JP3065599B1 - Control device for continuous unloader - Google Patents

Abstract

An excavating surface is widened by changing an excavating radius of a bucket wheel 27 while maintaining a height level of an excavating surface of a load 5 in a hold 4 of a continuous unloader 1 including a bucket wheel 27. It is possible to carry on and to stabilize the unloading work continuity and unloading amount. A continuous unloader has five axes (running, boom turning, boom elevating, vertical arm rotation, tilting of a tilting portion 25 which is a lower portion of a vertical arm), and a vertical arm 23 is connected to a vertical axis 24. Tilting part 2 while rotating it around
The bucket wheel 27 installed in the 5 is rotated to excavate and discharge the load in the hold. When changing the target value of the digging radius of the bucket wheel, the tilt angle θ4 and the traveling position are set so that the height level of the digging surface does not change and the position (x, y) of the vertical axis of the vertical arm does not change. Position control and speed control of ε1, turning angle θ11 and elevation angle θ21 are performed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a continuous unloader using a bucket wheel, and more particularly to an excavation surface level of a load by a bucket wheel while maintaining the position (x, y) of a vertical axis of a vertical arm. Is maintained at a desired value.

[0002]

2. Description of the Related Art A continuous unloader using a bucket wheel has an advantage that the program control of the unloading work is easier than a continuous unloader using a chain bucket.

As prior arts of a continuous unloader, there are Japanese Patent Application Laid-Open Nos. 8-258895 and 8-268568. However, a loading operation is performed by using a bucket wheel while maintaining the digging surface level of the load in the hold of a carrier. No configuration exists.

[0004]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a program which is designed so that the digging radius is sequentially increased while the digging surface level of a load in a hold or the like excavated by a bucket wheel is accurately maintained. An object of the present invention is to provide a control device for a continuous unloader, which operates as described above and can perform an efficient unloading operation.

[0005]

According to the present invention, there are provided: (a) a traveling body 7 capable of traveling in a horizontal y direction; (b) a boom 12 provided on the traveling body so as to be capable of turning and elevating; (E) a vertical arm 23 provided on the boom so as to be rotatable about a vertical axis, (d) a tilting section 25 provided on the vertical arm so as to be tiltable about a horizontal axis and a bucket wheel 27, and (e) a bucket wheel. A conveyor for transferring the load from the vehicle to the tilting unit, the vertical arm, and the boom in this order; (f) traveling drive means for the traveling body; (g) swing drive means for the boom; and (h) elevation drive for the boom. Means; (i) rotary drive means for the vertical arm; (j) tilt drive means for the tilting section; and (k) bucket wheel 2 about the vertical axis of the vertical arm.
7, a digging radius setting means for setting a target value (r + α) of the digging radius r; (l) a tilting angle current value θ4 of the tilting section 25, a boom turning angle current value θ1, and a boom elevation angle current value θ2. Detecting means for detecting a running position current value ε, which is the position of the running body in the y direction; and (m) controlling means, which responds to outputs from the excavating radius setting means and the detecting means, Using the target value (r + α) of the excavation radius, the tilt angle target value θ41 is calculated (from Expression 11 described later), and using the tilt angle target value θ41,
The elevation angle target value θ21 so that the height z of the excavation surface does not change.
(From Expression 12), and using the elevation angle target value θ21, the turning angle target value θ is set so that the position of the vertical axis of the vertical arm in the horizontal x direction perpendicular to the y direction does not change.
11 (from Expression 13), and using the elevation angle target value θ21 and the turning angle target value θ11, the traveling position target value ε1 is calculated so that the position in the y direction does not change (from Expression 14). By using the preset excavation direction θ of the bucket wheel 27 and the target turning angle θ11, the rotation angle target value θ31 of the vertical arm 23 is calculated (from Expression 15), and the current excavation radius r of the bucket wheel is excavated. A widening speed V (= dr / dt) of the excavation radius r for obtaining the radius target value (r + α) is calculated, and the speed moved by a predetermined ratio from the tilt angle current value θ4 to the tilt angle target value θ41. The control tilt angle θ42 is calculated (from Expression 18), and the tilt angle target speed d is calculated using the widening speed V and the speed control tilt angle θ42.
Calculate θ41 / dt (from equation 17) and calculate the current elevation angle θ
The moving speed control elevation angle θ22 is calculated (from Equation 21) by the predetermined ratio between 2 and the elevation angle target value θ22, and the tilt angle target value θ41, the speed control tilt angle θ42, and the speed are calculated. Using the control elevation angle θ22,
The elevation angle target speed dθ21 / dt is calculated so that the target value of the speed dz / dt in the height z direction becomes 0 (from Expression 20), and the above-described angle between the current turning angle value θ1 and the turning angle target value θ11 is calculated. The moving speed control turning angle θ12 is calculated by a predetermined ratio (from Expression 24), and the above-described target angle of elevation angle θ22, the target angle of elevation angle dθ21 / dt, and the turning angle θ12 for speed control are used. Speed dz / d in x direction
The turning angle target speed dθ11 is set so that the target value of t becomes 0.
/ Dt (from equation 23), and the speed control tilt angle θ2
2, the speed control turning angle θ12, and the elevation angle target speed dθ.
Using 21 / dt and the turning angle target speed dθ11 / dt, the target traveling speed dε1 / dt is calculated so that the target speed of the speed dy / dt in the y direction becomes 0 (Equation 26).
From the above, the tilt angle target value θ41, the elevation angle target value θ21, the turning angle target value θ11, the traveling position target value ε1, and the rotation angle target value θ31 calculated in this way are achieved, and the tilt angle is set. Target speed dθ41 / dt, elevation angle target speed dθ21 / dt, turning angle target speed dθ11 / dt
And position control of the tilting drive means, the elevation drive means, the turning drive means, the travel drive means, and the rotation drive means so that the travel speed target value dε1 / dt is achieved. And control means for controlling the continuous unloader.

