JPS5813844B2 - Stacker pile detection device - Google Patents

Description

[Detailed Description of the Invention] This invention relates to a pile detection device for a stacker that runs on a track and feeds raw materials such as coal and ore to a yard from the tip of a swingable boom and performs loading work. be.

In order to make effective use of the yard and manage the inventory of raw materials in the yard, the stacker that performs the above-mentioned stacking operations collects position information such as the traveling position, boom rotation, and luffing angle at the time of pile detection. It is reported and stored in a data management device such as a management computer.

Figures 1 to 5 are diagrams for explaining the operation of a conventional stacker and stack detection device. , is a boom that rotates in the left and right direction and moves up and down in the up and down direction, and discharges raw materials such as coal and ore from the tip 3a of the boom 3.

4 is a stacker consisting of a cart 2 and a boom 3, 5 is a stack formed by stacking raw materials fed from the tip 3a of the boom 3, 5a is the top of the stack 5, and 6 is a support piece at the tip 3a of the boom. 7, and the top 5a of the pile 5
8 is a yard where raw materials are loaded and stored.

In Fig. 1, moving the stacker 4 to the left on the rail 1 is called forward movement, moving to the right is called backward movement, and the boom 3
The turning angle 0 shall be measured counterclockwise with the rear center line of the stacker 4 as the reference point.

Next, the stowage work of the stacker 4 can be classified into traveling-based work, turning-based work, and undulation-based work.

Figure 3 shows the →l method of stacking based on traveling, in which stacks 5 are continued to be stacked at regular intervals in the running direction without changing the turning angle and the undulation angle, and the rows of stacks are parallel to rail 1. Made.

First, when the stowage position in the yard 1 is determined, the boom 3 of the stacker 4 performs swinging and raising and lowering operations, is positioned at the first stowage position 11, and starts the stowage operation.

A pile 5 is formed by the raw material fed from the tip 3a of the boom 3, and the contact 6 at the boom tip 3a reaches the top 5 of the pile 5.
By contacting the slope near point a, it is detected that a pile 5 has been formed, and the stowing operation is stopped, and the stowing operation is continued by traveling to the next stowing position 12 and continuing stowing.

When the contactor 6 detects that the stack 5 is formed as the stacking progresses, it stops the stacking operation and travels to the next stacking position 13.

In this way, repeating the steps of loading, detecting piles, and traveling, stack the items in the 1st, 2nd, and 3rd rows as shown by the arrows.If you want to change the rows here, turn and undulate. As shown in FIG. 4, the pile is finally formed into a trapezoidal shape.

By the way, in this stowage method, when trying to reduce the stowage pitch or the interval between the rows of piles as much as possible for the purpose of efficient use of the yard or accurate inventory control of raw materials, it is necessary to Since the detection points of the contacts 6 to be detected are not the same, there is a drawback that malfunctions as described below occur.

In other words, Figs. 5 and 6 show the case where the stacking pitch in the same row is small, and when the stacking is performed by positioning at position P1 and the stack is detected here, the stacker 4 moves in the loading direction. The vehicle travels and moves to the next stowage position P2.

However, at this point, the contactor 6 that detects the stack 5 has already contacted the slope on the opposite side of the stack 5 at P1 and is detecting the stack, so the stacker 4 is considered to have completed stacking at the P position. Misunderstood and moved to the next loading point P3.

In addition, Figures 7 and 8 show the case where the spacing between the rows of piles is narrow, and when the stacking is completed at the PA position, the stacker 4 travels and the boom 3 rotates, and the tip 3a of the boom 3 is stacked. While moving to position PE, the contactor 6 contacts the slope on the opposite side (progressing direction side) of the pile 5 placed in PA and detects the pile, so the stacking is completed at position PB. I misunderstood this and moved to the next loading position.

As mentioned above, in conventional systems, when attempting to increase the effective utilization of the yard by reducing the pitch of the stacking positions and the interval between stacking rows, the above-mentioned malfunctions occur and the appropriateness of raw material inventory management is compromised. There was a risk of damaging the

The purpose of this invention is to improve the above-mentioned drawbacks.The present invention is provided with a plurality of detectors for detecting the slope of the pile in a line opposite to the top of the pile at the tip of the boom, and The object of the present invention is to provide a stacker detection device that detects a pile based on a signal from a detector.

An embodiment of the present invention will be described below with reference to FIGS. 9 to 13.

In the figure, the same reference numerals as in FIGS. 1 to 8 indicate the same or corresponding parts, and 9, 10, 11, 12 are the contacts A supported by a pair of support pieces 7 fixed to the tip of the boom 3, B
, C, and D, the contacts A, C and the contacts B, D are arranged symmetrically with respect to the top 5a of the pile, respectively, and the contacts A,
C and the lines connecting B and D are arranged so as to form an angle of 45 degrees with the center line XX of the boom 3, respectively.

Figure 10 shows the boom 3 rotating in the first quadrant (0° to 90°).
), 2nd quadrant (90°~180°), 3rd quadrant (1
80°~270°), 4th quadrant (270°~360°)
) shows the positions of the contacts A, B, C, and D, and the arrows and A, B t C t D indicate the stowage progress direction and the selected contacts.

