DE19646180C2 - Method and device for regulating the speed of a rail vehicle in metallurgical plants, especially a Möller wagon - Google Patents

Description

The invention is directed to a method and a direction for regulating the speed of a rail vehicle in iron and steel works, especially a Möller wagon for the transport of Möller containers of a blast furnace.

In a blast furnace, especially older ones, As a rule, the shaft shifts alternately from above Follow layers of coke and ore with aggregates layered, inserting the materials from above into the blast furnace takes place after lifting the top seal. because at it is known both the so-called gout cat, d. H. the elevator for the filled or emptied containers for the Feeding material, the so-called Möller containers, such as also the trolley that used the respective Möller container for gout cat drives to maneuver through control stands let out the inhospitable working conditions sets are. The Möllerwagen drives there with the Möller container in a series of high-rise bunkers for coke and ore to fill the Möller container, then drives to Gout cat, usually takes over an empty moeller there container when dispensing a filled Möller container and drives back to the bunkers to the Möller container again to be filled.

The following is a reference to a Möller car as an example taken, but the invention is not limited to this.  

A Möllerwagen is usually a Vehicle with a very simple drive technology (engine with 400 V DC). Usually the power supply takes place via a Pantograph held by an overhead line, so that in itself aspiring modern drive controls using converters cannot be used here. There is a particular problem in the positioning of the car, which is therefore only over tiered Switching the DC drive can be done. It must the car at a speed of 3 m / s to + -10 cm po be able to be positioned, whereby all foreign inclusions, such as black ice, Fat deposits on the rails, different rollver keep with temperature changes u. Like. To be taken into account are.

In practical use, the positions vary between 15 cm and about 20 m. As a Möllerwagen usually two buckets positions and a successive change between two buckets must not only be made the individual positions in front of a grant or below half of an ejection of a bunker shaft but, at the same time, the system recognizes which one Kübel is currently on the Möllerwagen.

The object of the invention is to provide a solution with which a fully automatic operation of such a vehicle precise control of all required positions achieved becomes.

With a method of the type mentioned, this object is achieved according to the invention in that

• At least one, preferably two, on the rail vehicle, Distance laser to determine successive distances to a trackside reflector and a Measured value evaluation electronics is used and the Regulation of the driving speed through difference formation  of two successive laser measurements becomes,
• - A laser measurement value as an old value in a measurement value memory in the subsequent generation of a current measured value is saved, the old value stored in the measured value memory is subtracted from this value and the result as actual Value is processed and
• - an actual distance from the current laser measurement value is formed from a system-specific item a target distance is specified and the Difference between target distance minus actual distance as a deviation from the target position to the speed speed correction of the rail vehicle is used.

A distance laser measurement of the distances makes it possible Lich, the position of the vehicle about every 200 msec averaging, based on these values on driving speed and ak to be able to close current positions of the vehicle.

At this point it should be noted that there are electronic systems for position detection, e.g. B. in shunting mode, gives how this describes DE 195 29 919 A1. A time-optimized Chassis control, e.g. B. a crane undercarriage or a cat zenantriebes describes DE 42 23 561 A1, while at for example, the US 3,574,292 on a machine tool Position of the tool slide using a laser remover voltage meter describes.

As already stated above, there is the peculiarity of the tax Not only does a Möller wagon need to be Approach different positions on the blast furnace to have, but also in the changing positioning of the first or second, are each on the vehicle end of the bucket.  

To achieve further optimization, is in Ausgestal device of the invention provided that a two-point control by comparing an actual speed value with a The target speed value is made according to the stipulation Desired speed minus actual speed <0 = driving of the vehicle.

It can be advantageous that the speed above staged switching of the existing DC drive pre is taken with supply of driving energy when the speed is high speed should be increased and an interruption of driving energy supply if the speed is to be reduced, the braking essentially via the rolling resistance of the Vehicle is made.

It goes without saying that the Möllerwagen also has its own Braking systems, e.g. B. magnetic brakes are provided.

It is advantageous if a laser measurement value as an old value in egg Nem measured value memory in the subsequent generation of a current len measured value is stored, the stored in the measured value memory Subtract old value from this value and the result as actual Value is processed further and / or from the current laser measured value an actual distance is formed from a system a target distance is specified for the specific position image and the difference between target distance minus actual Distance as a deviation from the target position to the speed correction of the Möller car is used.

To capture all routes for the Möllerwagen can be provided according to the invention that along the Rail path of the Möller carriage reflection levels for the or the distance lasers are provided, with range switching current area detection is carried out.  

It can be advantageous if the range switchover after a cornering of the Möllerwagens is carried out as this also provides the invention.

He sees the solution to the task defined above invention also a device on a vehicle, in particular on a Möller wagon for the transport of Möller containers ei blast furnace, which is characterized by at least one NEN, preferably two distance lasers on the rail-bound Möllerwagen, a direct current drive unit of the Möllerwagen as well as stationary reflectors for reflecting the laser as well through a plurality of defined target positions for the Möllerwagen in different work areas and one Data processing system for receiving and delivering data from or to the Möllerwagen and for processing the data.

All data from and to the Möllerwagen is advantageous Radio links transmitted, for this purpose the invention provides that a data radio device for recording and Transfer of data is provided.

Further features, details and advantages of the invention he give themselves up based on the description below as well hand of drawing. This shows in

Fig. 1 is a plan view of a curve section in the traffic lane of a car Möller,

Fig. 2 is a side view of possible positions of the carriage Möller,

Fig. 3 is an overview diagram of the speed control of the Möller wagon according to the invention and in

Fig. 4 shows the program flow of automation of the Möllerwa gene.

