JP4632900B2 - Crusher control device - Google Patents

Description

  The present invention relates to a crusher control device that controls a feeder that supplies a material to be crushed to a crushing device.

Conventionally, a jaw crusher (a jaw crusher; hereinafter simply referred to as a crushing device) has been used as a working machine for processing and recycling rocks generated in civil engineering work and construction waste such as earth and sand, concrete and asphalt galley generated in construction work. A self-propelled crusher equipped with the above is known.
As shown in FIGS. 14 and 15, the self-propelled crusher (hereinafter simply referred to as a crusher) 1 is disposed on a crawler type traveling device 2 and a traveling device 2 via a gantry frame 3. The jaw-type crushing device 10 for finely crushing rocks and construction waste materials (hereinafter referred to as the material to be crushed), the supply device 20 for supplying the material to be crushed into the crushing device 10, and the material to be crushed by the crushing device 10 A crusher main body 4 having a discharge unit 30 that discharges outside the machine, a work space 40 that is disposed in front of the crushing apparatus 10 and that has a control panel 41 that can be operated by an operator, and a power unit 50 that houses an engine and the like; It is equipped with a.

  The jaw type crushing device 10 is a compression type crushing device in which two pressing plate members of a movable tooth 11 and a fixed tooth 12 are provided facing each other so as to expand upward, and the fixed tooth 12 is a frame. On the other hand, the upper portion of the movable tooth 11 that is fixed relative to the fixed tooth 12 is pivotally supported on the frame 13 via the rotation shaft 14. Then, the flywheel 15 is driven via a belt by a hydraulic motor (not shown), the movable tooth 11 eccentrically attached to the rotating shaft 14 swings, and the crushing chamber 10 a between the movable tooth 11 and the fixed tooth 12. It can be crushed by applying a compressive force to the object to be crushed.

In addition, the supply device 20 includes a hopper 21 into which a material to be crushed is charged, a vibration feeder 22 that supplies the material to be crushed to the hopper 21 to the crushing device 10, and a feeder hydraulic motor that operates the vibration feeder 22 ( (Not shown), and the vibratory feeder 22 is vibrated by a feeder hydraulic motor so that an appropriate amount of the object to be crushed can be supplied to the crushing chamber 10a.
Here, when the material to be crushed is supplied to the crushing chamber 10a by the vibration feeder 22, the vibration feeder 22 is controlled so that an appropriate supply according to the crushing capacity and crushing condition of the crushing apparatus 10 can be performed. is important. This is because when the supply amount to the crushing chamber 10a is inappropriate, that is, for example, when the supply amount is excessive, a high load is applied to the crushing device 10, and conversely, when the supply amount is small, the crushing device. This is because 10 is driven wastefully and the working efficiency is poor.

Incidentally, the driving speed of the feeder hydraulic motor, that is, the speed at which the object to be crushed by the vibration feeder 22 is generally adjusted by an operator operating a speed dial (not shown) provided on the control panel 41. It has become way.
However, in a normal work site, an operator dedicated to the crusher 1 is not arranged, and an operator of the hydraulic excavator and the operation of the crusher 1 for one operator to put into the hopper 21 may be combined. In many cases, it may be difficult to finely adjust the supply speed of the vibration feeder 22.

  Therefore, in order to prevent overloading of the crushing apparatus 10, improve work efficiency, and reduce the labor of the operator, a technique for automatically controlling the supply amount of the object to be crushed has been developed. In this technique (hereinafter referred to as technique 1), a level sensor 18 for detecting the input amount of the object to be crushed is provided in the crushing apparatus 10, and the crushing object supplied to the crushing apparatus 10 by the level sensor 18 is provided. When it is detected that the height is equal to or higher than a predetermined height and a certain time has passed in that state, the vibration feeder 22 that supplies the object to be crushed to the crushing apparatus 10 is automatically stopped. Yes. In addition, the object to be crushed is crushed and discharged from the crushing chamber 10a, and when the height of the object to be crushed becomes less than a predetermined height and a certain time elapses, the vibration feeder 22 is automatically restarted to be crushed. The supply of goods is started.