In accordance with the present invention, a continuous unloader using a bucket wheel has five axes of motion, motion, which are running, boom turning, boom raising, vertical arm rotation, and vertical arm rotation. The tilting of the tilting portion, which is the lower part of the arm, in which the vertical arm is rotated and the bucket wheel installed in the tilting portion is rotated to discharge the load in the hold of the carrier. The load may be, for example, a bulk material such as coal or grain, or may be a powder or the like.

In order to widen the digging radius r of the bucket wheel to a preset target value (r + α), the control means tilts the tilting unit so that the tilting unit has the target value of the digging radius (r + α) by the tilt driving means. At this time, the traveling position ε of the traveling driving means, the turning angle θ1 of the turning driving means, and the elevation angle θ2 of the elevation driving means are simultaneously controlled to control the position (x, y) and the height (z) of the excavated surface are not changed. Therefore, while maintaining the level of the digging surface of the cargo in the hold, the tilting portion can be tilted to widen the digging radius. At this time, while the position (x, y) of the vertical axis of the vertical arm is held and the vertical arm is driven to rotate around the vertical axis by the rotary driving means, the loading operation is continuously and stably performed by the bucket wheel. It can be carried out.

[0008]

According to the present invention, when changing the excavation radius r of the bucket wheel, the vertical arm, and thus the tilting portion, is rotated about its vertical axis by the rotary drive means to control the rotation angle θ3. Thereby, the excavation direction θ of the bucket wheel is not changed, and the unloading operation can be performed stably.

[0010]

According to the present invention, the tilting angular velocity dθ41 / dt of the tilting portion is controlled by the control means in response to the target value V of the widening speed of the excavation radius set in advance. Further, the control means controls the elevation angle speed dθ21 / dt, the turning angle speed dθ11 / dt, and the traveling speed dε1 / dt, and thus the operation speed of each axis is controlled. In this way, not only the position control for bringing the excavation radius r to the target value (r + α) is performed, but also the speed control is performed. By adding the speed control to the position control in this way, it is possible to prevent the deviation between the ideal operation line and the actual operation line of each axis from occurring.

[0012]

According to the present invention, the target value (r
+ Α) and the target value V of the widening speed of the excavation radius set in advance, the control means performs calculation of the position control and speed control of each axis by the calculation means, which is obtained by the calculation means. The transmitted data is transmitted to a drive circuit to drive the tilt drive unit, the traveling drive unit, the turning drive unit, the elevation drive unit, and the rotation drive unit. Such a control device can be realized, for example, by a combination of a relatively small-sized computer as an arithmetic means and a general-purpose programmable controller. Alternatively, for example, it can be realized only by a high-speed and high-function programmable controller. Therefore, the present invention can be easily implemented by using a drive circuit realized by the existing programmable controller or the like as it is and additionally providing an arithmetic unit.

Further, according to the present invention, the configuration in which the speed control is added to the position control can prevent the operation line of each axis from greatly deviating from the ideal operation line.

The reason for this will be described by taking, as an example, the control of holding the excavation surface level and the excavation center when the tilting portion below the tilting arm is tilted. In the position control, the target position of each motion is set such that the bucket wheel and the excavation center are always on the ideal operation line. That is, the target position is calculated so that the bucket wheel is located vertically above the operation start point.

However, even if the target position is on the ideal operation line, the balance of the speed and acceleration / deceleration time of each motion for operating while maintaining the ideal operation line depends on the position and angle of each motion. Therefore, it is difficult to operate on an ideal operation line without performing speed control, and a deviation occurs between the ideal operation line and the actual operation. Therefore, during the operation of the unloader, the transmission of the target value is performed, and the detection of the position, the angle, and the operation speed of each axis, which are the current values of each motion, is always performed. Done at the same time.

