JPS6139255B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to an automatic stage change method when discharging raw materials from a reclaimer.

[Conventional technology]

Raw materials such as coal and ore piled up in a raw material yard are called a raw material pile, and a reclaimer is used to take out this raw material pile. FIG. 1 shows an example of the structure of such a reclaimer, in which a boom 2 whose angle is adjusted by a crane mechanism or the like is swingably attached to a body 1 running on rails. A rotating bucket wheel 3 equipped with a plurality of buckets is provided at the tip of the boom 2, and the raw material 4 is discharged by this, and the discharged raw material is dropped onto a conveyor installed in the boom 2.
Carry it out to the 1st side of the aircraft. The raw material is discharged by rotating the boom 2 of the reclaimer and by inching the machine body 1.

FIG. 2 is a plan view for explaining the conventional raw material pile discharging method using a reclaimer.

The half-arch line A in FIG. 2 shows the turning trajectory of the bucket wheel 3, and the straight line B between the half-arc lines A shows the running trajectory of the machine body 1. The height of the boom 2 is kept constant until a predetermined distance traveled on the same bench (layer) is completed. However, depending on the height of the boom 2, repeating a certain amount of movement may cause the boom 2 to
The lower part of the bench comes into contact with the end of the next stage bench, and at this time, the travel distance L at the elevation height reaches the limit. Therefore, in such a case, as shown in FIG. 3, which is a cross-sectional view of FIG. Lower the elevation to the next payout bench height (C position) and payout start position (d
position) to change the bench level.
Subsequently, the payout is performed by repeating turning and running in the same manner as described above.

Reclaimers require a high degree of skill to operate, so automation has been delayed. However, in recent years, the fourth
An automatic driving device like the one shown in the figure is in practical use.

FIG. 4 is a block diagram showing a conventional reclaimer control device.

The control device includes a traveling position detector 11 that detects the traveling position of the aircraft 1, a traveling inching distance setting device 12 that sets the traveling inching distance, a turning position detector 13 that determines the turning angle of the boom, Elevation position detector 14 to know the position, rotation limit setting device 1 to set the maximum rotation range (left, right direction) of the boom
5. An automatic dispensing distance setting device 16 for setting the dispensing distance in automatic mode, a bucket wheel drive motor load current detector 17 for detecting the degree of contact between the raw material pile and the bucket, each of the above setting devices and each The output signal of the detector is taken in, and the electric motor M1 for aircraft running
It is composed of a logic control device 18 that controls each of a boom rotation electric motor M2, an elevation electric motor M3, and a bucket wheel electric motor M4. With such a configuration, the positions and conditions of the body 1 and the boom 2 are known, and each electric motor is controlled to perform the required amount of operation and movement, thereby performing automatic operation.

[Problems to be Solved by the Invention] However, the conventional device configured as described above has the disadvantage that only one stage of benches can be automatically dispensed, and the bench stage changing operation must be performed manually. This is due to the following reason.

For example, as shown in the example of the second bench in Figure 3, the travel distance in single-stage unloading operation is determined by the angle of repose α of the raw material from the final end B of the bench one stage above (the unloading angle created by the bucket at the bench height). distance l ₁
(The position a of the bucket center at this time is l ₁ ' from B) and a point C that is a distance l ₂ further to allow for safety (The position e of the bucket center at this time is l ₂ ' from B) It is necessary to set it so that it stops at the final end position.

If you continue dispensing without performing this stop operation,
The upper bench may collapse, causing the bucket wheel 3 to stop or causing damage to the machine.

As described above, complete automation has not been possible in the past, and an automatic stage changing method using a reclaimer capable of automatic payout has been desired.

SUMMARY OF THE INVENTION An object of the present invention is to eliminate the above-mentioned conventional drawbacks, and to provide a method for automatically changing a raw material pile using a reclaimer capable of automatically changing stages.

[Means for solving problems]

The present invention adds a distance detector such as a repose angle setting device and an ultrasonic distance detector, and performs distance detection near the center in the pile width direction, thereby accurately detecting the start point of dispensing the next stage bench. . As a result, automatic payout and automatic stage change can be performed on all benches by performing a tracing operation of only one turn on any bench.

