JPH0818700B2 - How to operate the reclaimer - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for operating a reclaimer, and more particularly to a method for operating a reclaimer which is most suitable for automatic operation without a driver.

[0002]

2. Description of the Related Art A reclaimer is used to discharge a required amount of a raw material from a pile in which raw materials such as coal and ore are stacked. In this reclaimer, as shown in FIG. A boom 3 is rotatably provided on a reclaimer body 1 provided so as to be moved along a pile 16 attached thereto by a rail 15 laid on the side thereof.
A bucket wheel 2 is provided at the tip of the. A hydraulic motor 10 is provided in the vicinity of the bucket wheel 2, and a wheel hydraulic pump 6 for generating a driving hydraulic pressure for the hydraulic motor 10 is provided at the rear end side of the boom 3, and the wheel hydraulic pump 6 is provided. The hydraulic pump 6 is driven by the hydraulic pump motor 11.

Normally, the reclaimer is provided with a driver's cab 5 and an operator operates it while monitoring it from the work area. However, the distance between the driver's cab 5 and the bucket wheel 2 is several tens of meters. -There is a torque, and the payout amount varies depending on the turning position of the boom 3 even if the turning angle is the same due to the structure of the machine. Driving skills are required. In particular, the state of material collapse varies depending on the material brand, particle size, humidity, bench height, etc. If a large amount of material collapses, the bucket wheel becomes overloaded and locked.
In such a case, attempting to turn the boom at a speed corresponding to the turning angle will cause mechanical damage to the bucket wheel portion and the turning drive portion. In FIG. 3, 4 is an in-machine belt conveyor, 7 is a ground conveyor, and 12 is a boom elevation device.

Recently, automatic operation of the reclaimer has been aimed at, and in addition to the television cameras 8 and 9 for remote monitoring, detectors for running, turning, and elevation positions, a collision prevention device, and ultrasonic waves for step change are used. It is equipped with the used sensors.

However, when aiming at automatic operation of the reclaimer, it is necessary to solve the problem associated with the overload of the bucket wheel.
A technique is known in which the electric current value of the electric motor for rotating the bucket wheel is constantly grasped, and when the electric current value exceeds a preset set value, the swing of the boom is reversed. 61-1114).

[0006]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
In the technique disclosed in Japanese Patent No. 144, when an abnormal value is detected in the electric current value of the electric motor for rotating the bucket wheel, the rotation of the boom is reversed by a certain angle.
There is a problem that the amount of raw material discharged suddenly decreases due to the reverse rotation of the system, and the raw material discharge efficiency (average T / H) decreases.
When the bucket wheel is rotated by the hydraulic motor, the control only by the current value of the hydraulic pump motor
Even if the current value of the hydraulic pump motor does not change due to deterioration of the hydraulic system, for example, oil leakage, the rotation speed of the bucket wheel may decrease. In this case, the boom turning speed is not adjusted. There is a problem that abnormal force is applied to the aircraft, resulting in breakdown or worst case damage.

The present invention aims to solve these problems advantageously.

[0008]

The present invention is characterized by performing the following two operations in combination. That is, (1) When the current value of the hydraulic pump motor for obtaining the driving hydraulic pressure of the hydraulic motor for rotating the bucket wheel exceeds a preset reference value, the turning of the boom is temporarily stopped. At the same time, when the current value of the hydraulic pump motor becomes equal to or less than the reference value, the swinging of the boom is restarted. (2) The rotation speed of the bucket wheel is equal to or less than the preset reference rotation speed. When the rotation speed of the bucket wheel is equal to or lower than the reference rotation speed even after a predetermined stop time has elapsed, the boom is tilted to raise the bucket wheel. , When the rotation speed of the bucket wheel exceeds the reference rotation speed, the bucket wheel is gradually lowered to the original height, and when the rotation speed of the bucket wheel exceeds the reference rotation speed at the original height, it is blocked. -Resume turning.

The summary is as follows.

Referring to FIG. 3, a wheel tachometer 13 for measuring the number of revolutions of the bucket wheel 2 is installed at the tip of the boom 3 and is located near the hydraulic pump motor 11. Is equipped with an ammeter 14. The present invention controls the turning and tilting (depression angle) of the boom 3 based on the rotation speed of the bucket wheel 2 by the wheel tachometer 13 and the current value of the hydraulic pump motor 11 by the ammeter 14. To do.

