JP3874543B2 - Crushed stone treatment system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a crushed stone processing system, and in particular, is used to automate the work of scooping quarrying on a stockyard with an automatic excavator and supplying the scooped quarrying to a crusher, as well as supply and production of quarrying to the stockyard. The present invention relates to a crushed stone processing system that facilitates the removal of crushed stone.
[0002]
[Prior art]
Conventionally, as an example of a processing plant using a hydraulic excavator, JP-A-9-195321 is known. This is because bulldozers are used to collect quarry stones that have broken down the natural ground, which is the object to be processed, with a bulldozer, scoop it up with an automatic driving excavator placed on the same plane as the bulldozer, and put it into a mobile crasher, which is a processing means. In addition, the bulldozer operated by the operator is equipped with a device that commands the automatic operation of the automatic excavator and a device that monitors the crushed stone level of the mobile crusher. It is configured to collect at the front, drive an automatic excavator, scoop quarry, and dump it into a mobile crasher. Moreover, when the quarrying level of the mobile crusher becomes high, work is performed while monitoring the quarrying level in order to stop the automatic driving excavator.
[0003]
[Problems to be solved by the invention]
In the above-mentioned conventional processing plant, the automatic driving excavator is on the same plane as the bulldozer, and the quarry must be moved to the vicinity of the automatic driving excavator by the bulldozer so that the front of the bulldozer and the automatic driving shovel does not collide during this period. In addition, it is necessary to stop the operation of the automatic driving excavator.
[0004]
For this reason, operators on bulldozers must always take into account the distance from the automatic excavator and perform operations to stop or stop as necessary, and work efficiency cannot be improved as expected. It was.
[0005]
The automatic driving excavator controls the operation by detecting the quarrying level of the crusher, but it must be monitored from the bulldozer side in what state the automatic driving excavator is stopped. It was an impediment to increasing efficiency.
[0006]
Furthermore, on the side where the crushed stone produced as a product is carried out, for example, when the crushed stone discharged by the conveyor of the crusher accumulates and its height becomes too high, it becomes necessary to stop the work due to some factor Therefore, it is necessary to detect this and stop the automatic driving excavator. However, on the unloading side, for example, the wheel loader does not have a function to stop the automatic driving excavator, and the bulldozer operator cannot monitor this easily because there is too much distance between them. As a result, the work of supplying quarrying to the automatic excavator was a cause of stagnation.
[0007]
An object of the present invention is to provide a lithotripte treatment system that improves work efficiency and productivity by appropriately and simply stopping the operation of an automatic excavator accompanying supply of quarrying and carrying out produced crushed stones. It is to provide.
[0008]
[Means for Solving the Problems]
The present invention employs the following means in order to solve the above problems.
[0009]
With the automatic operation excavator that regenerates the series of operations from drilling to earthing, the excavated quarry stored in the stockyard is excavated into the crusher, and the excavated quarrying is crushed by the crusher. In the crushed stone processing system to obtain crushed stone,
A remote control device that is provided at a position away from the automatic driving excavator and operates to start and stop the automatic driving excavator, and a transport machine that carries the crushed stone into the stock yard, and temporarily stops the automatic driving excavator. A movable mobile operation device to be operated is provided , and a stop command from the stop button of the remote operation device is given priority over a stop command from the operation button for temporary stop of the mobile operation device. And
[0010]
Moreover, in the description of claim 1, the working machine for unloading the crushed stone further includes a movable operation device that operates to stop the automatic operation shovel .
[0012]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described below with reference to FIGS.
[0013]
FIG. 1 is a diagram illustrating a configuration of a crushed stone processing system according to the present embodiment and a working mode thereof.
[0014]
In the figure, 1 is an automatic operation excavator that automatically repeats a series of work procedures from excavation to earth release, excavating debris stored in the stock yard 4, and releasing it to the mobile crasher 5. 2 is a remote control device installed in an arbitrary place suitable for performing an automatic driving operation of the automatic driving excavator 1, 30 and 31 are trucks for alternately supplying quarrying to the stockyard 4, and 32 is a wheel loader 8. A truck for unloading the crushed stones loaded, 4 for temporarily storing the quarry 6 and a stockyard for separating the trucks 30 and 31 for supplying the quarry and the automatic excavator 1 from the same plane. 1 is a mobile crusher for crushing debris released by 1 to produce a crushed stone 4, 7 is a crushed stone produced by a mobile crusher 5 8 together with the communication device 81 for the wheel loader is provided a wheel loader loading the crushed stone 7 produced by mobile Kurasshiya 5 the track 32.
