JPH05301638A - Control method for shortening the time when the reclaimer automatically moves - Google Patents

Abstract

(57) [Summary] [Purpose] After reclaiming the previous mountain, the reclaimer (1)
Automatically determines whether it is necessary to move the boom (1a) to the upper limit of elevation, and the time required to raise the elevation to the upper limit of depression and the time required to descend from the upper limit of elevation to the payout height in the next mountain. It is an object of the present invention to provide a control method for reducing the above. [Configuration] When the reclaimer is automatically operated to move the machine body and each part of the machine, the payout height and payout direction of the next pile that is input to the control device of the reclaimer, and the payout height of the pile that has completed the payout And the payout direction are automatically calculated, and based on the result, the extent of the boom-and-lower movement of the boom of the reclaimer is automatically set to the minimum value in consideration of a predetermined margin distance.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention, when automatically operating a reclaimer which is one of the yard working machines, requires an operation time required to start the payout from the next pile after finishing the payout of one pile. In particular, the present invention relates to a control method for significantly shortening the time required for raising and lowering the boom of the reclaimer (elevation and elevation).

[0002]

2. Description of the Related Art A stacker and a reclaimer, which are yard working machines, are alternately arranged on each track laid at a predetermined interval in a yard such as a coal storage yard, and travel and work are performed respectively.

Of these, the reclaimer is a working machine for discharging coal or the like from piles and bringing it to a conveyor belt or the like for transporting it to a mixing tank or the like. As shown in FIG. 1, the reclaimer (1) has a long boom (1a), and the tip of the boom (1a) is equipped with a sampling means (1b) such as a bucket wheel.

The reclaimer (1) has an adjacent yard surface X,
It runs on the rail (2) laid between Y, and the boom (1a) of the reclaimer (1) turns from 0 to 360 ° when one direction of the rail (2) is used as a reference. As a result, if one surface has piles of coal such as 15 brands of coal, for example, one reclaimer (1) has a stack of coal of 30 brands including the adjacent surface. Will be in charge of paying out.

Reclaimer for Sekiyama at this time (1)
The payout directions are: 1st quadrant, 2nd quadrant, 3rd quadrant, 4th quadrant
There are four types of quadrants. FIG. 2 is an explanatory view showing four modes of the pile-up direction of the reclaimer (1).
The reclaimer (1) is (a) from the pile of A ₁ brands on the X side of the yard (first quadrant), and (b) from the pile of A ₂ brands on the Y side of the yard (second quadrant). , (C)
In ( ₂ ), the payout is carried out from the pile of C ₁ brand on the X side of the yard (third quadrant), and in (d) from the pile of D ₂ brand of the Y side of the yard (fourth quadrant). In (e), the reclaimer (1) is traveling with the boom (1a) parallel to the rail (2).

[0006] In the operation of automatically operating the reclaimer (1) to discharge coal or the like, after discharging the coal or the like of a certain pile, the boom (1a) is set at the discharge end position regardless of the shape of the pile of each stack. ) To the upper limit of elevation and then swing the boom (1a) until it is parallel to the rail (2),
Next, run the reclaimer (1) to the next pile to be discharged, turn the boom (1a) to the discharge angle there, and then lower and raise the boom (1a) to the discharge height. Commencement of payment of coal, etc.

[0007] During automatic operation of the reclaimer (1), the boom (1a) is elevated to the upper limit of the elevation after the coal, etc., of a certain mountain is dispensed. This is to prevent the boom (1a) and the collecting means (1b) from colliding with each other. Should the boom (1a) or sampling means (1b) collide with the piles, they will be damaged and the supply of raw materials to the coke ovens that are continuously operating will stop, causing a serious situation.

[0008]

When manipulating the reclaimer (1) manually by manned monitoring, it is possible to perform two or more operations among depression, elevation, turning, and running at the same time if skilled in the art. ..

However, when the reclaimer (1) is automatically operated, as described above, the operation from the discharge of coal or the like of a certain mountain to the start of the discharge of the coal or the like of the next mountain is ( a) Boom up to the upper limit of elevation at the payout end position
(1a) Elevation, (b) Boom (1a) turns until it is parallel to the rail (2), (c) Reclaimer to the next pile
(1) traveling, (d) boom (1a) turning to the payout angle,
(e) The unit operations of the boom (1a) up and down, up to the delivery height of the pile, must be performed in this order.