The only symbolically indicated in Figs. 1 and 2 Möller car 1 used for transporting a respective Möller bucket 2 in two positions, which are indicated in attached Fig. 2 in the side view.

The Möller tubs 2 to be filled from only dashed interpret th high-hoppers 3 and supported by one of the filling stations to a shaft 4, fully received therein and empty again placed on the Möller carriage in each case in an alternating position, for example the filled bucket 1 is housed in position 1 and the emptied bucket 2 is placed in position 2 , in order to then be moved to the high bunker 3 , in order to be refilled again.

To regulate the speed of the Möllerwagens 1 , the water is at least aligned with a distance laser 5 , which acts on a reflector 6 , wherein along the travel path 7 several re reflectors 6 , referred to in FIG. 1 as 6a and 6b, can be seen easily.

To enable area detection, area switches 8 a and 8 b can be provided, as indicated in FIG. 1, which enable the electronic data processing system to recognize in which area the Möllerwagen is currently located.

Via the data processing program, the Möllerwagen is instructed to move to positions such as those indicated in FIG. 2 in order to be able to pick up different materials from the bunkers of the high bunker 3 according to the necessary recipes.

The combination of the values determined in the data processing system are shown in FIGS . 3 and 4 as block diagrams and labeled accordingly. The inscription there is within this description.

A possible switching in automatic mode between Möller car and a gout cat in the shaft for takeover and down The bucket is shown as follows, GK for gout katze, ZBW for Möllerwagen, HO for blast furnace and WP for control room positions of the gout cat stands:

Coordination at the transfer point initial situation

Empty bucket at the KG in the shaft position
ZBW is waiting in front of the elevator shaft

• 1. Approval of the ZBW's journey under the GK elevator shaft;
• 2. ZBW positions empty bucket position under elevator shaft;
• 3. Command from ZBW to GK to hand over the empty bucket;
• 4. GK sets the empty container down on the ZBW;
• 5. opening the claw;
• 6. signal in the HO control station;
• 7. After acknowledgment from the HO control room attendant (control of the Claw opening via monitor), stroke up to WP1;
• 8. Sonarbero check and feedback WP1 reached by GK to ZBW;  
• 9. ZBW positions full container under shaft;
• 10. Order to GK to take over the full container;
• 11. GK lowers the hoist and clicks the container into place;
• 12. Signal in the HO control center;
• 13. After acknowledgment from the HO control room attendant (control of the Claw over monitor), stroke up to WP2;
• 14. Approval trip from GK to ZBW.

Driving program Möllerwagen (ZBW)

• 1. Zero the balance in the ZBW;
• 2. Approaching the first shaft positions (coke);
• 3. Turntable motor with bucket on;
• 4. Light transmitter on to control the pulling tape or the coke slide reaches the target weight;
• 5. moving to the next filling position;
• 6. Continue with point Z4 to recipe;
• 7. return to the elevator shaft in waiting position;
• 8. Continue with point 1 .

Of course, the described embodiment is Erfin change in many ways without the reason leave thoughts. So the invention is not limited to one special tracking of the Möllerwagens limited, also can positions other than those specified here are approached, In addition to the pure radio transmission of data, Haltpo In addition, data can be transferred via contacts and the like.

Claims (8)

1. A method for controlling the speed of a rail vehicle in metallurgical plants, in particular a Möllerwagens to promote Möller containers of a blast furnace, wherein

• at least one, preferably two, distance lasers for determining successive distances to a track-side reflector ( 6 ) and measurement value evaluation electronics are used on the rail vehicle, and the driving speed is regulated by forming the difference between two successive laser measurement values,
• - A laser measured value is stored as an old value in a measured value memory during the subsequent generation of a current measured value, the old value stored in the measured value memory is subtracted from this value and the result is further processed as an actual value and
• - An actual distance is formed from the current laser measurement value, a target distance is specified from a system-specific position image, and the difference between the target distance minus the actual distance is used as a deviation from the target position for speed correction of the rail vehicle ,

2. The method according to claim 1, wherein a two-point control the driving speed by comparing an actual Ge speed value with a target speed value is taken according to the target speed minus Actual speed <0 = driving the vehicle. 3. The method of claim 1 or 2, wherein the driving speed via step switching of the existing DC current drive is carried out with the supply of driving energy when the  Speed should be increased, and an interruption the driving energy supply when the speed decreases should be, the braking essentially over the roll resistance of the vehicle is made. 4. The method according to any one of the preceding claims, wherein several re along the rail path of the rail vehicle provided for the distance laser (s) are, and a current Be realm recognition is made. 5. The method of claim 4, wherein range switching after a cornering of the rail vehicle become. 6. Establishment in particular to carry out the method according to one of the preceding claims on a railroad stuff in iron and steel works, especially on a Möllerwagen Transport of Möller containers of a blast furnace, with little at least one, preferably two, distance lasers on the rail track stuff, a DC drive unit of the rail vehicle total, trackside reflectors for reflecting the laser beam as well as a number of defined target positions for the rail vehicle in different work areas Chen as well as with a trackside data processing system for recording and delivering data from and to the rails vehicle and for processing data. 7. Device according to claim 6, wherein egg on the rail vehicle ne data radio device is provided.   8. Device according to claim 6 or 7, wherein the rails Vehicle is designed as a Möllerwagen with at least one Sensor per bucket position, which is used to record occupancy is equipped with a bucket.