A technique such as this technique 1 is also disclosed in Patent Document 1, for example. The technique described in Patent Document 1 is supplied to a crushing device, and a first supply amount detection means (high level sensor) that detects that the amount of the object to be crushed supplied to the crushing device is greater than or equal to a first predetermined amount. A second supply amount detection means (low level sensor) for detecting that the amount of the object to be crushed is equal to or greater than a second predetermined amount that is less than the first predetermined amount; 2 The operation of the feeder is decelerated or stopped according to the detection signal of the supply amount detection means.
Japanese Patent Laid-Open No. 11-253831

  However, when the level sensor 18 is provided only at one predetermined height as in the technique 1 and the automatic operation of the vibration feeder 22 is performed based on the detection signal of the level sensor 18, the supply amount is higher than the predetermined height. When the vibration feeder 22 is stopped, the supply amount is reduced and the overfeed state is canceled, and the operation of the vibration feeder 22 is restored again. There is a possibility that the operation of the feeder 22 stops or the vibration feeder 22 repeats the stop and the start of operation (that is, repeats ON / OFF) to be in an unstable control state. That is, when the setting of the supply speed of the object to be crushed by the vibration feeder 22 is not appropriate, the vibration feeder 22 is frequently turned on and off, and the load fluctuation of the vibration feeder 22 and the crushing apparatus 10 is large and stable crushing cannot be performed. There is a problem that stable operation cannot be performed under optimal conditions, and productivity and fuel consumption are reduced.

  On the other hand, according to the technique described in Patent Document 1, since the level sensors are provided at two positions having different heights, the feeder is stopped and operated as compared with the case where only one level sensor is provided. It is considered that the unstable control state that repeats the start can be suppressed to some extent. However, even when two level sensors are used for control, if the set operation speed of the feeder is not appropriate, the vibration feeder will be repeatedly turned on and off, which is not preferable. Further, as compared with the case where only one level sensor is provided, the number of parts increases and the time and effort for processing the crusher main body for attachment also increase.

  The present invention has been made in view of such a problem, and supplies a material to be crushed to a crushing device by a feeder with a simple configuration at an appropriate speed, stably operates the feeder and the crushing device, and loads thereof. It aims at providing the control apparatus of the crusher which enabled it to reduce.

  In order to achieve the above object, a control device for a crusher of the present invention according to claim 1 includes a crushing device that crushes a material to be crushed in a crushing chamber, and a feeder that supplies the material to be crushed to the crushing chamber. In the crusher provided, supply amount detection means for detecting a supply amount of the material to be crushed supplied into the crushing chamber, and the feeder is operated according to the supply amount detected by the supply amount detection means, or And a control means for controlling the supply speed of the material to be crushed to the crushing chamber when the feeder is operated, and the control means is stopped for an operation time during which the feeder is operating. A time detector for detecting a stop time, a supply speed detector for detecting the supply speed when the feeder is operating, the operation time and the stop time detected by the time detector, and the supply speed detector detection By said feed rate was, is characterized by having a velocity corrector that corrects the feed rate of the feeder.

  The control unit preferably stops the feeder when the supply amount is equal to or higher than a predetermined supply amount set in advance, and operates the feeder when the supply amount is less than the predetermined supply amount.

  The crusher control apparatus according to a second aspect of the present invention is the crusher control apparatus according to the first aspect, wherein the speed correction unit is configured to control the feeder according to the operation time, the stop time, and the supply speed. An average speed is calculated, and the supply speed is decelerated and corrected so that the supply speed of the feeder becomes equal to the average speed.

  The control device for a crusher according to a third aspect of the present invention is the control device for a crusher according to the first or second aspect, wherein the control means includes a number-of-times detecting unit that detects the number of repetitions of operation and stop of the feeder. In addition, the speed correction unit is configured to decelerate and correct the supply speed of the feeder when the number of repetitions detected by the number detection unit is equal to or greater than a first predetermined number of times within a specified time. .

The crusher control device according to a fourth aspect of the present invention is the crusher control device according to the third aspect, wherein the speed correction unit is configured so that the number of repetitions detected by the number detection unit is within a specified time. 2 When the number is less than a predetermined number, the feeding speed of the feeder is accelerated and corrected. Note that the second predetermined number of times is less than the first predetermined number of times.
A control device for a crusher according to a fifth aspect of the present invention is the control device for a crusher according to any one of the first to fourth aspects, wherein the hydraulic motor drives the crushing device and the drive of the hydraulic motor. Pressure detecting means for detecting pressure, and the speed correction unit further corrects the supply speed by the driving pressure detected by the pressure detecting means.

The control device for a crusher according to a sixth aspect of the present invention is the control device for a crusher according to the fifth aspect, wherein the speed correction unit is configured to set the driving pressure and a predetermined driving upper limit pressure of the crushing device set in advance. The supply speed is further corrected according to the ratio.
The control device for a crusher according to a seventh aspect of the present invention is the control device for a crusher according to the fifth or sixth aspect, wherein the speed correction unit is greater than a predetermined drive upper limit pressure set in advance. In this case, the supply speed is further corrected.

  The control apparatus for a crusher according to an eighth aspect of the present invention is the control apparatus for a crusher according to any one of the first to seventh aspects, wherein the crushing chamber is supplied with the material to be crushed. The crushed object to be crushed is discharged downward, and the supply amount detection means detects the supply height of the object to be crushed supplied into the crushing chamber as the supply amount. It is a feature.

