, the motion speed of the elevator section is reduced to 50% so far, and the circulation speed of the bucket is reduced to 50% so far. Thereafter, if the side excavation resistance value does not become a predetermined value (6 ton) or less, a further 50% deceleration is performed. When the main excavation resistance value is equal to or less than the predetermined value (6 ton) and the predetermined time (1 second) continues, the motion system and the bucket are returned to the original speed of 100%.
[0023]
As described above, in a load state in which the resistance value exceeds a predetermined value and continues for a predetermined time, either or both of the movement speed of the elevator unit 3 and / or the circulation speed of the bucket 6 are decelerated, so that overload is automatically avoided. In addition, if the resistance value decreases, it is possible to automatically return to the original speed.
[0024]
【The invention's effect】
The present invention exhibits the following excellent effects.
[0025]
(1) Since it is possible to detect an overload in advance and perform an operation to avoid the overload, the unloading is not interrupted, and the unloading time can be shortened and the berthing fee can be suppressed.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a continuous unloader showing an embodiment of the present invention.
FIG. 2 is a configuration diagram of resistance force detection means used in the present invention. (A) is a circuit block diagram, (b) is a horizontal sectional view, and (c) is a side view.
FIG. 3 is a configuration diagram of a preliminary test for resistance force detection according to the present invention.
FIG. 4 is a processing procedure diagram showing a first form of determination / control operation according to the present invention;
FIG. 5 is a processing procedure diagram showing a second mode of determination / control operation according to the present invention;
FIG. 6 is a cross-sectional view showing an outline of unloading by a continuous unloader.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Traveling tower 2 Balance boom 3 Elevator part 4 Scraping part 5 Conveyor 6 Bucket 21 Strain gauge

Claims (4)

In a continuous unloader that scrapes the load from the load pile by circulating the bucket of the scraping part provided at the lower part of this elevator part while moving the elevator part that is supported by the upper part by the balance boom , Detecting the magnitude of the resistance force that the scraping part receives from the load pile from the distortion of the elevator part, and issuing an alarm for prompting manual avoidance when the magnitude of the resistance force continues for a predetermined time and exceeds a predetermined value And continuously stop the movement of the elevator section and the bucket circulation of the scraping section when the magnitude of the resistance force continues for a predetermined time after the warning and is equal to or greater than the predetermined value. Unloader control method. When the magnitude of the resistance force continues for a predetermined time and is less than the predetermined value and greater than or equal to a second predetermined value smaller than the predetermined value, the movement speed of the elevator section and the bucket circulation speed of the scraping section are decelerated, After the deceleration, if the magnitude of the resistance force continues for a predetermined time and falls below a third predetermined value smaller than the second predetermined value, the movement speed of the elevator section and the bucket circulation speed of the scraping section are set. 2. The continuous unloader control method according to claim 1 , wherein the speed is returned to the original speed . In a continuous unloader that scrapes the load from the load pile by circulating the bucket of the scraping part provided at the lower part of this elevator part while moving the elevator part that is supported by the upper part by the balance boom , A resistance detecting means for detecting the magnitude of the resistance force that the scraping part receives from the load pile from the distortion of the elevator part, and when the magnitude of the resistance force is a predetermined value or more continuously for a predetermined time An alarm means for issuing an alarm for promoting avoidance, and after the alarm, when the magnitude of the resistance force continues for a predetermined time and is equal to or greater than the predetermined value, the movement of the elevator section and the bucket circulation of the scraping section are automatically stopped. control device of a continuous unloader, characterized in that it comprises an automatic stop means for. When the magnitude of the resistance force continues for a predetermined time and is less than the predetermined value and greater than or equal to a second predetermined value smaller than the predetermined value, the movement speed of the elevator section and the bucket circulation speed of the scraping section are decelerated, After the deceleration, if the magnitude of the resistance force continues for a predetermined time and falls below a third predetermined value smaller than the second predetermined value, the movement speed of the elevator section and the bucket circulation speed of the scraping section are set. 4. The continuous unloader control device according to claim 3, further comprising speed control means for returning to the original speed.

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