FIG. 5 is a block diagram for explaining the present invention.

That is, the apparatus used in the present invention is the apparatus shown in FIG.
The structure includes an ultrasonic switch 18 that detects the mountain end position in the longitudinal direction of the pile and uses this as a next-stage payout transition command, and a rest setting device 19 that is used to set the excavation limit in the longitudinal direction.
The control center is the logic control device 20, which controls each drive motor based on calculation results based on each detection signal and each setting value.

[Effect]

Hereinafter, the operation of the present invention will be explained based on the drawings.

FIG. 6 is an explanatory diagram showing the relationship between a raw material pile and a bucket wheel, and is a view seen from the same direction as FIG. 3. FIG. 7 is an explanatory diagram of bench allocation in the raw material pile.

Before starting the automatic operation of the reclaimer, the dispensing completion position (center position B in the pile width direction) on the same bench is predetermined using the automatic dispensing setter 16, and then actual operation begins. The first turn is performed by an operator from the reclaimer operator's cab or remote control room, and the bucket wheel lands on the bench where it is to be paid out first. For example, if layers a, b, and c in FIG. 7 are designated as the topmost bench and are to be dispensed, the layers are manually dispensed for one turn. At this time, the position of the mountain ends at both ends in the pile width direction, that is, where the boom is located between c and d, is determined by the rotation angle θ using the rotation position detector 13.
(see FIG. 2) and stores the turning angle θ which corresponds to the pile width dimension in the memory of the logic control device 20. At this time, each of ef, gh, and ij of the lower layer is also calculated as a turning angle θ based on the repose angle of the raw material that is known in advance, and is stored in the memory.

At this stage, automatic operation is started, and the automatic payout pile length is determined by the travel inching distance setting device 12. Here, when an automatic operation command is issued, the vehicle travels from point A to point B shown in FIG. 6 with the capacity shown in FIG. 2 while repeating jerking and turning.
Raw materials for abcd layers are discharged. After reaching the payout completion position B, keep the bucket wheel rotating and fix the boom at a rotation angle of around 45 degrees with respect to the running rail of the reclaimer (in other words, around the center of the width of the pile), and move the reclaimer to the first position. Move the pile backward in the direction of the payout start position A (Fig. 2) (The reason why this operation is necessary is that if you move backwards at the left and right ends of the pile, it will be difficult to measure the length using the ultrasonic switch 18.) The mountains that appear are in Figures 6 and 7.
If the pile is ideally stacked as shown in the figure, then by retracting the distance L ₁ from position A to position B and further retracting the distance L ₂ corresponding to the angle of repose of the raw material, the bench stage can be Replacement is theoretically possible. However, in reality, it is most common for the pile to collapse or for the pile to be continued to be unloaded after it had been unloaded halfway in the previous process, so it does not work as expected in theory.

Therefore, in the present invention, by actually measuring the distance between the bucket wheel and the surface of the next stage bench directly below, benches can be replaced accurately.
That is, by attaching the ultrasonic switch 18 to the tip of the boom and measuring the time it takes for the transmitted ultrasonic signal to reflect from the bench surface and return to the ultrasonic switch 18, the distance between the ultrasonic switch 18 and the bench surface can be determined. can be known. As shown in FIG. 8, the positional relationship between the ultrasonic switch 18 and the dispensing bench is such that the plane of the bench and the ultrasonic switch 18 are substantially perpendicular, and are in a positional relationship where they are most likely to receive reflected ultrasonic waves.

In FIG. 3, in order to move to the next dispensing bench, the reclaimer main body is moved back toward the dispensing start position A while maintaining the same posture. In the process, when the ultrasonic signal passes end D of the pile, it takes a long time for the ultrasonic signal to return, and an output voltage proportional to that time is obtained, so when the voltage exceeds the set voltage, The pile end D in the longitudinal direction is detected.
This detection point is determined to be the bench change position,
Furthermore, the starting position d of the next stage bench is calculated based on the bucket wheel position when the boom is lowered from this position to the next second stage bench, the angle of repose of the brand of raw material, and the safety factor, etc. After traveling backwards (in direction A) to the calculation position, it is stopped at a position corresponding to position b of the first stage bench. At this time, c in Figure 3
Empirically, the safe distance between and d is
It is about 100 to 300mm.