That is, regarding the current value of the hydraulic pump motor, the current value generated when an abnormal load is applied is set in advance as a reference value for abnormality determination, and the current value of the hydraulic pump motor is set to this reference value. If the value is continuously exceeded for a predetermined time,
It is judged that an abnormal force is applied to the boom swing, the boom swing is stopped, and the swing of the boom is restarted when the current value of the hydraulic pump motor falls below the reference value. Regarding the rotation speed of the bucket wheel, in order to determine an abnormal decrease in the rotation speed of the bucket wheel, the load abnormal rotation speed is set in advance as a reference rotation speed, and the bucket wheel rotation speed is set to this reference rotation speed. When the rotation speed of the bucket wheel is stopped for a predetermined time when the rotation speed of the bucket wheel becomes lower than the reference speed, if the rotation speed of the bucket wheel is still lower than the reference rotation speed, the boom is tilted upward to raise the bucket wheel and lift the bucket wheel. When the number of revolutions exceeds the reference number of revolutions, the boom is gradually tilted downward to return the position of the bucket wheel to the original position,
When the rotation speed of the bucket wheel exceeds the reference rotation speed at this original position, the swinging of the boom is restarted.

When the boom is tilted upward, a tilting amount for one time is set in advance, and when the total tilting amount exceeds the upper limit value, the operation of the reclaimer is stopped.

The turning control of the boom based on the current value of the hydraulic pump motor by the ammeter and the turning and tilting (elevation) control of the boom based on the rotation speed of the bucket wheel by the wheel tachometer are performed as follows. It will be done in combination, and the order does not matter.

[0014]

1 is a flow chart showing an embodiment of the present invention. In the present invention, as shown in FIG.
If the rotation speed Nx of the wheel is less than or equal to the reference rotation speed N _L that defines the lower limit of the wheel rotation speed, the turning of the boom is temporarily stopped, and if this state continues even after a predetermined time has passed, the boom is turned Tilt upward to raise the bucket wheel by h. When the total of the amount of rise h exceeds the upper limit of the elevation height h _max , the automatic operation of the reclaimer is stopped.

When the rotation speed Nx of the bucket wheel exceeds the reference rotation speed N _L , the boom is tilted downward to return the bucket wheel to its original position. When the bucket wheel returns to the original position and when the bucket wheel rotation speed Nx exceeds the reference value N _L in the initial determination, the next step, that is, the current value of the hydraulic pump motor is used. Make a decision.

That is, when the current value Ax of the hydraulic pump motor is less than or equal to a predetermined reference value A _HH indicating an upper limit on the equipment, the boom is swung so that the current value Ax exceeds the reference value A _HH . Then, the turning of the boom is stopped for a predetermined time Tsec. For the turning stop time of the boom, set the maximum allowable time to Tma.
If the current value Ax becomes equal to or lower than the reference value A _HH while the boom turning is stopped, the turning of the boom is restarted, and the boom turning stop time is set to the maximum allowable time Tmax. When it exceeds the limit, automatic operation is stopped.

In the above description, the control by the rotation speed of the bucket wheel is performed first, and then the control by the current value of the hydraulic pump motor is performed, but the order may be reversed. Of course.

[0018]

EXAMPLE FIG. 2 shows an example of the present invention. The circle in A1 in the figure shows a state in which the current value of the hydraulic pump motor exceeds the reference value A _HH, and the boom turning is temporarily stopped (B1).
As a result, the feed rate of the raw materials slightly decreased (C1). Also, the circle in A2 shows the state in which the wheel rotation speed Nx is lower than the reference rotation speed _NL, that the boom turning is temporarily stopped (B2) and the bucket wheel is raised. As a result, it was confirmed that the raw material delivery speed decreased slightly, but it did not decrease significantly, and stable automatic operation was possible.

[0019]

As described above, according to the present invention, the turning of the boom and the depression / elevation angle are adjusted on the basis of the rotational speed of the bucket wheel and the current value of the hydraulic pump motor. The stable automatic operation of the reclaimer is possible, and the boom is not turned in the reverse direction even when an abnormality is detected. Therefore, the effect is great also in maintaining the material delivery efficiency at a high level.

[Brief description of drawings]

FIG. 1 is a flowchart showing a driving operation of a reclaimer according to an embodiment of the present invention.

FIG. 2 is a graph showing a reclaimer operation result of one example of the present invention.

FIG. 3 is a side view showing the appearance of the reclaimer.

[Explanation of symbols]

1: Reclaimer body 2: Bucket wheel 3: Boom 6: Wheel hydraulic pump 10: Hydraulic motor 11: Hydraulic pump motor 13: Wheel tachometer 14: Ammeter 16: Pile

Claims (1)

[Claims] 1. A hydraulic motor for rotating a bucket wheel.
When the current value of the hydraulic pump motor that obtains the hydraulic pressure for driving the motor exceeds a preset reference value, the turning of the boom is temporarily stopped, and thereafter the current value of the hydraulic pump motor falls below the reference value. When the rotation speed of the bucket wheel becomes lower than the preset reference speed, the rotation of the boom is temporarily stopped, and even after the preset stop time has elapsed. When the rotation speed of the bucket wheel is less than or equal to the reference rotation speed, the boom is tilted to raise the bucket wheel, and when the rotation speed of the bucket wheel exceeds the reference rotation speed, the bucket wheel is gradually restored. To the height of
A method of operating a reclaimer, characterized in that when the rotation speed of the bucket wheel exceeds the reference rotation speed at the original height, the swing of the boom is restarted.