[0015]
Here, the automatic driving excavator 1 is capable of rotating on the traveling body 101, the revolving body 111 provided on the traveling body 101 so as to be rotatable, the boom 112 provided on the revolving body 111 so as to be rotatable, and the tip of the boom 112. The cylinder 113, 116, 117, and the swing body 111 for rotating the arm 113 provided on the arm 113, the bucket 114, the boom 112, the arm 113, and the bucket 114, which are rotatably provided at the tip of the arm 113, respectively. Excavator communication device 121 that transmits and receives signals to and from the cab 118 provided, the remote control device 2, the excavator communication device 122 that transmits and receives signals to and from the trucks 30 and 31, and the wheel loader 8, and An excavator controller 11 is provided.
[0016]
The remote operation device 2 includes a system operation unit 21, a remote operation device controller 22, a system status display unit 23, and a remote operation device communication device 24.
[0017]
Each of the trucks 30 and 31 includes truck communication devices 300 and 310 that transmit and receive signals to and from the automatic driving excavator 1.
[0018]
The mobile crasher 5 includes a traveling body 50, a hopper 51, a crushed stone part 52, and a conveyor 53.
[0019]
As described above, this crushed stone processing system is carried out by the cooperative work of various construction machines, and the quarry 6 is alternately supplied to the stockyard 4 by the trucks 30 and 31, and the automatic excavator 1 is instructed to start from the remote control device 2. If it receives, the operation which excavates the quarry 6 and discharges it to the mobile crasher 5 is repeated. The mobile crasher 5 crushes the unearthed quarry to produce the crushed stone 7, and the crushed stone 7 is loaded onto the truck 32 and carried out by the wheel loader 8.
[0020]
FIG. 2 is a block diagram showing an outline of a control mechanism of the crushed stone processing system according to the present embodiment. In addition, in the same figure, the location of the same code | symbol as the code | symbol shown in FIG. 1 shows the same location.
[0021]
In the figure, reference numeral 10 denotes an on-vehicle apparatus of the automatic driving excavator 1, 11 an excavator controller for storing and reproducing the teaching content, and controlling the automatic driving excavator 1, and 121 an operation from the remote operation device 2. A bidirectional communication device 122 for inputting a command and notifying the operation state of the automatic driving excavator 1, 122 receives a stop command transmitted from the communication device mounted on the truck 30, the truck 31, and the wheel loader 8. 14 is a teaching operation unit for teaching the operation procedure of the automatic driving excavator 1, and 15 is a proportional solenoid valve that is driven by the driving current output from the shovel controller 11 and adjusts the pilot pressure of the control valve 16. , 16 are controlled by a hydraulic signal output from the proportional solenoid valve 15, 1 is a control valve for controlling the amount of oil or hydraulic pressure flowing into the cylinder 17, 17 is an actuator such as a cylinder (not shown) for operating each part of the automatic driving shovel 1 shown in FIG. 1, 18 is a revolving body 111, a boom 112, This is an angle sensor for measuring the position of each joint of the arm 113 and the bucket 114.
[0022]
Reference numeral 20 denotes a device on which the remote operation device 2 is mounted. The remote operation device 2 is used to activate at least the automatic operation shovel 1 and the remote operation device communication device 24 that transmits various operation commands to the automatic operation shovel 1. A system operation unit 21 having a start button 211 and a stop button 212 for stopping, and a system for displaying various states of the crushed stone processing system such as an abnormal operation state, a normal operation state, and a teaching operation state of an automatic driving shovel. a state display unit 23, the remote control device that displays the status of the automatic operating shovel 1 received by the communication device 24 outputs to the communication device 24 converts the operation command from the system controller 21 to command the system status section 23 Controller 22.