Next, in order to move the bucket wheel to the start point of dispensing the second stage bench, the boom is rotated to the left or right to a predetermined peak position, and after stopping there, the boom is raised and lowered in advance. Lower the height of one predetermined bench level (usually 1.5 to 3 mm), perform a running inch, and start dispensing on the next bench (second level). Thereafter, the dispensing operation is continued to the initially set dispensing completion position C (lowermost bench) while repeatedly changing the turning speed and running inching. However, to prevent collapse, the dispensing completion position on this dispensing bench is the previous bench (1
It is located a distance ahead of the dispensing completion position of the bench (on the upper stage) by a distance that takes into account the angle of repose determined by the brand, and is actually shortened by a further distance that takes into account the safety factor.

In this way, by only performing the first tracing operation and setting the dispensing completion position, fully automatic operation is possible until the dispensing of the lowest bench of the ore pile is completed. Furthermore, automatic operation is also possible in which the payout is transferred to the top bench again after the payout from the bottom bench is completed. In this case, at the time of paying out ii to j shown in FIG. You will be driving. FIG. 9 shows a flowchart of the above series of processes.

〔Effect of the invention〕

As is clear from the above, according to the present invention, the automatic stage change operation can be performed reliably and accurately, so remote automatic operation can be performed smoothly, and raw material piles can be efficiently delivered, resulting in labor savings.
It has the advantage that no operator skill is required.

[Brief explanation of the drawing]

Figure 1 is a side view showing an example of a reclaimer, Figure 2 is a side view showing an example of a reclaimer.
Figure 3 is an explanatory diagram showing a raw material pallet discharging method using a reclaimer, Figure 3 is an explanatory diagram showing changing the bench of bucket wheels, Figure 4 is a block diagram showing a conventional reclaimer control device, and Figure 5 is an implementation of the present invention. A block diagram showing an example, FIGS. 6 and 7 are explanatory diagrams showing the relationship between raw material piles and bucket wheels, FIG. 8 is an explanatory diagram showing bench assignment in raw material piles,
FIG. 9 is a flowchart showing the processing of the embodiment of the present invention. DESCRIPTION OF SYMBOLS 1... Airframe, 2... Boom, 3... Bucket wheel, 11... Traveling position detector, 12... Traveling inching distance setting device, 13... Turning position detector, 14
...Elevation position detector, 15...Turn limit setting device,
16...Automatic dispensing distance setting device, 17...Bucket wheel drive motor load current detector, 18...
Ultrasonic switch, 19... Angle of repose setting device, M ₁ ,
M ₂ , M ₃ , M ₄ ... electric motor.

Claims (1)

[Claims] 1. Measure the distance between the bucket wheel of the reclaimer and the surface of the raw material when the reclaimer boom is turned, raised and moved, and the raw material pile is sequentially discharged from the upper bench to the lower bench. In addition, in the changeover method at the time of raw material pile unloading in which the bucket wheel is moved to the next bench by taking into account the angle of repose of the raw material, the unloading completion position of the first bench performing the unloading is determined before starting automatic operation. After making the settings in advance, perform a manual tracing operation for at least one turn to perform unloading, store the pile width dimension at that time as the turning angle, and further turn the benches at each stage in the pile height direction from this value. In addition to determining the angle, the completion position of the pile in the longitudinal direction for each stage bench is set in advance at a value that takes into account the angle of repose of the raw material with a safety factor to prevent the raw material pile from collapsing. After completing dispensing one bench by moving, the bucket wheel is moved back near the center of the pile width direction, and after detecting the dispensing start point of the next bench using the signal from the vertical distance detector installed on the wheel, the bucket is removed. After turning the toe wheel to the end of the pile mountain and performing the dispensing to the preset dispensing completion position by elevating, turning, and running inching, repeat the operation from detecting the dispensing start point of the next stage bench to stack the bucket. An automatic stage change method when a raw material pile is discharged by a reclaimer, characterized in that the wheel is sequentially transferred to the next stage bench.