JP2554206B2 - Operation method for fixed amount payout of unloader and 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 quantitatively discharging a cargo, such as an unloader and a reclaimer, for discharging a load by a circulating excavating bucket.

[0002]

2. Description of the Related Art Conventionally, in the operation of this type of unloader or reclaimer, a driver manually moves the unloader or reclaimer from a position where the machine is stopped to a place where loading / unloading is started, and the unloader or reclaimer is mounted on the machine body near the excavation bucket. While visually observing the monitor of the TV camera installed in the operation room in the driver's cab, the bucket is manually landed at the specified loading position on the loading surface and the bucket movement pattern is programmed into the controller automatically from this position. The pay-out operation is controlled.

[0003]

The above-mentioned prior art has the following problems. In automatic delivery of unloaders, reclaimers, etc., the excavation bucket part automatically moves along the trajectory specified by the pattern, and the load is cut out at the bucket part, but the depth of cut into the loading surface of the bucket is For the amount of excavation taken into the bucket, the driver must monitor the monitor television and adjust the bucket forward / backward and adjust the bucket swing or lateral movement speed manually. This remote manual operation requires skill in adjustment, the depth of cut of the bucket, the amount of excavation taken into the bucket are not stable, and the amount of payout per hour varies, resulting in accurate payout management and cargo handling. It is difficult to manage the schedule.

It is an object of the present invention to propose a fixed amount dispensing operation method for an unloader / reclaimer or the like, which solves the above problems in the prior art.

[0005]

[Means for Solving the Problems] With the support frame of a circulation bucket in this type of device as a fulcrum, from the deposit of the bucket to the fixed point position above the position where the bucket rises, up to the surface of the excavated object in the bucket with a predetermined cutting height. A lightwave type distance detector that measures the distance is arranged, and a comparison value between the excavation amount in the bucket calculated from the measurement value of the detector and the set excavation amount is calculated by the control device, and this comparison value is set to zero. Direction, the bucket swing speed, the bucket circulation speed, or the bucket cutting depth is automatically controlled. Furthermore, the distance to the facing stacking surface is measured at a fixed point position facing both the stacking surfaces at the cutting end position of the bucket with the support frame as a fulcrum. A pair of light wave type distance detectors are set, and a comparison value between the bucket cutting depth and the set cutting depth calculated from the measured values of the pair of detectors is calculated by the control device, and this comparison value is set to zero. Direction of the bucket depth is automatically controlled, and the comparison value between the excavation amount in the bucket and the set amount calculated from the measurement value of the former detector is calculated, and the comparison value becomes zero. Automatically control either the bucket traverse speed or the bucket circulation speed.

[0006]

[Operation] The lightwave distance detector installed on the support frame of the circulating bucket of the unloader or reclaimer at a fixed point above the place where the bucket cuts up is used when the bucket cuts off the load and moves up to a substantially horizontal position. , The distance to the surface of the excavated material taken in this bucket is detected. The timing at which each circulating bucket reaches the position where the above distance detection is performed is detected by another sensor described later and transmitted to the distance detector, whereby the distance detector repeats the measurement. The measured distance is converted into the depth of excavation in the bucket and the amount of excavation by the microcomputer in the control device, and a comparison value with the reference excavation amount set in the control device is calculated. On the other hand, on the supporting frame of the circulating bucket of the unloader or reclaimer, a pair of light wave type distance detectors installed at fixed point positions facing both side stacking surfaces of the bucket cutting position are The distance to the surface, the distance to the stacking surface after the other is cut with a bucket, for example, 2
Repeat the measurement every second. The distance measured for each pair is converted into a bucket cutting depth for each measurement by a microcomputer in the control device, and a comparison position with a reference cutting depth set in the control device is calculated.

The comparison value of the excavation amount and the comparison value of the cutting depth are
It is displayed on the display device and monitored. The automatic operation for performing quantitative excavation is performed by a control device that controls any one of the bucket traverse speed, the bucket circulation speed, and the depth of cut in the direction to make the excavation amount comparison value zero, or first, the depth of cut comparison value. The cutting depth control is executed in the direction of zero, and then either the bucket traverse speed or the bucket circulation speed is controlled in the direction of setting the excavation amount comparison value to zero.

[0008]

EXAMPLE An example of the operating method according to the present invention will be described with respect to the unloader shown in FIG. 1 and the reclaimer shown in FIG. 1 and 2, 2 and 22 are running gantry,
3, 23 are swing frames, 4, 24 are hoisting booms, 6,
26 is an excavator, 7 and 24 are support frames for the excavator,
8,28 are excavation buckets, 9,29 are on-board conveyors, 1
2, 32 are driver's cabs, 13 and 33 are control devices with built-in microcomputers, 14 and 34 are ground conveyors, 17 and 3
7 is a plant.