[0023]
Reference numerals 301, 311, and 82 are stop buttons mounted on a movable construction machine on which an operator is boarded, such as the truck 30, the truck 31, and the wheel loader 8, respectively. When is pressed, stop commands are transmitted from the respective communication devices 300, 311, 82 and received by the communication device 122 of the automatic driving excavator 1. The automatic driving excavator 1 stops the operation of the automatic driving shovel according to the received stop command. In this configuration, the communication device 122 only needs to have a reception function, and the communication devices 300, 310, and 81 need only have a transmission function, and a relatively inexpensive device can be used for them.
[0024]
FIG. 3 is a block diagram showing a detailed configuration of the excavator controller 11 shown in FIG. In addition, in the same figure, the location of the same code | symbol as the code | symbol shown in FIG. 1 and FIG. 2 shows the same location.
[0025]
In the figure, 119 is a current position calculation unit that calculates an angle signal detected by the angle sensor 18 into current position data, and 111 is a teaching command and current position calculation unit that are operated by the teaching operation unit 14 during teaching. A teaching processing unit that outputs the current position of the automatic excavator 1 obtained from 119 as teaching position data, 114 a teaching command storage unit that stores teaching commands output from the teaching processing unit 111, and 112 from the teaching processing unit 111 When the teaching position storage unit 117 stores the output teaching position data and is activated by the activation signal from the system operation unit 21, the teaching command stored in the teaching command storage unit 114 is sequentially interpreted, and the teaching position is stored. A command interpreter unit 113 for instructing output of predetermined teaching position data from the storage unit 112, 113 is a command A teaching position output unit 115 that outputs teaching position data from the teaching position storage unit 112 in response to a command from the interpreter unit 117, and a teaching position output unit 115 so that the automatic driving excavator 1 operates smoothly between the teaching positions. A servo pre-processing unit 116 that generates and sequentially outputs a plurality of teaching position data interpolated between teaching position data from the teaching position data 113, is output from the servo pre-processing unit 115, and the interpolated teaching position data and the current A servo control unit 118 outputs a drive current for controlling each part of the automatic driving shovel 1 to a predetermined position by comparing with the current position data output from the position calculation unit 119, and 118 is a priority command selection unit.
[0026]
FIG. 4 is a diagram showing an example of the teaching command stored in the teaching command storage unit 114 shown in FIG.
[0027]
In the figure, L1 represents a row label.
[0028]
V is a command for specifying the moving speed, and the larger the value, the higher the moving speed.
[0029]
Move is a command for instructing movement to a designated teaching position, and P1 to Pn are labels indicating angle information of each joint of the move command. For example, move P1 is stored in the teaching position data stored in the teaching position storage unit 112 from the position number shown in FIG. Indicates that the user should move to P1.
[0030]
“goto” is a jump instruction, and “goto L1” indicates that execution starts again from the line label L1.
[0031]
FIG. 5 is a diagram showing an example of teaching position data stored in the teaching position storage unit 112 shown in FIG.
[0032]
In the same figure, P1 to Pn correspond to the respective teaching positions and also correspond to the label P1 to Pn of the teaching command shown in FIG. 4, and the turning angle that each joint of the automatic driving shovel 1 should take at each teaching position, Each value of the boom angle, the arm angle, and the bucket angle is set.
[0033]
Next, the operation of the automatic driving excavator 1 according to the present embodiment will be described with reference to FIGS.
[0034]
At the time of teaching, in FIG. 3, teaching is performed through the teaching processing unit 111 by the operation from the teaching operation unit 14 in the automatic driving excavator 1, and the current position calculation unit 119 calculates by the input from the angle sensor 18. Teaching position data as shown in FIG. 5 is stored in the teaching position storage unit 112 and teaching commands as shown in FIG. 4 are stored in the teaching command storage unit 114.
[0035]
At the time of playback, an activation command is issued by the activation button 211 of the system operation unit 21 via the communication device 24 and the communication device 121, and the command interpreter unit 117 is activated through the priority command selection unit 118. The command interpreter unit 117 sequentially refers to and executes the teaching commands stored in the teaching command storage unit 114 shown in FIG. 4, and reproduces the operation as taught.
