JP4005723B2 - Reclaimer dispensing control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a reclaimer control device used when a raw material is transported from a raw material yard to a factory in an ironworks or the like, and more particularly to a reclaimer discharge control device that stably controls the discharge from a bucket.
[0002]
[Prior art]
In steelworks, reclaimers are used to discharge raw materials such as iron ore and coal from the raw material yard to downstream processes. In order to efficiently perform the dispensing, it is required to control the amount of raw material dispensed from the reclaimer to a predetermined value, but various dispensing control methods have been conventionally proposed.
[0003]
For example, in Japanese Examined Patent Publication No. 61-16696, when the rotational torque of a bucket wheel exceeds a predetermined time and falls below a lower limit value, the boom is advanced if the distance between the bucket wheel and the mountain is within a predetermined value. A fixed amount payout method is disclosed in which the payout at that stage is continued and the change is made if the distance is equal to or greater than a predetermined value.
[0004]
However, the above dispensing method is such that the control operation is performed only when the rotational torque of the bucket wheel deviates from the predetermined upper and lower limit values, and stable dispensing is performed when the rotational torque is within the predetermined upper and lower limit value range. It is not guaranteed.
[0005]
In order to solve this problem, Japanese Patent Laid-Open No. 8-133483 proposes a method for controlling the turning speed of the boom based on a fuzzy control rule with a bucket wheel load as an input.
[0006]
[Problems to be solved by the invention]
However, in the control method according to the above proposal, it is necessary not only to determine a membership function corresponding to the operation state of the reclaimer in advance, but also the control device itself must be expensive.
[0007]
The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a reclaimer dispensing control device capable of preventing overload with a simple configuration and stably dispensing a raw material.
[0008]
[Means for Solving the Problems]
A reclaimer payout control device according to a first aspect of the present invention is a wheel speed control means for controlling a bucket wheel speed to a target wheel speed determined in accordance with a payout amount, a boom turning angle, a front and rear of the boom The target boom turning speed calculating means for calculating the target boom turning speed based on the inching ratio of the direction, and the target boom turning speed calculated by the target boom turning speed calculating means for the bucket wheel controlled by the wheel speed control means. comprising a target boom turning speed correction means for correcting, based on the rotational speed, and the boom rotation speed control means for controlling the target boom turning velocity corrected by the target boom turning speed correcting means boom turning speed, the target boom pivot When the wheel speed is equal to or higher than a predetermined load limit speed, the speed correction means decreases as the wheel speed increases and the wheel speed increases. Correction coefficient calculation means for calculating a correction coefficient that decreases as the wheel rotation speed decreases when the rotation speed is less than the load limit rotation speed, and a correction coefficient for the target boom turning speed calculated by the target boom turning speed calculation means And multiplication means for multiplying the correction coefficient calculated by the calculation means.
[0009]
In the present invention, the revolving power of the reclaimer is corrected by correcting the boom turning angle, the state quantity indicating the load applied to the bucket, and the target boom turning speed determined based on the movement amount in the front-rear direction of the boom by the rotational speed of the wheel. The payout amount is kept stable.
[0011]
In the present invention, when the foil rotates at the load limit rotational speed or more, the amount of discharge is maintained at a fixed amount, and when the foil rotates at the load limit rotational speed or less, the foil is locked. It is avoided that the payout becomes impossible.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a side view of a reclaimer, and a boom 11 is attached to a reclaimer main body 10 so as to be movable in the front-rear, horizontal and vertical directions.
[0013]
A wheel 13 having a plurality of buckets 12 is attached to the tip of the boom 11 and is rotated by a drive source such as an electric motor or a hydraulic motor attached to the tip of the boom 11. That is, the piled raw material is scraped off by the bucket 12 that rotates together with the foil 13.
[0014]
The amount of raw material Q scraped off by the bucket is influenced not only by the rotation speed n of the wheel and the inching ratio r in the boom front-rear direction but also by the turning angle θ _{R of the} boom 11.
[0015]
Q = F (n, r, θ _R ) (1)
Since the foil has a considerable mass, it is limited to 5 to 6 revolutions per minute. Therefore, the number of revolutions cannot be controlled greatly and accurately.
[0016]
Therefore, it is general to obtain a predetermined payout amount by controlling the boom turning speed ω based on the following equation.
[0017]
ω = f (r, θ _R ) (2)
However, since the scraping situation actually changes due to the collapse of the pile, the actual rotation of the foil does not become constant and fluctuates.
[0018]
Therefore, if the boom rotation speed control is performed while the wheel rotation speed is kept low due to overload when the actual rotation speed fluctuates, there is a risk of wheel lock and further bending damage of the boom.
[0019]
Therefore, in the present invention, the boom turning speed is corrected in accordance with the actual rotational speed of the wheel.
[0020]
FIG. 2 is a functional diagram of the reclaimer quantitative dispensing control device according to the present invention. The movement amount of the boom 11 in the front-rear direction is detected by the boom movement amount sensor 21. Further, the horizontal turning angle θ _R of the boom 11 Is detected by the turning sensor 22. Further, the rotation speed n _R of the wheel 13 is detected by a rotation speed sensor 23 attached to the rotation shaft of the wheel 13 and the drive source 14.
[0021]
The turning angle may be obtained by integrating the turning speed. The turning speed can also be obtained by differentiating the turning angle.
[0022]
Here, in the present embodiment, the drive source of the foil 13 is the electric motor 14.
[0023]