[0017]

FIG. 1 is a longitudinal sectional view of an embodiment of the present invention, and FIG. 2 is a plan view of the embodiment of the present invention shown in FIG. The continuous unloader 1 is provided on the quay 2 and has a function of unloading the bulk goods 5 stored in the hold 4 of the carrier 3 berthing on the sea to the ground. A pair of rails 6 are laid on the quay 2, and the traveling body 7 is guided by the rails 6 and can travel horizontally. A traveling driving means 8 is provided for traveling the traveling body 7 guided by the rail 6.

A turning table 9 is provided on the traveling body 7 so as to be able to turn around a vertical axis 10.

A boom 12 which can be displaced in an elevation angle around an elevation axis 11 having an axis in an imaginary plane perpendicular to a vertical axis 10 is pin-connected to the swivel 9. The swivel 9 also
A balancing boom 14 is provided around the shaft 13 so as to be angularly displaceable. The boom 12 and the balancing boom 14 are connected to a position frame 17 by shafts 15 and 16 so as to be angularly displaceable. Each of the shafts 11, 13, 15, and 16 is disposed at a vertex position of a parallelogram, and includes a boom 12, a balancing boom 14, a swivel 9 and a support frame 17.
Constitutes a parallelogram link. A counterweight boom 18, a front tension beam 19, a rear tension beam 20, and a counterweight 21 are fixed to the balancing boom 14.

The support frame 17 is provided with a vertical arm 23 rotatable about a rotation axis 24. The rotation axis 24 extends in the vertical direction. The lower part of the vertical arm 23 constitutes a tilting part 25. The tilting section 25 is capable of tilting angular displacement about a tilting axis 26. The tilt shaft 26 has an axis perpendicular to the rotation axis 24 in a virtual plane perpendicular to the rotation axis 24 of the vertical arm 23. A bucket wheel 27 is installed below the tilting section 25. The rotation axis 28 of the bucket wheel 27 is located at a position shifted from the longitudinal axis 29 of the tilting portion 25 and is in an imaginary plane perpendicular to the axis 29. The rotation axis 28 of the bucket wheel 27 is
And the longitudinal axis 29 of the tilting portion 25 are parallel to an imaginary plane. The driver who operates the continuous unloader 1
Get in the cab 30. The cab 30 is provided with the bucket wheel 2
One side (upper side in FIG. 2) than 7 is fixed to the tilting portion 25. In FIG. 1, the boom 12a and the vertical arm 23a show a state where the elevation angle is maximum, and the boom 12b shows an angle where the elevation angle is minimum.

In FIG. 1, a turning drive means 41 for rotating the turning table 9 about the vertical axis 10 is provided. In order to raise and lower the boom 12, a raising and lowering drive means 42, which is a double-acting hydraulic cylinder, is provided between the turntable 9 and the balancing boom 14. Rotation driving means 43 is provided to rotationally drive the vertical arm 23 about its vertical axis 24. Further, a tilt drive unit 44, which is a double-acting hydraulic cylinder for tilt-driving the tilt unit 25, is provided between the vertical arm 23 and the tilt unit 25.

FIG. 3 is a view for explaining a route for transporting the load 5 in the hold 4 to the ground on the quay 2 using the continuous unloader 1. The load excavated by the bucket wheel 27 is moved by the belt-type vertical conveyor 32 into the tilting section 2.
5 and the vertical arm 23, and further through a boom conveyor 33 provided on the boom 12,
And the traveling body 7 is conveyed via the in-machine conveyor 34.
Thus, the load 5 in the hold 4 of the carrier 3 is discharged.

FIG. 4 is a longitudinal sectional view of the hold 4 of the carrier 3, and FIG. 5 is a horizontal sectional view of the hold 4. A hole 35 for loading and unloading the load 5 is formed on the upper deck of the carrier 3. The bucket wheel 27 and the tilting portion 25 are inserted and discharged from the holes 35. Excavation is performed by the bucket wheel 27 at a total depth of each of a plurality of stages (for example, six stages). The depth of each step is, for example, 2.5 m, and does not excavate 2.5 m at a time, but varies depending on the type of load. . Although the increment of the excavation radius differs depending on the type of the load 5, for example, 2
It may be 0 to 40 cm. The vertical axis 24 of the vertical arm 23 is moved from the initial position corresponding to the center of the hole 35 to the position shown in FIG.
5 is displaced to the left and right in FIG. This causes the vertical arm 23, and thus the bucket wheel 27, to be rotated 360 degrees about the vertical axis 24, whereby a full rotation widening indicated by reference numeral 37 is performed. Further, as the vertical axis 24 is displaced to the left and right in FIGS. 4 and 5, the central part rotation widening excavation is performed as indicated by reference numeral 38. Further, the vertical axis line 24 is displaced to the left and right in FIGS.
The partial rotation widening excavation is performed as shown by.