[0036]
Here, V = 0.7, and this speed is set in the servo preprocessing unit 115 that adjusts the speed between the teaching positions. Next, the command interpreter unit 117 interprets moveP1, takes out the taught position of the label P1 as shown in FIG. 5 from the taught position storage unit 112 to the taught position output unit 113, and moves it to the servo preprocessing unit 115 for the movement target position P1. Is output as. The servo pre-processing unit 115 subdivides and interpolates the teaching position so that it can move at a given speed between the current position and the target position P1 by the interpolation process from the previous speed command and the movement target position P1. Data is generated and output to the servo control unit 116. The servo control unit 116 compares the interpolation teaching position data with the angle data of each joint output from the current position calculation unit 119, and drives each part of the automatic driving shovel such as the bucket 114 to a predetermined position. Output current. As for the drive current, a pilot pressure is established by driving the proportional solenoid valve 15, and the amount of oil and the hydraulic pressure flowing to the actuator 17 are controlled via the control valve 16. As a result, the automatic driving excavator 1 is moved to the taught position P1, and similarly, move P2 moves to position P2, and move P3 moves to position P3. As a result, a series of operations such as excavation, turning, earthing and turning can be performed. Finally, the execution position of the command is shifted to the label L1 by goto L1, and thus automatic operation can be repeatedly performed.
[0037]
When the stop button 212 of the system operation unit 21 is operated, a stop command is transmitted to the automatic operation controller 11 via the communication device 24 and the communication device 121, and the command interpreter unit 117 stops the operation of the automatic operation shovel 1.
[0038]
Here, the priority command selection unit 118 shown in FIG. 3 will be described in detail.
[0039]
In the present embodiment, there are four operation systems that issue commands, that is, the system operation unit 21, the trucks 30 and 31, and the stop buttons 301, 311, and 82 of the wheel loader 8, respectively. The other three systems are connected to the communication device 122 on the communication line of the device 121, and finally two command input lines are connected to the priority command selection unit 118. The priority command selection unit 118 determines which command comes from which system is prioritized and what kind of additional processing is applied, and determines whether to actually start and stop the command interpreter 117.
[0040]
Next, a processing procedure in the priority command selection unit 118 for the start command and the stop command transmitted from each communication device 24, 81, 300, 310 will be described using the flowchart shown in FIG.
[0041]
In this flowchart, the processing procedure of the stop command or the start command is the processing priority order as it is. As shown in the figure, stop processing from the fixed remote control device 2 has the highest priority, followed by the stop button 82 of the wheel loader 8, the stop button 301 of the track 30, the stop button 311 of the track 31, and the remote control device. 2 start buttons 211 in this order.
[0042]
In step 1, a command is input from the communication device 121 and the communication device 122. In step 2, it is checked whether the input command is a stop command from the stop button 212 of the system operation unit 21. If YES, execution at the command interpreter unit 117 is stopped at step 8 and the next command is input at step 1. In the case of NO, in step 3, it is checked whether or not it is a stop command from the stop button 82 of the wheel loader 8. In the case of YES, the execution of the command interpreter unit 117 is stopped in order to stop the operation of the automatic driving excavator 1 in step 8, and the next command input is waited in step 1. If NO, it is checked in step 4 whether the stop button 301 of the track 30. In the case of YES, the execution of the command interpreter 117 is stopped to stop the operation of the automatic driving excavator 1 in Step 9, and the time for which the truck 30 drops the quarry to the stockyard 4 in Step 10 is automatically waited for n seconds. During this time, no other command is accepted, and then the command interpreter unit 117 is activated to resume the operation of the automatic excavator 1 in step 11, and the next command is input in step 1. In the case of NO, in step 5, it is checked whether or not the stop button 311 of the track 31. In the case of YES, the execution of the command interpreter unit 117 is stopped in order to stop the operation of the automatic driving excavator 1 in Step 9, and the time in which the truck 31 drops the quarry to the stockyard 4 in Step 10 is automatically waited for n seconds. During this time, no other command is accepted, and then the command interpreter unit 117 is activated to restart the operation of the automatic driving excavator 1 in step 11, and the next command is input in step 1. In the case of NO, it is checked in step 6 whether or not it is the start button 211 of the system operation unit 21. If YES, the command interpreter unit 117 is activated to resume the operation of the automatic driving excavator 1, and the next command input is executed in Step 1. If NO, the next command is executed in Step 1 without doing anything. Make input.