According to the control device of the crusher of the present invention as set forth in claim 1, it is appropriate to correct the supply speed of the material to be crushed on the basis of the operation time during which the feeder is operating and the stop time during which the feeder is stopped. The material to be crushed can be supplied at a high speed. And the load fluctuation given to a feeder and a crushing device can be controlled, and these devices can be operated stably.
Further, even in a crusher equipped with a single supply amount detection means, the supply speed can be corrected as described above, and the configuration is simple.

  According to the control device for a crusher of the present invention, the average speed is calculated so that the supply speed in the operation time becomes the supply speed in the total time of the operation time and the stop time, and the feeder supply Since the speed is controlled to be equal to the average speed, the feeder can be operated at the maximum speed at which the operation and stop of the feeder are not repeated, and work efficiency can be ensured while stabilizing the operation of the feeder. .

According to the control device for a crusher of the present invention described in claim 3, when the supply amount of the material to be crushed in the crushing device is relatively excessive and the number of repetitions is not less than the first predetermined number of times, The operation of the feeder and the crushing apparatus can be stabilized by reducing the supply speed of the crushed material.
According to the control device for a crusher of the present invention as set forth in claim 4, when the supply amount of the material to be crushed in the crushing device is relatively small and the number of repetitions is less than the second predetermined number, the material to be crushed The working speed of the feeder and the crushing device can be increased.

According to the control device for the crusher of the present invention as set forth in claim 5, the material to be crushed is supplied at a more appropriate speed so as not to overload the crushing device by correcting the supply speed in consideration of the driving pressure of the crushing device. be able to.
According to the control device for a crusher of the present invention described in claim 6, the work efficiency can be enhanced while ensuring the supply speed of the material to be crushed that can reliably protect the hydraulic motor for the crushing device.

According to the control device for a crusher of the present invention as set forth in claim 7, it is possible to perform additional correction only when the hydraulic motor is overloaded, and to reliably protect the hydraulic motor. it can. Further, when it is not overloaded, such additional correction is not performed, and the working efficiency can be improved.
According to the control device for a crusher of the present invention described in claim 8, the supply amount of the object to be crushed can be easily detected by using a level sensor as the supply amount detection means, for example.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
1 to 7 show a crusher equipped with a crusher control device according to the first embodiment of the present invention. FIG. 1 is a cross-sectional view of the main part of the crushing device (indicated by arrows AA in FIG. 2). 2 is a side view partially seen through the inside of the crusher, FIG. 3 is a hydraulic circuit diagram of the hydraulic drive system, FIG. 4 is a block diagram of the control device, and FIGS. FIG. 7 is a time chart showing changes in the supply speed of the vibration feeder.

In addition, the same code | symbol is attached | subjected and demonstrated to the member similar to what was used for description by background art. Further, FIG. 14 will be used as appropriate.
As shown in FIGS. 2 and 14, the self-propelled crusher 1 includes a crawler type traveling device 2 and a crusher main body 4 disposed on the traveling device 2 via a gantry frame 3. .
The traveling device 2 includes a pair of left and right right traveling devices and a left traveling device, which are driven by a pair of left and right right traveling hydraulic motors 5a and 5b (see FIG. 3) to travel. It has become possible.

  As shown in FIG. 2, the crusher main body 4 is disposed at a substantially central portion in the longitudinal direction of the machine body, and supplies a crushing object to the jaw crusher (crushing device) 10 for crushing the crushing object finely. The apparatus includes a supply device 20 and a discharge device 30 that discharges the object to be crushed by the jaw crusher 10 to the outside of the apparatus. Also, a work space 40 (see FIG. 14) that is disposed in front of the jaw crusher 10 and in which an operator can get in is disposed in front of the jaw crusher 10 and drives these devices 2, 10, 20, and 30. An engine 51 (see FIG. 3) as a prime mover, a hydraulic pump 52 driven by the engine 51 (see FIG. 3), and electromagnetic control valves 53a and 53b that distribute the pressure oil discharged from the hydraulic pump 52 to each hydraulic motor to be described later. , 54 to 57 (see FIG. 3) and the like.