As shown in FIGS. 4 and 5, the vertical arm 23 is moved down in the vertical direction and the vertical arm 23 is rotated, so that the down excavation is performed, and each step shown in FIG. Tilting part 25 holding
By performing the widening excavation by tilting of the vertical arm 23 and the rotation of the vertical arm 23 and repeating such an operation, the operation is performed and the unloading is performed by the continuous unloader.

FIG. 6 is a block diagram showing an electrical configuration of an embodiment of the present invention. The operator cab 30 is provided with an operation device 46 operated by a driver. The driver
By operating the operating device 46 and outputting a command signal for instructing the arithmetic circuit 48 of the control means 47 on the type of composite operation to be performed and the amount of the composite operation to be performed, based on a command by executing a preset operation program. . The arithmetic circuit 48
For example, it is realized by a small computer or the like, and an operation such as a trigonometric function is also possible. The detector 49 is
Traveling driving means 8 and turning driving means 4 of continuous unloader 1
1. The position and angle of each motion of running, boom turning, boom elevating, vertical arm rotation and tilting of the tilting unit by the raising and lowering driving means 42, the rotation driving means 43, and the tilting driving means 44 are detected. Indicated by The speed detector 51 detects the operation speed of each of the above-mentioned motions of the continuous unloader 1, and is generally indicated by 51. The speed detector 51 detects a traveling speed, a boom turning angular speed, a boom elevation angle speed, a vertical arm rotation angular speed, and a tilt angular speed of the tilting unit. Outputs of these detectors 49 and 51 are given to an arithmetic circuit 48 provided in the control means 47. The control means 47 includes an arithmetic circuit 48
In addition to the above, a driving circuit 52 realized by a programmable controller or the like is provided, and the driving circuit 52 includes driving means 8, 41 for driving, turning, elevating, rotating, and tilting.
To 44 are driven. The drive circuit 52 is provided with a memory 53, receives and stores data from the arithmetic circuit via the line 54, and drives the drive means 8, 41 to 44 according to the stored data.

The arithmetic circuit 48 responds to the output of the operating device 46 and converts the signals such as the position, angle, speed and angular velocity detected by the detectors 49 and 51 of each motion based on the composite operation command signal and the composite operation amount. Responding, calculating an operation amount and an operation speed for moving to a target position of each motion in the composite operation, deriving a signal P1 for position control, deriving a signal V1 for speed control, and 52 and stored in a memory 53. The drive circuit 52 stores the data of the position control signal and the speed control signal representing the operation amount and operation speed of each motion provided from the arithmetic circuit 48 in the memory 53, and drives the drive means 8, 41 to 44 for each motion. I do. In this specification,
Position may have to be interpreted as a concept including angle, and velocity may have to be interpreted as a concept including angular velocity.

In the arithmetic circuit 48, based on the composite operation command signal α1 and the composite operation amount signal β1 output from the operation unit 46, a position control detection signal representing the position and angle of each motion given from the detector 49. The position control signal p1 and the speed control signal V1 of each motion for realizing the composite operation are calculated in response to the p and the operation speed signal v given from the speed detector 51, and are calculated by the drive circuit 52 as described above. give. In the drive circuit 52, the position control signal P1 representing the operation amount of each motion output from the arithmetic circuit 48
And the drive control signal V1 representing the operation speed, and controls the drive means 8, 41 to 44 of each motion to realize the composite operation.

FIG. 7 shows an operation circuit 48 and a drive circuit 52 included in the control means 47, the load 5 in the hold 4 of the carrier 3.
It is a flowchart for demonstrating the operation | movement which excavates only one step. In this operation, reference (1) in FIG.
In the steps (3) and (3), a preparatory operation is performed, and in steps (4) to (10), excavation for one stage is performed. The operation is repeated, and in step (12), bottoming work for excavating the load 5 remaining at the bottom of the hold 4 is performed.

In step (1) in FIG. 7, the driver operates the operating device 46 to move the vertical arm 23 from the hole 35 in FIG. This vertical arm 23
Vertical axis 24 coincides with the center of the hole 35. In the next step (3), the transport systems including the conveyors 32, 33, and 34 and the bucket wheel 27 are sequentially activated.