However, the boom (1a) is lowered and lowered to the time (a) for raising the boom (1a) to the upper limit of elevation in the just-pushed mountain and the payout height in the next pile (e). Although the time is unexpectedly long, the automatic operation of the reclaimer (1) greatly contributes to labor saving compared to manned manual operation, but it is rather extended in terms of required work time, and naturally there is a limit in efficiency. ..

Under such a background, the present invention provides the boom (1a) of the reclaimer (1) after the delivery of the previous pile is completed.
Automatically determines whether or not it needs to be moved to the upper limit of elevation, and shortens the time required for elevation to reach the upper limit of depression and the time required to descend from the upper limit of elevation to the payout height in the next mountain. It is an object of the present invention to provide a control method according to the above.

[Means for Solving the Problems]

The time reduction control method for automatically moving the reclaimer according to the present invention is such that, when the reclaimer is automatically operated to move the main body and each part of the body, the following pile of mountains input to the controller of the reclaimer is used. Automatically calculates the payout height and payout direction and the payout height and payout direction of the piles that have finished paying, and based on the results, the degree of the recliner's boom movement up and down It is characterized in that the value is automatically converted into a value.

The present invention will be described in detail below.

The pile of coal and the like has a height of, for example, 7 steps, and when the reclaimer (1) has a boom (1a) tip end (usually a bucket wheel) (1b) for discharging, Pay out from one corner of a specific step in the mountain. When the amount of coal, etc., that has been set and reserved has been completed before the start of the payout for that stage, the boom (1a) is now lowered by one stage and the next stage bench payout is performed. This kind of operation is repeated until the required amount of payout is reached for the pile. Therefore, in each pile piled up with yards, the next payout is started from a height of 7 steps (top level), from 5 steps, and from 1 step (bottom level). There are various cases such as what to do.

The speed of elevation movement (elevation elevation and elevation depression) of the boom (1a) of the reclaimer (1) is, for example, 5 meters per minute based on the sampling means (1b) such as a bucket wheel, which is by no means high. Absent.

[0016] However, after the completion of the required amount of the piles of coal loaded with a certain brand of coal, etc., it is not always necessary in consideration of the delivery height of the pile of piles of another brand of coal loaded next. It is not necessary to move the boom (1a) of the reclaimer (1) to the elevation limit.

In other words, if the start of the delivery of the next pile is the highest stage, there is no great disadvantage in performing the boom (1a) to the upper limit of elevation after the delivery of the previous pile is completed, but the start of the delivery of the next pile When is lower than the uppermost stage, it is understood that it is not necessary to raise the boom (1a) to the elevation upper limit after the delivery of the previous pile is completed.

Therefore, in the present invention, the reclaimer
When automatically moving (1) to move the machine body and each part of the machine, the payout height and payout direction of the next pile, which is input to the controller of the reclaimer (1), and the payout of the pile that has been discharged. The height and payout direction are automatically calculated. And based on the results, the reclaimer
The degree of elevation / lowering of the boom (1a) in (1) is automatically set to the minimum value. However, in consideration of safety, a preset margin distance is added. These calculations and instructions are performed by the ground control device.

[0019]

In the present invention, the boom (1a) is not raised to the upper limit of elevation after the completion of the delivery of the previous pile, and the delivery height of the next pile, which is input to the controller of the reclaimer (1), is not increased. And the payout direction and the payout height and the payout direction of the pile after the payout are automatically calculated.

When the payout height of the next pile is equal to or lower than the height of the previous pile at the end of payout, the boom (1a) is slightly moved (for example, 0.5 meters) after the payout of the previous pile is completed. Only raise the body so that it does not come into contact with the piles on that step, and do not raise the boom (1a) further.

Further, when the payout height of the next pile is higher than the height at the end of the payout of the previous pile, the boom (1a) is elevated by the difference after the payout of the previous pile is completed.