  As shown in FIGS. 1 and 2, the jaw crusher 10 includes a crushing hydraulic motor 16 (see FIG. 3) to which pressure oil discharged from the hydraulic pump 52 is supplied, and a driving force generated by the crushing hydraulic motor 16. The flywheel 15 that is rotated by the rotation of the flywheel 15, the movable tooth 11 that is eccentrically provided with respect to the rotation shaft 14 of the flywheel 15, and is fixed at a position facing the movable tooth 11. A fixed tooth 12, a pair of left and right side plates 17a and 17b covering the sides of the movable tooth 11 and the fixed tooth 12, and a level sensor (supply amount detecting means) 18 attached to the upper portions of the side plates 17a and 17b; A crushing chamber 10a formed as a wedge-shaped gap between the movable tooth 11 and the fixed tooth 12; an inlet 10b formed at the upper end of the crushing chamber 10a; and a lower end of the crushing chamber 10a. And a outlet 10c. The side plates 17a and 17b form the side surface of the crushing chamber 10a.

  The movable tooth 11 and the fixed tooth 12 are two pressing plate members, which are provided facing each other so as to expand upward, and have a large diameter in a substantially V-shaped crushing chamber 10a. Is inserted from above and sandwiched and crushed (compressed) by the swinging of the movable teeth 11 so that the objects to be crushed can be crushed small. And the crushed to-be-crushed object passes the clearance gap of the discharge port 10c, and is discharged | emitted on the conveyance conveyor 31 mentioned later located below.

In addition, in order to determine the processing particle size of the object to be crushed, the size of the discharge port 10c can be adjusted by taking in and out a plurality of shims attached in a removable manner.
The level sensor 18 is configured by a photoelectric sensor including a light emitter 18a that emits light and a light receiver 18b that is oriented substantially horizontally on the light emitter 18a and receives light emitted from the light emitter 18a. The light emitter 18a and the light receiver 18b are inserted and attached to through holes formed at predetermined height positions (levels) X above the side plates 17a and 17b, and are supplied to the crushing chamber 10a. It is possible to detect whether or not an object is supplied up to level X.

In other words, if the object to be crushed in the crushing chamber 10a stays above the level X, the light from the light emitter 18a is blocked and does not reach the light receiver 18b, thereby reducing the supply amount of the object to be crushed. It is possible to detect that the position level X has been reached. When the object to be crushed has reached level X, a detection signal S _X of the level sensor 18 (hereinafter referred to as a level signal) S _X is input to the controller 60 described later.

  As shown in FIG. 2, the supply device 20 is disposed on the rear upper side of the jaw crusher 10, and is disposed below the hopper 21 into which the material to be crushed is charged, and the inlet of the jaw crusher 10. A vibration feeder (feeder) 22 that feeds and supplies an object to be crushed by an appropriate amount by vibration to 10b and pressure oil discharged from a hydraulic pump 52 is supplied to the feeder hydraulic motor 23 that drives the vibration feeder 22 (FIG. 3). Reference). Further, the vibration feeder 22 is a known base driving mechanism that reciprocates the base 22a in a substantially horizontal direction by a driving force generated by a base 22a on which the object to be crushed put into the hopper 21 is placed and a hydraulic motor 23 for the feeder. 22b. Then, the operation (ON / OFF) of the vibration feeder 22 is controlled by the controller 60, and the supply speed V of the object to be crushed supplied to the crushing chamber 10a is controlled.

  As shown in FIGS. 2 and 3, the discharge device 30 passes from below the jaw crusher 10 to below the power unit 50 to convey the object to be crushed discharged from the discharge port 10 c of the jaw crusher 10 to the outside of the machine. From the conveyor 31 extending in a state of projecting upward in front of the machine body, the magnetic separator 32 for magnetically attracting and removing magnetic substances contained in the object to be crushed on the conveyor 31, and the hydraulic pump 52 It is provided with a conveyor hydraulic motor 33 and a magnetic separator hydraulic motor 34 that are supplied with the discharged pressure oil and drive the conveyor 31 and the magnetic separator 32, respectively. The conveyor hydraulic motor 33 and the magnetic separator hydraulic motor 34 are shown in FIG.

  The work space 40 is provided with a control panel 41 (see FIG. 14) that can be operated by an operator. The control panel 41 is provided with a reset switch 42 (see FIG. 1) and a speed setting dial 43 (see FIG. 1). It is installed. The reset switch 42 and the speed setting dial 43 can be operated by the operator.

The reset switch 42 is a button-type switch that can be selected by an operator to select whether or not to perform a correction task for a supply speed V (described later) of the vibration feeder 22. An ON / OFF signal of the reset switch 42 is transmitted to the unit 63. When the reset switch 42 is ON, the supply speed V correction task is not performed. When the reset switch 42 is OFF, the supply speed V correction task is performed as described later. there. Note that the state is normally OFF.
The speed setting dial 43 is a dial type switch that determines the driving speed of the feeder hydraulic motor 23. When the operator turns the dial 43, the driving speed of the feeder hydraulic motor 23, that is, according to the rotated position, that is, The supply speed V of the object to be crushed by the vibration feeder 22 is set.