FIG. 1 shows a swing frame 3 provided on a traveling gantry 2 along a quay 1, a hoisting boom 4 provided on the frame 3, and a column 5 swingably supported at the tip of the hoisting boom 4. An unloader of a type provided with a bucket chain type excavator 6 which is swingably and swingably supported at the lower end of the column 5, 7 is a support frame for supporting the bucket 8 of the excavator 6, and 9 is in the column 5 and the boom 4. A continuous conveyor on the machine, 10 is a chute, 11 is a relay conveyor, 12 is an operator's cab of the unloader provided under the boom 4, 13 is a control device with a built-in microcomputer provided in the operator's room, and 14 is a ground conveyor. By the operation from the control device 13, the excavation bucket 8 circulates in the direction of the arrow 15, and
Is cut out and delivered to the on-board conveyor 9, and is discharged onto the ground conveyor 14 from the opposite end of the conveyor 9 through the chute 10 and the on-board relay conveyor 11. At this time, the traverse of the bucket 8, that is, the movement of the bucket in the direction perpendicular to the paper surface of the drawing is given by the traveling of the unloader gantry 2, and the movement of the bucket 8 in the cutting direction, that is, the rightward movement of the drawing is , The column is moved to the right by traveling and turning the boom, and the vertical movement of the bucket 8 is given by the hoisting operation of the boom 4.

FIG. 2 shows an L-shaped swivel frame 23 provided on a gantry 22 traveling along the pile yard 21, a hoisting boom 24 provided on the swivel frame 23, and a bucket wheel type excavator provided at the tip of the hoisting boom 24. 28 is a bucket of the excavator 26, 29 is an on-board conveyor provided on the hoisting boom 24, 30 is a chute, and 32 is a front part of the revolving frame 23. A driver's cab provided, 23 is a control device with a built-in microcomputer provided in the driver's cab 32, and 34 is a ground conveyor. By the operation from the control device 33, the excavation bucket 28 is rotated in the direction of the arrow 35 in the figure, and the yard 21
The pickles are cut out from the upper pick pile 37, passed to the on-machine conveyor 29, and discharged to the ground conveyor 34 via the chute 30.

Next, FIGS. 3 and 4 are enlarged views of the vicinity of the bucket wheel type excavator 26 of the reclaimer shown in FIG. 2, and show an example of a situation in which the detector used in the present invention is arranged. In the figure, 38 is a light frame for mounting a detector, which is composed of aggregates or pipes fixedly assembled on the support frame 24 of the excavator 26 as a fulcrum, and 39 is a pile 37 which cuts out a plant to a substantially horizontal position. The lightwave distance detector, which is located above the bucket 28a and fixedly arranged on the light frame 39, measures the distance 41 to the excavation surface 40 in the bucket 28a at the ascending position, and 42 is the bucket 28 attached. It is a protruding piece for detecting the bucket position, which is provided inside the annular boss 43 so as to correspond to the position of each bucket 28. In FIG. 4, reference numeral 44 is a photoelectric sensor for detecting a bucket cut-up position [position indicated by 28a] provided on the side surface of the boom 24 across the protruding piece 42 located on the side of the boom 24 under the condition of the bucket 28 shown in FIG. The type switches 45 and 46 are fixedly arranged on the light frame 38 at positions facing both sides of the bucket cut position 28b to the pile 37, that is, the uncut surface and the cut surface, and the facing switches A pair of light wave type distance detectors for measuring the distances 47 and 48 to the surface. For the sake of explanation, the lightwave type distance detector 39 is shown as being arranged diagonally above the uphill position bucket 28a, but the bucket 2 to be measured
It is desirable to place it directly above 8a.

Also in the case of the unloader shown in FIG. 1, light wave type distance detectors 39, 45 and 46 are provided with the support frame 7 of the excavator 6 as a fulcrum in the same manner as described above. The detectors 39, 45, 46 and the photoelectric switch 44 described above are connected to the control devices 13, 33, respectively, and the detector 39 is
The photoelectric switch 44 is at the bucket position, that is, the protruding piece 4
Every time 2 is detected, the distance to the excavated object surface in the bucket 28a that has reached the uphill position is repeatedly measured, and the control devices 13, 33
Then, the microcomputer converts the measured value into the depth of the excavated material and the amount of the excavated material in the bucket 28a, and the control device 13, 33
The comparison value with the reference excavation amount set in step 1 is calculated. The other detectors 45 and 46 are, for example, 2 when the excavator 6 is operated.
Repeated at intervals of a second, the distances to the plucked surfaces on both sides of the bucket cutting completion position are measured. In the control devices 13 and 33, the microcomputer converts the bucket cutting depth at each measurement time point from the measurement values of the detectors 45 and 46, and calculates the comparison value with the reference cutting depth set in the control device.