Then, the jogging calculated based not only on the target payout amount Q but also on the turning angle θ _{R of} the boom 11 detected by the turning sensor 22 and the movement amount of the boom 11 in the front-rear direction detected by the boom movement amount sensor 21. From the ratio r (the detected movement amount with respect to the movement target amount in the front-rear direction of the boom), the target turning speed calculation unit 251 calculates the target boom turning speed ω _S.
[0024]
The target boom turning speed ω _S is led to the boom turning speed deviation calculating unit 253 via the correcting unit 252, and the correcting unit 252 will be described later.
[0025]
The boom turning speed deviation calculation unit 253 subtracts the actual boom turning speed ω _R measured by the turning sensor from the target boom turning speed ω _S to calculate the boom turning speed deviation Δω.
[0026]
The boom turning speed deviation Δω is subjected to, for example, a control calculation which is a proportional integral calculation in the turning speed control unit 254 and then guided to the boom turning drive unit 255 to drive the boom 11 at a predetermined turning speed.
[0027]
Here, the reason why the target boom turning speed ω _S is corrected by the actual turning angle θ _R of the boom and the inflection ratio r in the boom front-rear direction is as follows.
[0028]
That is, when the actual turning angle θ _R of the boom is large, the bucket 14 does not directly hit the pile and the amount of scraping of the bucket is reduced, so that the target boom is increased as the actual turning angle θ _R of the boom increases. The turning speed ω _S is corrected so as to increase.
[0029]
When the boom back-and-forth inching ratio r is greater than “1.0”, the boom 11 is inserted deeper than the target and the amount of material scraped out by the bucket increases, so the target boom turning speed Set ω _S small. When conversely the boom longitudinal Sundohi r is smaller than "1.0" is the raw material by a bucket not the boom 11 is plugged into the mountain of the material to a target depth scraping amount is less Runode, to be larger the target boom turning speed ω _S.
[0030]
The accounts for the influence of the actual rotational speed n _R foils Furthermore, in the present invention, generates a correction coefficient k as a function of the actual rotational speed n _R of the foil 13 which is detected by the speed sensor 23 in the correction coefficient generation unit 27 Then, the correction unit 252 multiplies the target boom turning speed ω _S.
[0031]
FIG. 3 is a graph of a function incorporated in the correction coefficient generator 27, where the horizontal axis represents the actual wheel rotation speed n _R and the vertical axis represents the correction coefficient k.
[0032]
That is, when the wheel is rotating at the load limit rotational speed n _RW , the correction coefficient k is set to “1.0” to control the boom turning speed with the target turning speed ω _S calculated by the target turning speed calculation unit 251 as it is. To do.
[0033]
When the wheel is rotating at a rotational speed equal to or higher than the load limit rotational speed n _{RW, the} amount of payout per one wheel rotation increases. Therefore, as the wheel rotational speed increases, the target turning speed calculation unit 251 calculates Correction is made so that the target turning speed ω _S becomes smaller.
[0034]
Conversely, when the wheel is rotating at a load limit rotational speed n _RW or less, in order to prevent the boom from being damaged when the boom is turned at the target turning speed ω _S calculated by the target turning speed calculation unit 251. It is necessary to avoid the operation of the wheel lock control. Therefore, correction is made so that the turning speed becomes slower as the wheel rotation speed becomes lower.
[0035]
【The invention's effect】
According to quantitative dispensing control device reclaimer according to the present invention, the turning angle of the boom, the target boom turning speed which is determined based on the amount of movement in the longitudinal direction of the boom is corrected by the rotation speed of the wheel, It becomes possible to control the payout amount stably.
[0036]
Furthermore, according to the present invention, even when the target wheel rotation speed is set low, for example, in a situation where the wheel rotation speed must be limited due to an abnormality in the wheel drive source, the boom turning speed is corrected so as not to reach the load limit. It becomes possible.
[Brief description of the drawings]
FIG. 1 is a side view of a reclaimer.
FIG. 2 is a functional diagram of a reclaimer quantitative dispensing control device.
FIG. 3 is a graph for calculating a correction coefficient.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 11 ... Boom 12 ... Bucket 13 ... Wheel 14 ... Electric motor 21 ... Boom movement amount sensor 22 ... Turning sensor 23 ... Rotational speed sensor 251 ... Target turning speed calculating part 252 ... Correction part 253 ... Boom turning speed deviation calculating part 254 ... Turning Speed control unit 255 ... boom turning drive unit 26 ... power source 27 ... correction coefficient generation unit

Claims (1)

A wheel rotation speed control means for controlling the rotation speed of the bucket wheel to a target wheel rotation speed determined in accordance with a payout amount;
A target boom turning speed calculating means for calculating a target boom turning speed based on a boom turning angle and an inching ratio in the front-rear direction of the boom;
Target boom turning speed correcting means for correcting the target boom turning speed calculated by the target boom turning speed calculating means based on the rotation speed of the bucket wheel controlled by the wheel rotation speed control means;
Boom turning speed control means for controlling the boom turning speed to the target boom turning speed corrected by the target boom turning speed correction means ,
The target boom turning speed correcting means is
When the wheel rotational speed is equal to or higher than a predetermined load limit rotational speed, the wheel rotational speed becomes smaller, and when the wheel rotational speed is equal to or less than the load limit rotational speed, the wheel rotational speed becomes smaller, the smaller the wheel rotational speed becomes. Correction coefficient calculation means for calculating the correction coefficient
A reclaimer payout control device comprising: multiplication means for multiplying the target boom turning speed calculated by the target boom turning speed calculating means by the correction coefficient calculated by the correction coefficient calculating means .

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