FIG. 11 shows a circuit that provides an output signal to the stacker 40 control device (not shown) when the contact on the side in the loading progress direction among the contacts A, B, C, and D contacts the slope of the pile 5. In the figure, 9a, 10ay, 11a, 12a are normally open contacts 13a S1, 13b S2, 13c S that are closed when contacts A, B, C, D detect pile 5.
3 t13d' In S4, the rotation angle of boom 3 is 00~
90°, 90°~180°, 180°~270°, 27
Normally open contacts that close at 0° to 360°,
14a is a normally open contact that closes when the stacker 4 moves forward;
b is a normally open contact that closes when the stacker 4 retreats; 15 is a relay electromagnetic coil that is energized by detecting the pile 5 of contacts A, B, C, and D; 15a is a contact that is closed by the energization of the electromagnetic coil 15; is a normally open contact that sends an output signal to the stacker 40 controller.

Table 1 shows the loading direction, and Figures 12 and 13 show the loading direction in the backward direction and the boom 3 turning angle in the range of 0° to 900 degrees, stowing at the P1 tP2 and P3 positions. The case where the steps are performed sequentially is shown.

In this case, Table 1 shows that the contact that detects the pile is D, and in FIG. 11, contact 13a and contact 1
4b is closed.

Therefore, only when the contactor D12a is closed, the electromagnetic coil 1
5 is energized and provides an output signal to the control device.

12 and 13, when the pile 5 is formed, the pile 5
Contacts A, B, C, and D all touch the slope of
Only the signal from contact D is transmitted.

Furthermore, while the contactor B contacts the slope on the opposite side while moving to the next stowage position P2, no malfunction occurs because no signal is transmitted from the contactor B.

14 and 15 show other embodiments, and the same reference numerals as in FIGS. 9 and 11 indicate the same or corresponding parts. L1
6 and R17 are contacts supported by the support piece 7 symmetrically with respect to the center line XX of the boom 3 and the top 5a of the stack;
16a and 17a are normally open contacts 18aSR of contactor L16 and contactor R17, when the rotation angle of boom 3 is 00 to 18
A normally open contact that is closed when the angle is 0°, and 18b SL is a normally open contact that is closed when the swing angle of the boom 3 is between 180° and 360°.

When using the circuit shown in Fig. 15, for example, the turning angle is 0° to 1°.
When the loading direction is backward at 80°,
Since the contact 18a and the contact 14b are closed, only the signal from the contact R17 on the loading progress direction side is transmitted.

Table 2 corresponds to the loading direction and the swing angle of the boom 3.
It shows the selected contacts for stowage detection.

That is, since only the signal from the contact on the loading proceeding side is transmitted, malfunctions can be prevented as in the case shown in FIGS. 9 and 11.

In the above embodiment, a contact type detector is shown, but the same effect can be obtained by using a non-contact type detector using ultrasound or the like.

Further, although the relay contact circuit is shown in FIGS. 11 and 15, an IC logic circuit or a program control circuit may be used.

As described above, according to the present invention, a plurality of detectors are provided symmetrically with respect to the top of the stack, and the stack is detected by the signal from the detector on the side of the stacking progress, so that the stacking pitch is Alternatively, even if the interval between the rows of piles is made small, there is no risk of malfunction, and the yard can be used effectively and raw material inventory can be properly managed.

[Brief explanation of drawings]

Figures 1 to 5 show conventional examples, where Figure 1 is a plan view of the stacker in the yard, Figure 2 is a side view of the same, Figure 3 is a plan view showing the stacking operation, and Figure 4 is a side view of the same as above,
Figure 5 is a plan view illustrating the operation of stack detection when stacking is progressing parallel to the rails, Figure 6 is a side view of the same as above, and Figure 1 is a stack when stacking is proceeding at right angles to the rails. FIG. 8 is a plan view illustrating the detection operation, FIG. 8 is a side view of the same as above, FIGS. 9 to 13 show an embodiment of the present invention, and FIG. 9 is a plan view of main parts showing the arrangement of contacts. , Fig. 10 is a plan view showing the relationship between the contact and the loading direction at each rotating position of the boom, Fig. 11 is a circuit diagram of the device, and Fig. 12 is a plan view for explaining the pile detection operation. , FIG. 13 is a side view of the same as above, FIGS. 14 and 15 show other embodiments, FIG. 14 is a plan view of essential parts showing the arrangement of contacts, and FIG. 15 is a circuit diagram. In the figures, the same reference numerals indicate the same or corresponding parts, 1
2 is a rail, 2 is a cart, 3 is a boom, 4 is a stacker, 5 is a pile, 5a is the top of the pile, 8 is a yard, and 9 to 12 are contacts.

Claims (1)

[Scope of Claims] 1. A stacker equipped with a bogie that runs on a track and a boom that is rotatably mounted on the bogie and that feeds and stows raw materials such as coal and ore to a yard from its tip. In the pile detection device, a plurality of detectors for detecting the pile are provided at the tip of the boom symmetrically with respect to the apex of the pile formed by the raw materials, and a plurality of detectors for detecting the pile are provided on the tip of the boom, and Statsuka's pile detection device uses signals to detect piles. 2. The stacker pile detection device according to claim 1, which uses a non-contact detector using ultrasonic waves or the like as the detector.