Here, a hydraulic drive system for driving the devices 2, 10, 20, and 30 will be described with reference to FIG.
On the hydraulic circuit, an engine 51, a pair of variable displacement hydraulic pumps 52a and 52b, a plurality of hydraulic motors supplied with pressure oil discharged from the hydraulic pumps 52a and 52b, and hydraulic pumps 52a and 52b, respectively. A plurality of electromagnetic control valves for controlling the direction and flow rate of the pressure oil supplied to the hydraulic motors are provided.

  The plurality of hydraulic motors includes a pair of left and right traveling hydraulic motors 5a and 5b, a crushing hydraulic motor 16, a feeder hydraulic motor 23, a conveyor hydraulic motor 33, and a magnetic separator hydraulic motor 34, and a plurality of electromagnetic control valves. Corresponds to each of the plurality of hydraulic motors, and for the pair of left and right traveling electromagnetic control valves 53a and 53b for the pair of left and right traveling hydraulic motors 5a and 5b, and for the crushing hydraulic motor 16 Electromagnetic control valve 54 for crushing, electromagnetic control valve 55 for feeder for hydraulic motor 23 for feeder, electromagnetic control valve 56 for conveyor for hydraulic motor 33 for conveyor and electromagnetic for magnetic separator for hydraulic motor 34 for magnetic separator The control valve 57 is configured. The first hydraulic pump 52a of the pair of hydraulic pumps 52a and 52b is connected to the right traveling hydraulic motor 5a, the crushing hydraulic motor 16, and the feeder hydraulic motor 23, and the pair of hydraulic pumps 52a and 52b. The second hydraulic pump 52b, the left traveling hydraulic motor 5b, the conveyor hydraulic motor 33, and the magnetic separator hydraulic motor 34 are connected.

  Here, the feeder electromagnetic control valve 55 is a three-way position switching valve. When the feeder electromagnetic control valve 55 is in the neutral state at the first position 55a, the supply line L communicating with the feeder hydraulic motor 23 is cut off, and the feeder hydraulic pressure is reduced. When the supply of the pressure oil to the motor 23 is stopped and the second position 55b and the third position 55c are present, the supply line L is opened and the pressure oil is supplied to the feeder hydraulic motor 23. .

  The controller (control means) 60 is configured using a microcomputer, and as shown in FIG. 4, an ON / OFF control unit 61, a storage unit 62, a speed correction unit 63, a minimum value selection unit 64, and a zero setting. Unit 65, switching unit 66, and electromagnetic control valve command setting unit 67. Level sensor 18, reset switch 42 and speed setting dial 43 are connected to the input side, and feeder electromagnetic control is provided to the output side. A valve 55 is connected.

More specifically, the ON / OFF control unit 61 receives a level signal S _X indicating that the object to be crushed is supplied up to the level X from the level sensor 18, and sets the level signal S _X to a predetermined value. determining whether subsequently received over time t _X, by this determination result, a control unit that determines whether to operate the vibration feeder 22 or (either ON) and stops (or OFF). That is, when the level signal S _X is received and a predetermined time t _X elapses, an OFF signal is transmitted to stop the vibration feeder 22, and if not, an ON signal is transmitted to the speed correction unit 63 and the switching unit 66. ing.

Further, the ON / OFF control unit 61 transmits the ON signal, that is, the operation time t _ON when the vibration feeder 22 is operating and the OFF signal is transmitted, that is, the vibration feeder 22 is stopped. It has a time measurement function (that is, a function as a time detection unit) that can measure the stop time t _OFF that is being performed, and the operation time t _ON and the stop time t _OFF are respectively input to the speed correction unit 63. It has become so.

The storage unit 62 is connected to the speed setting dial 43 and stores a speed setting table in which the supply speed V of the vibration feeder 22 corresponding to the dial position is set. A speed corresponding to the dial position is set as a reference target supply speed (hereinafter referred to as a reference speed) V ₀ of the vibration feeder, and is input to the minimum value selection unit 64.
The speed correction unit 63 corrects the supply speed V of the vibration feeder 22 based on the ON signal, the OFF signal, the operation time t _ON , the stop time t _OFF and the signal from the reset switch 42 from the ON / OFF control unit 61. it is a part. Further, a function capable of counting the number of times the vibration feeder 22 has been turned OFF and ON received from the ON / OFF control unit 61 (the number N of repetitions of operation and stop of the vibration feeder 22) (that is, a function as a number detection unit). have.

