JPH07115757B2 - Reclaimer controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention applies loose materials such as coal, iron ore, and wood chips stacked in a raw material yard to the tip of a boom that moves horizontally and vertically. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reclaimer control device for repeatedly excavating an attached bucket wheel in a constant movement pattern, and more particularly to a reclaimer control device for detecting a landing point of a bucket wheel.

[Conventional technology]

This type of reclaimer is the coal loaded in the raw material yard,
When paying out raw materials such as iron ore, the raw materials are paid out by a cutting method called module cutting or bench cutting. In this cutting method, the raw material pile is divided into benches in a plurality of stages in the height direction, and cutting is sequentially performed from the uppermost stage downward, and the payout work is performed. Therefore, when the payout of the bench of a certain stage is completed, the reclaimer performs a step change operation to pay out the bench of the lower stage of that stage, and the reclaimer's backing wheel is landed at the payout start point of the lower bench. There is a need.

Conventionally, automatic change operation of a reclaimer is disclosed in, for example, Japanese Patent Laid-Open No. 57-4.
As disclosed in Japanese Patent No. 825, this is done by actually measuring the distance between the bucket wheel and the upper surface of the lower bench directly below, that is, the vertical (vertical) distance. In the case of this method, the stage changing operation is started at the time when the bucket wheel finishes the delivery of the bench of the stage currently being delivered and the load is exhausted.

[Problems to be solved by the invention]

By the way, generally, the outer shape of the raw material pile is a cone or a trapezoid. Therefore, at the time when the reclaimer is in the load-out state, there is no pile beneath the bucket wheel, or there is a lower bench.
Therefore, in order to accurately measure the vertical distance, as described in JP-A-57-4825, the boom is rotated near the center of the raw material pile or the distance measuring device is used. It is necessary to install two units on both sides of the boom at a distance. Therefore, the former method requires a long time for the automatic changeover operation, and the latter method requires two distance measuring devices, which is expensive, and the structure is weak because it is away from the boom. There was a drawback that the distance measuring device of the platform had to be installed in consideration of preventing contact with the pile of raw materials during the boom turning.

Therefore, an object of the present invention is to provide a reclaimer control device that can detect the payout start landing point of a lower bench of a bucket wheel in a short time. Another object of the present invention is to provide a reclaimer control device in which a distance measuring device for detecting a payout start landing point of a lower bench of a bucket wheel is inexpensive and structurally strong.

[Means for solving problems]

The reclaimer control device according to the present invention includes a traveling means that travels in parallel with the raw material pile, a boom that is attached to the traveling means and that performs a swinging and undulating operation, and a raw material that is provided while rotating at the tip of the boom and that delivers the raw material. In a reclaimer control device that has a bucket wheel and divides the raw material pile into a plurality of benches in the height direction and sequentially delivers the raw material downward from the uppermost bench, at least,
Distance measuring means provided at a predetermined position of the reclaimer for measuring the distance to the raw material pile, undulating / turning driving means for undulating and turning the distance measuring means, and traveling drive means for driving the traveling means to travel. , And an arithmetic drive control means for responding to the measured distance from the distance measuring means and controlling the drive of the undulating / turning drive means and the traveling drive means. The arithmetic drive control means completes the payout of a bench at a certain stage. Later, by driving the undulation / swing drive means, the distance measuring means is directed to a position where the distance to the side wall surface of the lower stage of the bench where the payout is completed can be measured, and the traveling drive means retracts the reclaimer to measure the distance. Based on the distance from the side wall surface of the lower bench, the bucket wheel detects the landing point where the lower bench starts to be paid out. To.

〔Example〕

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

Referring to FIGS. 1 to 3, a swivel reclaimer 1 according to an embodiment of the present invention has a traveling platform 4 that travels on traveling rails 3 laid in parallel along a raw material pile 2 and this traveling platform. Four
A boom 5 that is attached to
It has a bucket wheel 6 provided at the tip of the boom 5 for discharging a raw material while rotating it with a drive motor (not shown). The bucket wheel 6 scoops loose material in the raw material pile 2 and It is dropped on a conveyor (not shown) and is conveyed to the traveling machine stand 4 for payout. Here, the raw material pile 2 is divided into a plurality of (4 in this embodiment) benches in the height direction, and the raw material is sequentially discharged downward from the uppermost bench.

Referring also to FIG. 4, below the boom 5, for example, a laser beam pulse 7 is used to measure the distance to the raw material pile 2 and a undulation / swing for undulating and slewing the distance measuring device 8. A drive device 9 is provided. Ups and downs
The swing drive device 9 includes a swing drive unit that swings in parallel with the mounting surface of the boom 5 as indicated by an arrow A in FIG.
And an undulation drive section that undulates in a direction orthogonal to the mounting surface of the.