After the delivery of the previous pile is completed, the boom (1a) is slightly raised or lowered to prevent contact, or the boom (1a) is raised or lowered by a difference from the delivery height of the next pile, and then parallel to the rail (2). Rotate the boom (1a) until it reaches and run the reclaimer (1) to the next pile (running may not be necessary). And boom (1a) to the payout angle of the next mountain
After turning, the boom (1a) is lowered and lowered to the payout height. It should be noted that the time can be further shortened by descending and descending during the traveling process.

At the end of paying out the previous mountain, the boom (1a)
The sampling means (1b) at the tip is set as the end point of the delivery stage of the pile in normal operation, but it may be in the middle. Therefore, the delivery start stage of the next pile to be delivered may be delivered halfway. Therefore, the boom (1a) in the above is devised so that the collecting means (1b) does not come into contact with the coal or the like in the process of paying out by swinging after the jogging back.

Due to the height of the body of the reclaimer (1) or to prevent a collision between the ground conveyor belt and the boom (1a) or the sampling means (1b), the delivery of the previous pile is completed. There is a restriction on the vertical posture when the boom (1a) is turned from the rail parallel to the rail. Therefore, due to the so-called "belt crossing", when the payout end stage of the previous pile is lower than the belt crossing limit height, the elevation of the boom (1a) is raised even if the payout start stage of the next pile is low. From the yard to a minimum height (eg 6.5 meters) should be done.

[0025]

EXAMPLES The present invention will be further described with reference to examples.

Example 1 FIG. 3 is an overall view for explaining an example of a yard and a coal supply system. FIG. 4 is an explanatory view showing an example of the time reduction control method for moving the automatic machine body of the present invention.

In FIG. 3, (4) is a yard, (5) is a conveyor belt, (6) is a mixing tank, (7) is a crusher, (8) is a coke oven, and (9) is a coal bottle. (1) is the reclaimer, (1a) is the boom of the reclaimer (1), (2) is the rail,
(3) is the stacker, and (3a) is the boom of the stacker (3). The reclaimer (1) is working on one of the adjacent tracks (2), (2) and the stacker (3) is working on the other.

In FIG. 4, the height (height from the yard surface) of each step of the pile (M) is 0.7 m at the lower end of the first step, 3.1 m at the lower end of the second step, and the lower end of the third step. Is 5.5m, the bottom of the 4th stage is 7.9m, the bottom of the 5th stage is 10.3m, the bottom of the 6th stage is 12.7m.
m, the bottom of the 7th stage is 15.1m, and the top of the 7th stage is 17.5m. The upper limit of the elevation movement of the sampling means (bucket wheel) (1b) at the tip of the boom (1a) is 22.
m.

Since the time required for the traveling movement of the main body of the reclaimer (1) and the time required for the turning movement of the boom (1a) are not different between the conventional method and the method of the present invention, they are not considered and the boom ( Depression movement of 1a) (elevation rise and depression)
Only the time required for The speed of raising and lowering is 5 m / min based on the sampling means (1b).

Pattern 1 is a case in which the delivery end position of the previous mountain is on the mountain bench 1 (first stage) and the delivery start position of the next mountain is on the mountain bench 1 (first stage).

In this case, according to the method of the present invention, the payout end position of the previous pile (that is, the sampling means (1
The lower end of b) is 0.7m above the yard surface)
Raise (1b) by 5.8m to cross the belt (that is, raise the bottom of the sampling means (1b) to 6.5m above the yard surface), and move it to 5.8m at the next pile start position.
Raise and lower by m.

Therefore, considering only the time required for the elevation movement, the time required for pattern 1 when the method of the present invention is adopted is (6.5-0.7) / 5 + (6.5-0.7) / 5 = 2.32 minutes (2 Minutes 19 seconds).

On the other hand, if the elevation is raised up to the elevation upper limit by the conventional method, the time required for the elevation movement is (22-0.
7) / 5 + (22-0.7) / 5 = 8.52 minutes (8 minutes 31 seconds).

As described above, the difference in time required between the conventional method and the method of the present invention in pattern 1 is 8 minutes 31 seconds-2 minutes 1
9 seconds = 6 minutes and 12 seconds, which is a remarkable time reduction.