The above-mentioned two types of comparison values are displayed on a display device, and by monitoring them, the optimum bucket cutting depth in manual operation and the quantitative excavation operation are also performed. Next, FIGS. 5 and 6 show a control flow of the operating method according to the present invention using the measurement by the detector and the calculation by the microcomputer described above. In FIG. 5, only the distance detector 39 system is incorporated in the fixed amount automatic dispensing control by the bucket, and the bucket traverse speed, the circulation speed, and the cutting speed are adjusted to the excavation amount correction corresponding to the detected comparison value between the bucket excavation amount and the set value. This is a case where the automatic correction control is performed by selecting three depths as options.

FIG. 6 shows that the distance detectors 45, 46 and 39 are both incorporated into the fixed amount automatic dispensing control by the bucket, and the bucket detector depth is automatically corrected to the set value by the distance detectors 45, 46 system. In this case, the excavation amount correction by the detector 39 system is automatically controlled using two options, the traverse speed of the bucket and the circulation speed. Such a method is shown in FIG.
The unloader shown in can be similarly applied. Thus, by adopting such a method, it is possible to easily realize automatic and manual both-sided quantitative dispensing operation control of the scattered substances by the bucket, which was difficult to realize in the past, and to significantly improve the efficiency of this type of cargo handling. It will be possible.

[0015]

Effects of the Invention (1) Each time the circulating bucket cuts out the splinter and rises to a substantially horizontal position, the distance to the surface of the load in the bucket is measured by the lightwave distance detector arranged at a fixed position. The controller calculates the excavation amount and the comparison value with the set value,
Automatic correction operation to set the comparison value to zero, or further measure the distance to the actual bucket cut by the light wave type distance detector, and the controller calculates the cut depth and the comparison value with the set value, and compares By performing the automatic correction operation to set the value to zero, it is possible to perform quantitative excavation and withdrawal using a bucket, which was difficult with conventional manual control, and which has not been automated. The efficiency can be greatly improved. (2) The result of the automatic operation can be monitored and confirmed on the display device by detecting the light wave type detector system every moment, and at the same time, the manual operation control can be performed while looking at the monitor during the manual operation.
Since the result can be confirmed, the automatic / manual switching combined operation can be easily performed, and accurate quantitative dispensing operation, dispensing amount management, and schedule management can be realized.

[Brief description of drawings]

FIG. 1 is a schematic layout diagram of an unloader for implementing an operating method according to the present invention.

FIG. 2 is a schematic layout of a reclaimer for carrying out the operating method according to the invention.

FIG. 3 is a side view showing the arrangement of detectors in the excavator in FIG.

FIG. 4 is a plan view of FIG. 3;

FIG. 5 is a schematic diagram of a control flow showing an example of a driving method according to the present invention.

FIG. 6 is a schematic diagram of a control flow showing another example of the driving method according to the present invention.

[Explanation of symbols]

 2 Traveling gantry 3 Revolving frame 4 Elevating boom 6 Excavator 7 Excavator support frame 8 Excavator bucket 9 Onboard conveyor 13 Microcomputer control unit 17 Scatter

Claims (2)

(57) [Claims] 1. A circulating excavation bucket support frame in an unloader / reclaimer or the like is used as a fulcrum, and the bucket is positioned at a fixed point above a position where the bucket cuts up from the deposit, up to the surface of the excavated object in the bucket having a predetermined cut-up height. A lightwave type distance detector that measures the distance is arranged, and by the control device such as the unloader / reclaimer, the excavation amount in the bucket calculated from the measurement value of the detector, and the comparison value with the set excavation amount of the control device. Is calculated, and any one of the bucket traverse speed, the bucket circulation speed, and the bucket cutting depth is automatically controlled in the direction in which the comparison value becomes zero, and a fixed amount payout operation method such as an unloader / reclaimer. 2. A circulating excavation bucket supporting frame in an unloader / reclaimer or the like is used as a fulcrum, and the bucket is positioned at a fixed point above a position where the bucket cuts up from the deposit, up to the surface of the excavated object in the bucket having a predetermined cutting height. A light wave type distance detector for measuring the distance is arranged, and the support frame is used as a fulcrum, and it is located at a fixed point facing both sides of the product surface of the cut end position of the bucket into the product to be opposed. A pair of light wave type distance detectors that measure the distance to the stacking surface are installed, and by the control device such as the unloader / reclaimer,
Compute a comparison value with the bucket cutting depth and the setting cutting depth of the control device calculated from the measured values of the pair of detectors,
Automatically control the depth of cut of the bucket in the direction in which the comparison value becomes zero, and a comparison value with the bucket excavation amount calculated from the measurement value of the former detector and the set bucket excavation amount of the control device. Is calculated, and either the bucket traverse speed or the bucket circulation speed is automatically controlled in the direction in which the comparison value becomes zero, and a fixed amount dispensing operation method for an unloader / reclaimer or the like.