The control contents of the speed correction unit 63 will be described with reference to FIG. 5. First, in step A10, when an ON / OFF signal of the reset switch 42 pressed by the operator is received and the reset switch 42 is OFF, Proceed to step A20. If ON, proceed to step A60.
In step A20, it is determined whether or not the ON / OFF control of the vibration feeder 22 has been operated within a preset specified time (sampling time) T (whether or not the vibration feeder 22 has been repeatedly activated and stopped). If the supply speed V of the vibration feeder 22 is excessive, the ON / OFF control is frequently used. If the ON / OFF control is operating for a predetermined number N ₀ or more, the process proceeds to step A30. If not, the process proceeds to step A40. The specified time T is a time having a length capable of detecting an unstable control state in which the vibration feeder 22 is repeatedly turned on and off.

In step A30, the supply speed V correction task described later is performed.
In Step A40, it is determined whether the ON / OFF control of the vibration feeder 22 has not been performed at all (N = 0) or at least once (1 ≦ N <N ₀ ). If the ON / OFF control is not working at all, the process proceeds to step A50, and if it is working even once, the process proceeds to step A60.

In Step A50, correction is performed so that the supply speed V slightly increases. This increase amount is set as appropriate, for example, so that the current supply speed V is accelerated by about several percent.
On the other hand, in step A60, the current supply speed V of the vibration feeder 22 is maintained.
Therefore, the speed correction unit 63 can correct the supply speed V of the vibration feeder 22 to an appropriate speed, and the vibration feeder 22 can be operated continuously.

The above-described correction task for the supply speed V will be described with reference to a flowchart shown in FIG. First, in step B10, the operation time t _ON and stop time t _OFF of the vibration feeder 22 at the specified time T and the current supply speed (actual speed) V _f are read. The operation time t _ON and stop time t _{OFF of} the vibration feeder 22 and the actual speed V _f are read repeatedly, and subscripts are added according to the number of repetitions N to distinguish them, for example, _{, t ON1, t ON2, ...} , t ONm, ..., expressed as t _ONn like. These t _ON , t _OFF , and V _f are generalized and simply expressed as t _ONi , t _OFFi , and V _fi below.

In step B20, a sum V _sum of products of the operation time t _ONi read in step B10 and the actual speed V _fi of the vibration feeder 22 is calculated. The actual speed V _fi may be measured by providing a speed sensor (supply speed detector) (not shown) with respect to the vibration feeder 22, or the speed after being selected by the minimum value selector 64 described later. Corresponds to the actual speed, and the speed may be detected and fed back.

In Step B30, obtaining the sum time T _sum of the operating time t _ONI and stop time t _OFFi read in step B10. That is, this corresponds to the specified time T.
In step B40, the sum V _sum obtained in step B20 by dividing by the sum time T _sum obtained in step B30, and calculates an average velocity V _fdm, the average velocity V _fdm correction target feed rate (hereinafter, corrected speed and) that.

That is, in the correction task, the average speed V _fdm obtained by averaging the supply speed V at the operation time t _ON over the total time T including the stop time t _{OFF based} on the operation time t _ON , the stop time t _OFF, and the supply speed V. Is calculated.
The minimum value selection unit 64 selects a smaller speed (minimum speed) V _min from the reference speed V ₀ set by the storage unit 62 and the correction speed V _fdm calculated by the speed correction unit 63. it is a part. The minimum speed V _min is input to the switching unit 66.

The zero setting unit 65 is a control unit in which a zero speed is set, and outputs zero speed to the switching unit 66.
The switching unit 66 is connected to one of the minimum value selection unit 64 and the zero setting unit 65 based on the ON signal or OFF signal from the ON / OFF control unit 61, and is selected by the minimum value selection unit 64. The control unit selects either the minimum speed V _min or the zero speed 0 set in the zero setting unit 65. That is, if the ON signal is received, it is connected to the minimum value selection unit 64, and if it receives the OFF signal, it is connected to the zero setting unit 65, and the connected speed is output to the electromagnetic control valve command setting unit 67. It has become.

  The electromagnetic control valve command setting unit 67 converts the value of the supply speed V input from the switching unit 66 into a command signal for the feeder electromagnetic control valve 55 and transmits the command signal to the feeder electromagnetic control valve 55. It has become. Thus, the feeder electromagnetic control valve 55 controls the flow rate of hydraulic fluid supplied to the feeder hydraulic motor 23 in accordance with the command signal.

Since the control device for the crusher according to the first embodiment of the present invention is configured as described above, there are the following operations and effects.
The object to be crushed is put into the hopper 21 by a hydraulic excavator or the like. The object to be crushed charged into the hopper 21 is thrown into the crushing chamber 10 a between the movable tooth 11 and the fixed tooth 12 from the loading opening 10 b of the jaw crusher 10 by the vibration feeder 22. After being crushed by movement, it passes through the gap of the discharge port 10c, falls and discharges toward the conveyor 31 below the discharge port 10c, is transported by the conveyor 31, and the magnetic material is removed by the magnetic separator 32 on the way. However, it is discharged outside the machine.