In excavating one step, in step (4), the tilting portion 25 is moved with the vertical axis 24 of the vertical arm 23 moved to the center of the hole 35 for excavation.
Is set, and the bucket wheel 27 is moved to the initial position. In step (5), the vertical arm 23 is driven to rotate about the vertical axis 24, excavates sequentially to a predetermined depth, and the down excavation is performed. In step (6), the tilting unit 2 is moved to a predetermined cutting amount.
5 is tilted, and the vertical arm 23 rotates 360 degrees around its vertical axis 24, so that the excavation is sequentially repeated near the ship wall of the hold 4. Thus, the full-rotation widening excavation work 37 shown in FIG. 5 is performed. In step (7), the excavation is sequentially repeated to the vicinity of the ship wall by tilting the tilting portion 25 to a predetermined cutting amount and rotating in a fan shape around the vertical arm 23. In this way, the central part rotation widening excavation work 38 shown in FIG. 5 is performed. In step (8), the vertical arm 23 is moved to the partial rotation excavation initial position, and the tilting unit 25 is moved.
Is set, and the rotation center which is the vertical axis 24 is shifted. In step (9), the tilting unit 25 is moved to a predetermined cutting amount.
Tilts, and rotates in a fan shape around the vertical arm 23, thereby sequentially excavating to the vicinity of the ship wall. Thereby, the partial rotation widening excavation work 39 is performed. Step (1
In (0), the holes 35 are formed in the same manner as in (8) and (9).
Excavation on the opposite side with respect to the center of.

FIG. 8 is a skeleton elevation view of the continuous unloader 1 according to one embodiment of the present invention, and FIG. 9 is a skeleton plan view of the continuous unloader 1. With reference to these drawings, a combined operation of position control for changing the excavation radius r to the target value (r + α) will be described. On the quay 2 on which the continuous unloader 1 is installed, a rectangular coordinate system in which the direction X perpendicular to the traveling rail 6, the traveling rail direction is Y, and the vertical upward Z is taken, and one point on the quay 2 is set as the origin. I do. The X direction and the Y direction are horizontal.

At this time, as variables representing the attitude of the continuous unloader 1, (x, y): the coordinates of the vertical axis 24 of the vertical arm 23 on the XY plane, and (z): the digging surface (bucket wheel 27) on the ZX plane. R: Excavation radius (distance from the vertical axis 24 of the vertical arm 23 to the tip of the bucket wheel 27) θ: Excavation direction of the bucket wheel 27 It is calculated by the formula shown.

X = (L1cosθ2-LB + LE) cosθ1 (1) y = − (L1cosθ2-LB + LE) sinθ1 + ε (2) z = LC + L1sinθ2-L2-L3cosθ4 + LFsinθ4-LD (4) θ4θ3θ4θ3θ4θ3θ4θ3θ4θ3θ4θ3θ4θ3θ4θ3θ4θ3θ4θ3θ4θ3θ4θ3 + θ3θ4θ3θ4θ3θ4θ3 + θ4θ3 + θ3θ3θ4θ3 + θ3θ4θ3 + θ3θ4θ3θ4θ3 + θ3θ4θ3 + θ4θ3 + θ3θ4θ3 + θ3θ4θ3 + θ4θ3 + θ3θ4θ3 + θ3θ3θ3) θ = (L1cosθ2-LB + LE) cosθ1 (1) y = − (L1cosθ2-LB + LE) sinθ1 + ε (2) z = LC + L1sinθ2-L2-L3cosθ4 + LFsinθ4-LD. θ1 + θ3 (5) where, ε: current position of the traveling position θ1: current value of the turning angle of the boom 12 θ2: current value of the elevation angle of the boom 12 θ3: current value of the rotation angle of the vertical arm 23 θ4: current angle of the tilting portion 25 Value (above, variables) L1: Length of boom 12 L2: Length of vertical portion of vertical arm 23 L3: Length of tilting portion 25 at the bottom of vertical arm 23 LB: Boom elevating axis 11 from turning center 10 of boom 12
LC: Z-coordinate of the boom elevating axis 11 LD: Radius of the bucket wheel 27 LE: Distance from the tip of the boom 12 to the vertical axis 24 of the vertical arm 23 LF: Bucket wheel from the vertical axis 24 of the vertical arm 23 This is the distance to the 27 rotation center (the above is a fixed parameter).

Here, the excavation radius is changed from r to (r + α) without changing the coordinates (x, y) of the vertical axis 24 of the vertical arm 23, the Z coordinate (z) of the excavation surface, and the excavation direction θ of the bucket wheel 27. Assume a composite operation that changes to
Ε, θ1, θ2, θ3, for realizing this composite operation
The target values of θ4 are ε1, θ11, θ21, θ3, respectively.
Assuming that 1, θ41, x = (L1cosθ21−LB + LE) cosθ11 (6) y = − (L1cosθ21−LB + LE) sinθ11 + ε1 (7) z = LC + L1sinθ21−L2-L3cosθ41 + LFsin R + α = L3 sin θ41 + LFcos θ41 + LD (9) θ = θ11 + θ31 (10) Hereinafter, ε1, θ11, θ21, and θ3 are obtained from Expressions 6 to 10.
A method for obtaining 1, θ41 will be described. First, from Equation 9,