[0043]
As described above, according to the present embodiment, the operation of the automatic driving excavator can be temporarily stopped when the quarry is supplied to the stockyard by operating the stop button from the truck. It is possible to prevent the excavator from entering the excavation operation and becoming a source of quarry supply, thereby improving the efficiency of the quarry supply operation. In addition, quarrying can be supplied to the stockyard at any timing by a plurality of trucks, and the quarrying work can be greatly improved.
[0044]
Also, it is necessary to stop the work for some reason, such as the crushed stone piled under the crushed stone discharging conveyor of the mobile crasher becomes too high, causing the mobile crasher to stop abnormally, or the truck for unloading does not come When this occurs, the automatic load excavator can be stopped by the operator of the wheel loader performing the unloading operation knowing this and operating the stop button.
[0045]
【The invention's effect】
As described above, the present invention functions in a lithotripsy processing system, which is provided at a position away from the automatic driving excavator and operates to start and stop the automatic driving excavator, and within a range where the crushed stone processing system can be monitored. Since the movable operation device that operates to stop the automatic driving excavator is provided, an operator can stop the automatic driving excavator from a plurality of locations by using the movable operation device. The working efficiency of both the supply side and the crushed stone carry-out side can be improved.
[0046]
In addition, stop processing and start-up processing can be performed from each operating device as necessary, so that work efficiency can be improved. Compared to conventional systems in which the automatic driving excavator can be stopped only at a certain point. It is possible to judge the situation in detail, and the automatic excavator can be stopped immediately before causing a problem, so that the work efficiency can be greatly improved and the crushed stone processing system can be operated stably. Can be made.
[Brief description of the drawings]
FIG. 1 is a diagram showing an overall configuration of a crushed stone processing system according to an embodiment of the present invention and an operation mode thereof.
FIG. 2 is a block diagram showing an outline of a control mechanism of the lithotripsy processing system according to the present embodiment.
3 is a block diagram showing a detailed configuration of the excavator controller 11 shown in FIG. 2. FIG.
4 is a diagram illustrating an example of a teaching command stored in a teaching command storage unit 114 illustrated in FIG. 3. FIG.
5 is a diagram showing an example of teaching position data stored in a teaching position storage unit 112 shown in FIG. 3. FIG.
6 is a flowchart showing a processing procedure in a priority command selection unit 118 shown in FIG. 3;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Automatic operation shovel 2 Remote control device 4 Stock yard 5 Mobile crusher 6 Quarrying 7 Crushed stone 8 Wheel loader 11 Excavator controller 14 Teaching operation unit 18 Angle sensor 21 System operation unit 23 System status display unit 24 Remote operation device communication device 30, 31 track 32 track 81 wheel loader communication device 82 stop button 111 teaching processing unit 112 teaching position storage unit 114 teaching command storage unit 115 servo preprocessing unit 116 servo control unit 117 command interpreter unit 118 priority command selection unit 119 current position calculation unit 121 Communication Device 122 Communication Device 211 Start Button 212 Stop Button 300 Communication Device 301 Stop Button 310 Communication Device 311 Stop Button

Claims (2)

With the automatic operation excavator that regenerates the series of operations from drilling to earthing, the excavated quarry stored in the stockyard is excavated into the crusher, and the excavated quarrying is crushed by the crusher. In the crushed stone processing system to obtain crushed stone,
A remote control device that is provided at a position away from the automatic driving excavator and operates to start and stop the automatic driving excavator, and a transport machine that carries the crushed stone into the stock yard, and temporarily stops the automatic driving excavator. A movable mobile operation device to be operated is provided , and a stop command from the stop button of the remote operation device is given priority over a stop command from the operation button for temporary stop of the mobile operation device. A crushed stone processing system. The crushed stone processing system according to claim 1, further comprising a movable operation device that operates a stop of the automatic operation shovel on a work machine that unloads the crushed stone.

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