Here, the crush material, which is introduced into the crushing chamber 10a is higher than the position between the light emitter 18a of the level sensor 18 and the light receiver 18b, when the residence predetermined time t _X above, ON / OFF of the controller 60 An OFF signal is transmitted from the control unit 61 to the switching unit 66, and the switching unit 66 switches to the zero setting unit 65, and the target supply speed V is set to zero. Then, the feeder electromagnetic control valve 55 is returned to the neutral position 55a via the electromagnetic control valve command setting unit 67, the vibration feeder 22 is stopped, and the supply of the object to be crushed to the jaw crusher 10 is stopped.

In this state, the jaw crusher 10 crushes the object to be crushed staying inside the crushing chamber 10a, and discharges it from the discharge port 10c to the transport conveyor 31, so that the height of the object to be crushed inside the crushing chamber 10a is lowered. going to. When a certain time elapses after the height of the object to be crushed falls below the mounting position X of the level sensor 18, an ON signal is transmitted from the ON / OFF control unit 61 of the controller 60 to the switching unit 66, and the switching unit 66 selects the minimum value. The target supply speed V is set to the minimum speed V _min selected by the minimum value selection section 64. Then, the feeder electromagnetic control valve 55 is opened via the electromagnetic control valve command setting unit 67, the vibration feeder 22 is driven, and the supply of the object to be crushed to the jaw crusher 10 is resumed. The ON / OFF state of the vibration feeder 22 changes as shown by a thick line in FIG.

Here, if the setting of the supply speed V of the vibration feeder 22 is not appropriate, the ON / OFF state of the vibration feeder 22 may be frequently repeated, but the speed correction unit 63 vibrates as shown in the flowchart of FIG. Since the supply speed V of the feeder 22 is corrected, the crusher 1 can be continuously operated at an appropriate speed.
That is, if the ON / OFF control is frequently performed within the specified time T, that is, if the predetermined number of times (first predetermined number) N ₀ or more, the speed V is corrected to decrease, and the ON / OFF control is performed once (first time). 2 predetermined number) or more and less than the predetermined number N ₀ (1 ≦ N <N ₀ ), the speed V is maintained at the current speed, and if there is no ON / OFF control (second predetermined number) Since the supply speed V is corrected so as to increase, an appropriate supply speed V corresponding to the crushing ability of the jaw crusher 10 can be set. Accordingly, continuous operation is possible, and the ON / OFF state of the vibration feeder 22 is eliminated or significantly reduced, so that the load associated with the ON / OFF of the vibration feeder 22 is reduced, or load fluctuation is suppressed and stable control is achieved. And the crushing efficiency of the jaw crusher 10 can be improved. Here, the second predetermined number of times is one, but this is a numerical value that can be appropriately changed.

When the supply speed V is corrected to decrease, the average speed V _fdm of the actual operation time is calculated based on the operation time t _ON when the vibration feeder 22 operates and the stop time t _OFF when the vibration feeder 22 is stopped. The vibration feeder 22 can be continuously operated at the maximum speed in a range in which the operation and the stop are not repeated.
Further, since the supply amount of the object to be crushed is detected using one level sensor 18, the supply amount can be easily detected with a simple configuration.

  In addition, since the reset switch 42 is provided, if the operator wants to freely set the supply speed V, the operator turns on the reset switch 42, sets the desired speed with the speed setting dial 43, and It is also possible to drive the crusher 10. That is, there is an advantage that the operator has a room for selection of the setting of the supply speed V.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIGS.
8 to 13 show a crusher equipped with a crusher control device according to a second embodiment of the present invention. FIG. 8 is a sectional view of the main part of the crushing device, and FIG. FIG. 10 is a block diagram of the hydraulic circuit, FIG. 11 and FIG. 12 are flowcharts showing the control contents, and FIG. 13 is a time chart showing changes in the driving pressure of the crusher.
In addition, the same code | symbol is attached | subjected and demonstrated to the member similar to what was used for description of 1st Embodiment. Here, the differences from the first embodiment will be described in particular, and the description of the same content as the first embodiment will be partially omitted.

In the second embodiment, unlike the first embodiment, as shown in FIG. 9, the jaw crusher 10α is newly provided with a pressure sensor 70 for detecting the pressure (driving pressure) P of the crushing hydraulic motor 16. there.
8 and 10, a pressure sensor 70 is newly connected to the controller 60α on the input side, and the speed correction unit 63α includes a reset switch 42, a pressure sensor 70, and an ON / OFF control unit 61. Based on the result, the supply speed V of the vibration feeder 22 is corrected.