[0035]

(Equation 1)

Equation (11) is derived from Equation (11).
41 can be obtained. Here, from Equation 8,

[0037]

(Equation 2)

Equation (12) is derived from Equation (12). By substituting θ41 obtained from Equation (11) into Equation (12), θ21
Can be requested. Next, from Equation 6,

[0039]

(Equation 3)

Equation (13) is derived by substituting θ21 obtained from Equation (12) into Equation (13).
Can be requested. Further, from Expression 7, Expression 14 is derived from ε1 = y + (L1 cos θ21−LB + LE) sin θ11 (14). By substituting θ21 obtained from Expression 12 and θ11 obtained from Expression 13 into Expression 14, ε1 Can be requested. Finally, from Expression 10, Expression 15 is derived from θ31 = θ−θ11 (15). By substituting θ11 obtained from Expression 13 into Expression 15, θ31 can be obtained.

In this manner, when changing the excavation radius without changing the position of the vertical axis 24 of the vertical arm 23 and the excavation surface level of the bucket wheel 27, traveling, boom turning, boom raising, vertical arm rotation, tilting portion The target value of each axis of the tilt can be calculated.

FIG. 10 is a flowchart for explaining the operation of performing position control by the arithmetic circuit 48 of the control means 47. From step a1 to step a2, an operation input is input to the operating device 46 to start the compound interlocking operation of each axis to change the excavation radius r of the bucket wheel 27.
By the driver. In step a3, the detector 49
Current position ε, θ1, θ2, θ3 of each motion from
θ4 is detected and supplied to the arithmetic circuit 48. In step a4, values such as the current position coordinates are calculated based on Equations 1 to 5.

In step a5, the target position coordinates when the excavation radius is changed from r to (r + α) are calculated based on the inputs from the operating device 46, based on Expressions 6 to 10. In step a6, the calculation of the target position and the angle of each motion is performed by the above-described equations 11 to 15.
At step a7, the operation command signal P1 of each motion is output and given to the drive circuit 52. In step a8, the operation command signal of each motion is stored in the memory 53, and in step a8, the operation of each motion is started.

In step a9, after completing the calculation of the target position and angle of each motion in step a6, the data is transmitted from the arithmetic circuit 48 to the drive circuit 52, and each motion operation is started in step a8. Then, it is determined whether a predetermined time has elapsed. During or after the operation of each axis, it is determined in step a10 whether or not a stop operation has been input from the operating device 46. If a stop operation has been entered,
In step a11, the motion of each axis is stopped, and in step a12, a series of operations ends. If a stop operation has not been input from the operation device 46 in step a10, the process returns to steps a3 and a4, and the operation is repeated.

FIG. 11 is a flow chart for explaining the operation of the arithmetic circuit 48 of the control means 47 according to another embodiment of the present invention. This embodiment is similar to the previous embodiment. Steps b1 to b in FIG.
6, b7 to b12 correspond to FIG.
Correspond to steps a1 to a12, respectively. In particular, in this embodiment, not only position control but also speed control is performed in order to prevent a large deviation between the actual operation line of each axis and the ideal operation line. The speed control will be described.

First, when both sides of Expression 4 are differentiated by time t,

[0047]

(Equation 4)

Here, the target speed of each axis is defined as "the speed at which the operating speed at the time of moving 1/2 from the current position to the final target value is set so as to satisfy a predetermined value".
At this time, the target speed dθ41 / dt of θ4 is obtained from Expression 16 as follows:

[0049]

(Equation 5)

Is as follows. Next, when both sides of Expression 3 are differentiated with respect to time t,

[0051]

(Equation 6)

From the equation (19), the target speed dθ21 / d of θ2 is obtained.
t is that the target value of the speed dz / dt in the z direction is 0,

[0053]

(Equation 7)

Here, θ42 and dθ41 / dt are values calculated by Expressions 18 and 17, respectively.

[0055]

(Equation 8)

Is as follows. Further, when both sides of Expression 1 are differentiated by t,

[0057]

(Equation 9)

From Equation 22, the target speed dθ11 / d of θ1 is obtained.
t is 0 because the target value of the speed dx / dt in the x direction is 0.

[0059]

(Equation 10)

Here, θ22 and dθ21 / dt are values calculated by Expressions 21 and 20, respectively.

[0061]

[Equation 11]

Is as follows. Finally, differentiating both sides of Equation 2 gives

[0063]

(Equation 12)

From equation 25, the target speed dε1 / dt of ε
Since the target value of the speed dy / dt in the y direction becomes 0,

[0065]

(Equation 13)

Where θ12, θ22, dθ11 / d
t and dθ21 / dt are given by Equation 24, Equation 21 and Equation 2, respectively.
3. This is a value calculated by Expression 20.