Furthermore, referring also to FIG. 5, in this embodiment, the traveling platform 4 is
Drive device 10 that drives the vehicle, a travel position detector 11 that detects the travel position of the travel platform 4, a swivel drive device 12 that swivels the boom 5, and a swivel angle detection that detects the swivel angle of the boom 5. A device 13, a hoisting drive device 14 for hoisting the boom 5, and a hoisting angle detector 15 for detecting the hoisting angle of the boom 5 are provided. The measured distance measured by the distance measuring device 8 and the detection values of the detectors 11, 13 and 15 are input to the reclaimer drive control computer 16 and analyzed there. Further, the reclaimer drive control computer 16 controls the drive of each of the drive devices 9, 10, 12 and 14.

Next, with reference to the drawings, an operation of detecting a landing point according to the present embodiment will be described.

When all the payouts of the benches of a certain stage (the uppermost stage in this embodiment) of the reclaimer 1 are completed, the reclaimer 1 performs the stage changing operation as follows in order to pay out the next lower bench.

FIGS. 1 to 3 show the state at the start of the stage changing operation after the reclaimer 1 detects that the bucket wheel 6 is out of load after the uppermost bench is completely discharged. When the reclaimer drive control computer 16 judges that this step change operation is started, the laser beam pulse 7 of the distance measuring device 8 is irradiated onto the side wall surface of the lower bench (two steps in this embodiment).
The undulation / swing drive device 9 is drive-controlled. Thereby, the distance measuring device 8 always measures the distance to the side wall surface of the lower bench.

Next, the reclaimer drive control computer 16 drives and controls the traveling drive device 10 so that the traveling platform 4 moves backward, that is, travels in the direction of arrow C in FIG. While the traveling platform 4 is traveling backward, the distance measured by the distance measuring device 8 shows a constant value up to the position of the point D in FIG. 1, that is, the side wall end of the two-stage bench, but beyond this point, it becomes long. Become. Therefore, the reclaimer drive control computer 16 determines the landing point (point D in FIG. 1) at which the payout of the lower bench is started by monitoring the change in the measured distance.

From the detected position of the landing point, the reclaimer drive control computer 16 calculates the traveling position of the traveling platform 4 on which the bucket wheel 6 can land on this landing point, and the traveling position detected by the traveling position detector 11 is calculated. The drive of the traveling drive device 10 is stopped when the traveling position matches the determined traveling position. Finally, the reclaimer drive control computer 16 drives and controls the swing and undulation drive devices 12 and 14 so that the bucket wheel 6 lands at the landing point, and starts the payout work of the two benches.

In the above embodiment, the position of the distance measuring device 8 is controlled by using only the undulating / swinging drive device 9 in order to irradiate the laser beam pulse 7 to the side wall surface of the lower bench at the start of the stage changing operation. However, depending on the mounting position of the distance measuring device 8 to the reclaimer, the hoisting drive device 14 may also have to control the hoisting position of the boom 6.

〔The invention's effect〕

As is clear from the above description, according to the present invention, in the automatic step change operation of the reclaimer, since it is performed by actually measuring the distance to the side wall surface of the bench where the next payout is to be performed, the bucket wheel can be used in a short distance. It is possible to detect the payout start landing point. Furthermore, there is an advantage that only one distance measuring device for detecting the payout start point is required, and the structure can be made strong.

[Brief description of drawings]

FIG. 1 is a plan view of an embodiment of the present invention, and FIG. 2 is a plan view of FIG.
2 is a front view seen from II-II ', FIG. 3 is a side view seen from III-III' in FIG. 1, and FIG. 4 is a front view showing a detailed example of the hoisting / swinging drive device in FIG. FIG. 5 is a block diagram showing the connection relationship between the reclaimer drive control computer and each detector, the measuring instrument and the drive unit in the embodiment. 1 ... Reclaimer, 2 ... Raw material pile, 3 ... Traveling rail, 4 ... Traveling platform, 5 ... Boom, 6 ... Bucket wheel, 7 ... Laser beam pulse, 8 ... Distance measuring device, 9 ...... Rolling / swivel drive device, 10 …… Travel drive device,
11 …… Running position detector, 12 …… Turning drive device, 13 …… Turning angle detector, 14 …… Travel drive device, 15 …… Travel angle detector, 16 …… Reclaimer drive control computer.

Claims (1)

[Claims] 1. A traveling means for traveling in parallel with a pile of raw materials, a boom attached to the traveling means for turning and undulating, and a bucket wheel provided at the tip of the boom for delivering raw material while rotating. In the reclaimer control device that divides the raw material pile into a plurality of benches in the height direction and sequentially delivers the raw material downward from the uppermost bench, at least, at a predetermined position of the reclaimer. Distance measuring means provided to measure the distance to the raw material pile, undulation / swing driving means for driving the distance measuring means up and down and swinging, traveling drive means for driving the traveling means, and distance measuring means And a calculation drive control means for controlling the drive of the undulating / turning drive means and the travel drive means,
After the payout of the bench of a certain stage is completed, the arithmetic drive control means sets the distance measuring means to a position where the distance between the distance measuring means and the side wall surface of the lower stage of the bench where the payout is completed can be measured. The traveling drive means to retreat the reclaimer, and the bucket wheel detects the landing point at which the lower bench is started to be paid out based on the distance to the side wall surface of the lower bench measured by the distance measuring means. A reclaimer control device characterized in that