Next, consider the case of pattern 2 in FIG.
Pattern 2 is a case in which the payout end position of the previous mountain is on the bench 3 (third stage) of the mountain and the payout start position of the next mountain is the bench 3 of the mountain (third stage). Even in this case, according to the method of the present invention, since the belt is crossed, the lower end of the sampling means (1b) located at the end position for discharging the previous pile is raised up to 6.5 m above the yard surface. I am letting you.

Comparing only the time required to move up and down,
The time required for pattern 2 when the method of the present invention is adopted is
(6.5-5.5) / 5 + (6.5-5.5) / 5 = 0.4 minutes (24 seconds), the time required for pattern 2 when the conventional method is adopted is (22-
5.5) / 5 + (22-5.5) / 5 = 6.6 minutes (6 minutes 36 seconds),
The method of the present invention saves 6 minutes and 12 seconds.

Next, consider the case of pattern 3 in FIG.
Pattern 3 is a case where the payout end position of the previous mountain is on the bench 7 (7th step) of the mountain and the payout start position of the next mountain is the bench 7 (7th step) of the mountain.

Therefore, comparing only the time required for the elevation movement, the time required for the pattern 3 when the method of the present invention is adopted is (15.6-15.1) / 5 + (15.6-15.1) / 5 = 0.2 minutes (1
2 seconds), the time required for pattern 2 when the conventional method is adopted is (22-15.1) / 5 + (22-15.1) / 5 = 2.76 minutes (2 minutes 4
6 seconds), and the method of the present invention is shortened by 2 minutes and 34 seconds.

The above patterns 1, 2, and 3 exemplify the case where the relationship between the payout end position of the previous pile and the payout start position of the next pile is the same step. There are various cases depending on the permutation combination, and the boom (1a) is set to the rail (2) in the payout direction at the end of the payout.
There are two quadrants in the direction of going away (forward direction) and quadrants of 1 and 2 in the approaching direction (reverse direction) when viewed from the side (rotation angle 180 ° origin). Of these, as in the case of pattern 3 above, when the payout end position of the previous pile and the payout start position of the next pile are at the top, or the payout direction of the boom (1a) at the end of the payout is the forward direction. In the method of the present invention, the time required for the elevation movement is shorter than that in the conventional method, but the time can be surely shortened. In other cases, the shortening time becomes longer. Therefore, the elevation movement time according to the method of the present invention is about 1/2 of that of the conventional method when viewed on average, and the time can be significantly shortened.

【The invention's effect】

As described above, according to the control method of the present invention, the depression / elevation time required until the boom depression / elevation upper limit after the end of the payout and the depression / elevation descending time from the boom depression / elevation upper limit to the payout height in the next pile, which have been conventionally required, are calculated. A significant reduction is achieved, and the advantage of automatic operation of the reclaimer over manned manual operation is not only labor saving but also efficient working time.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing the entire reclaimer.

FIG. 2 is an explanatory diagram showing a mode of a pile pile in a payout direction by a reclaimer.

FIG. 3 is an overall view for explaining an example of a yard and a coal supply system.

FIG. 4 is an explanatory diagram showing an example of a time reduction control method for moving an automatic machine body according to the present invention.

[Explanation of symbols]

 (1) ... Reclaimer, (1a) ... Boom, (1b) ... Collection means, bucket wheel, (2) ... Rail, (3) ... Stacker, (3a) ... Boom, (4) ... Yard, (5) … Conveyor belt, (6)… Compounding tank, (7)… Crusher, (8)… Coke oven, (9)… Coal bottle, (M)… Miyama

Claims (1)

[Claims] 1. When the reclaimer is automatically operated to move the machine body and each part of the machine, the payout height and the payout direction of the next pile which is input to the control device of the reclaimer, and the one of the finished pile. Automatic operation of the reclaimer characterized by automatically calculating the payout height and the payout direction, and based on the result of the operation, the extent of the boom of the reclaimer's boom and elevation is automatically set to the minimum value in consideration of a predetermined margin distance. Time reduction control method when moving the aircraft.