Thus, the vertical axis 24 of the vertical arm 23 is
Calculating the target speed of each axis of running, boom turning, boom elevating, and tilting of the tilting unit 25 for vertical arm rotation when changing the excavation radius without changing the position of the excavator and the excavation surface level of the bucket wheel 27. Can be.

In step b61 of FIG.
In response to the current position and angle of each axis from the detectors 49 and 51 obtained in step 3, and the current velocity and angular velocity of each axis, a signal for position control is calculated in step b6 as described above. In addition, in the next step b61,
Based on the above equations 17, 20, 23, and 26, the target speed for each axis is calculated, and the signal V1 for speed control is used as data together with the signal P1 for position control as data.
The signal is transmitted from the arithmetic circuit 48 to the drive circuit 52.

In the present invention, the configuration in which the speed control is added to the position control can prevent the operation line of each axis from largely deviating from the ideal operation line. The reason will be described.
The unloader 1 has five axes of motion, and moves on an ideal operation line unless the speed between each motion is adjusted (set an appropriate speed) irrespective of the delay in the transmission time of the arithmetic and control unit. It is difficult. For example, only the traveling completes the predetermined movement first and waits for the operation of another motion. As a result, an accident such as a collision with a ship wall or the like may occur in some cases.

The amount of operation of each motion required to increase the width from the excavation radius r to (r + α) differs depending on the current position of the unloader 1 such as the current angle (tilt angle) of the tilting section 25 or the current turning angle of the boom 12. . For example, FIG.
12 (1) and FIG. 12 (2), the amount of movement of the tilt angle θ4 of the tilting portion 25 is different from each other. For example, in FIG. 12 (1), It is large and small in FIG. Therefore, in order to stabilize the unloading amount during the operation (widening) as much as possible, it is necessary to unify the time required for widening to a predetermined time as much as possible (for example, 40 cm in about 10 seconds), and speed control of each motion is indispensable. It is.

Even if the signal transmission time delay is very small (for example, 0.1 second), in the case of the driving operation with only one step of widening (for example, 40 cm), particularly, the target position calculation is performed before starting operation. It is impossible to move on an ideal operation line without speed control.

[0072]

According to the present invention, the excavation radius is increased by tilting the tilting portion while maintaining the height level of the excavation surface, which is the lower surface of the bucket wheel, installed in the tilting portion below the vertical arm. I can do it. At this time, since the vertical axis of the vertical arm is maintained, only the operation of changing the excavation radius r is required, and the work of loading the cargo in the hold of the carrier can be performed smoothly, and the continuous loading speed can be achieved. To carry out the unloading operation.

According to the present invention, the excavation radius can be changed without changing the excavation direction θ of the bucket wheel by angularly displacing the vertical arm about its vertical axis, thereby stabilizing the unloading amount. Can be further improved.

According to the present invention, not only the above-described position control of each axis of the continuous unloader but also the speed control is performed, so that the actual operation line of each axis coincides with the ideal operation line. Thus, a smooth operation can be performed.

According to the present invention, in performing the speed control, the final target values θ41, θ4 are calculated from the current values θ4, θ1, θ2.
Since speed control is performed based on the moved value by a predetermined ratio (for example, １ ／ in the above-described embodiment) up to 11, θ21, a smooth speed of each axis can be obtained. In particular, according to the present invention, a tilt drive means,
The elevation drive means, the rotation drive means, the travel drive means, and the rotation drive means are provided with the calculated tilt angle target value θ41, the elevation angle target value θ21, the turn angle target value θ11, and the travel position target value ε1. , The rotation angle target value θ31, and the position control, and the tilt angle target speed dθ41 /
dt, the target elevation angle dθ21 / dt, the target turning angle dθ11 / dt, and the target traveling speed dε1 / dt are controlled to maintain the vertical arm position on the vertical line. While allowing the bucket wheel to move horizontally.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view of an embodiment of the present invention.

FIG. 2 is a plan view of the embodiment of the present invention shown in FIG.

FIG. 3 shows the load 5 in the hold 4 using the continuous unloader 1.
Is a diagram for explaining a route for transporting the ground to the quay 2.

FIG. 4 is a longitudinal sectional view of a hold 4 of the carrier 3;

FIG. 5 is a horizontal sectional view of the hold 4 shown in FIG. 4;

FIG. 6 is a block diagram illustrating an electrical configuration according to an embodiment of the present invention.

FIG. 7 is a flowchart for explaining an operation of excavating the load 5 in the hold 4 of the carrier 3 by one stage by the arithmetic circuit 48 and the drive circuit 52 included in the control means 47;

FIG. 8 is a skeleton elevation view of the continuous unloader 1 according to the embodiment of the present invention.

FIG. 9 is a skeleton plan view of the continuous unloader 1;

FIG. 10 is a flowchart for explaining an operation of performing position control by an arithmetic circuit of the control means.

FIG. 11 shows a control unit 4 according to another embodiment of the present invention.
7 is a flowchart for explaining the operation of the arithmetic circuit 48 of FIG.

FIG. 12 is a simplified diagram for explaining the reason why adding the speed control to the position control prevents the operation line of each axis from largely deviating from the ideal operation line.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Continuous unloader 3 Carrier 4 Cargo hold 5 Load 6 Rail 7 Traveling body 8 Travel drive means 9 Revolving base 10 Vertical axis 11 Elevation axis 12 Boom 23 Vertical arm 24 Rotation axis 25 Tilt part 26 Tilt axis 27 Bucket wheel 28 Rotation axis 41 Rotation Drive means 42 Elevation drive means 43 Rotation drive means 44 Tilt drive means 46 Operating device 47 Control means 48 Arithmetic circuits 49, 51 Detector 52 Drive circuit 53 Memory

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-9-286524 (JP, A) JP-A-9-25012 (JP, A) JP-A-6-80252 (JP, A) 21634 (JP, U) (58) Field surveyed (Int. Cl. ⁷ , DB name) B65G 67/60-67/62

Claims (1)

(57) [Claims] 1. A traveling body 7 capable of traveling in a horizontal y-direction, a boom 12 provided on a traveling body so as to be able to turn and ascend, and c) rotating around a vertical axis on the boom. (D) a tilting portion 25 provided on the vertical arm so as to be tiltable about a horizontal axis and provided with a bucket wheel 27; and (e) a load from the bucket wheel is A conveyor for transporting the vertical arm and the boom in this order; (f) traveling drive means for the traveling body; (g) swing drive means for the boom; (h) elevation drive means for the boom; (J) tilt drive means for the tilting portion; and (k) bucket wheel 2 about the vertical axis of the vertical arm.
7, a digging radius setting means for setting a target value (r + α) of the digging radius r; (l) a tilting angle current value θ4 of the tilting section 25, a boom turning angle current value θ1, and a boom elevation angle current value θ2. Detecting means for detecting a running position current value ε which is the position of the running body in the y direction; and (m) controlling means, responsive to outputs from the excavating radius setting means and detecting means, Using the target value (r + α) of the excavation radius, the tilt angle target value θ41 is calculated. Using the tilt angle target value θ41, the elevation angle target value θ21 is calculated so that the height z of the digging surface does not change. Using the elevation angle target value θ21, the turning angle target value θ11 is calculated so that the position of the vertical axis of the vertical arm in the horizontal x direction perpendicular to the y direction does not change, and the elevation angle target value θ21 and Using the turning angle target value θ11,
The traveling position target value ε1 is calculated so that the position in the y direction does not change, and the rotation angle target value θ31 of the vertical arm 23 is calculated using the preset excavation direction θ and the turning angle target value θ11 of the bucket wheel 27. Is calculated, and the widening speed V of the digging radius r for making the current digging radius r of the bucket wheel into the digging radius target value (r + α) is calculated, and the width from the tilting angle present value θ4 to the tilting angle target value θ41 is calculated. Moved speed control tilt angle θ by a predetermined ratio
42, and using the widening speed V and the speed control tilt angle θ42,
The tilt angle target speed dθ41 / dt is calculated, and the moved speed control tilt angle θ22 is calculated by the predetermined ratio between the current tilt angle current value θ2 and the target tilt angle value θ22. The velocity d in the height z direction using the velocity control tilt angle θ42 and the velocity control elevation angle θ22.
The elevation angle target speed dθ such that the target value of z / dt becomes zero.
21 / dt, and the speed control turning angle θ12 moved by the predetermined ratio between the turning angle current value θ1 and the turning angle target value θ11 is calculated, and the elevation angle target value θ22 and the elevation angle target Speed dθ21 / dt
Using the speed control turning angle θ12, a turning angle target speed dθ11 / dt is calculated so that the target value of the speed dz / dt in the x direction becomes 0, and a speed control tilt angle θ22; Turning angle θ12 for speed control
The speed dy / d in the y direction by using the target elevation angle speed dθ21 / dt and the target turning angle speed dθ11 / dt.
The traveling speed target value dε1 is set so that the target speed at t becomes 0.
/ Dt, and the tilt angle target value θ41, the elevation angle target value θ21, the turning angle target value θ11, and the traveling position target value ε1 calculated in this manner.
So that the rotation angle target value θ31 is achieved, and the tilt angle target speed dθ41 / dt and the elevation angle target speed dθ2
1 / dt, the turning angle target speed dθ11 / dt, and the running speed target value dε1 / dt, so that the tilt driving unit, the elevation driving unit, the turning driving unit, the running driving unit, A control device for a continuous unloader, comprising: control means for controlling the position of the driving means and controlling the speed of the driving means.