The control contents of the speed correction unit 63α will be described with reference to a flowchart shown in FIG. In FIG. 11, a new step C <b> 20 is added to steps A <b> 10 to A <b> 60 which are the control contents (see FIG. 5) of the speed correction unit 63 of the first embodiment so as to further correct the supply speed V of the vibration feeder 22. It has become.
First, in step C10, an ON / OFF signal of the reset switch 42 pressed by the operator is received. If the reset switch 42 is OFF, the process proceeds to step C20, and if it is ON, the process proceeds to step C60.

Step C20 is a calculation task performed between Step A10 and Step A20 shown in FIG. 5, and here, as shown in FIG. 13, the driving pressure P of the jaw crusher 10α within a preset specified time T is shown. the average value P _ac of is required.
In Step C30, it is determined whether or not the ON / OFF control of the vibration feeder 22 has been activated within a preset specified time (sampling time) T. If the supply speed V of the vibration feeder 22 is excessive, the ON / OFF control is frequently used. If the ON / OFF control is operating for a predetermined number N ₀ or more, the process proceeds to step C40. If not, the process proceeds to Step C50.

In step C40, a supply speed V correction task described later is performed.
In Step C50, it is determined whether the ON / OFF control of the vibration feeder 22 has not been performed at all (N = 0) or at least once (1 ≦ N <N ₀ ). If the ON / OFF control is not working at all, the process proceeds to step C60, and if it is working even once, the process proceeds to step C70.

In step C60, correction is performed so that the supply speed V slightly increases. This increase amount is set as appropriate, for example, so that the current supply speed V is accelerated by about several percent.
On the other hand, in step C70, the current supply speed V of the vibration feeder 22 is maintained.

  Next, the correction task of the supply speed V performed in step C40 will be described with reference to FIG. FIG. 12 shows the supply of the vibration feeder 22 by adding new steps D50 and D60 after steps B10 to B40 which are correction tasks for the supply speed V (see FIG. 6) of the speed correction unit 63 of the first embodiment. The speed V is further corrected.

Up to step D40, the correction task at the same speed as steps B10 to B40 in the first embodiment is performed, and the average speed V _fdm of the vibration feeder 22 is obtained as the correction speed at step D40.
In step D50, comparing the crusher driving mean pressure P _ac and crusher driving upper pressure P _LT obtained in the previous step C20. If the crusher drive average pressure P _ac is higher than the crusher drive upper limit pressure P _LT (P _ac > P _LT ), the process proceeds to step D60. Otherwise, the supply speed V set in step D40 is maintained and the process returns. to.

In Step D60, the correction speed V _fdm corrected in Step D40 is further corrected again by the ratio of the crusher drive upper limit pressure _LT / crusher drive average pressure P _ac .
The crusher drive upper limit pressure _PLT is a value that is appropriately set depending on the type of object to be crushed. For example, if the object is hard to be crushed, such as concrete or rock, it is set to a relatively high pressure. If it is a soft material to be crushed, it is set to a relatively low pressure. Then, it is preferable that the upper limit pressure _LT is set by the operator pressing a type selection button disposed on the operation panel 41 according to the type of the object to be crushed.

Since the control device for the crusher according to the second embodiment of the present invention is configured as described above, there are the following operations and effects.
In the present embodiment, the supply speed of the vibration feeder 22 is corrected in consideration of the driving pressure P of the jaw crusher 10, so that the object to be crushed is jaw crusher at a more appropriate speed while preventing overloading of the jaw crusher 10. 10 can be supplied.

  Further, correction can be further performed only when the hydraulic motor 16 of the jaw crusher 10 is overloaded, and the hydraulic motor 16 can be reliably protected. Moreover, when it is not an overload, work efficiency can be improved, without performing further correction | amendment.

[Others]
As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, A various deformation | transformation is possible in the range which does not deviate from the meaning of this invention.
For example, in the present embodiment, the supply amount X is detected by detecting the supply height X of the object to be crushed supplied into the crushing chamber 10a using the level sensor 18, but the supply amount detection means is not limited to this. Absent.
Further, in this embodiment, the supply device 20 includes the vibration feeder 22 and supplies the object to be crushed into the crushing chamber 10a. However, instead of the vibration feeder 22, a feeder such as a plate feeder may be provided.

  Further, the control device of the crusher of the present invention rotates a pair of crushing devices other than the jaw crusher 10, for example, a roll-shaped rotating body with a crushing blade attached thereto in the opposite directions, A crusher equipped with a roll crusher that crushes by crushing the object to be crushed between rotating bodies, and a shredder that shears the object to be crushed by rotating in reverse each other. Applicable.

It is principal part sectional drawing which shows the control apparatus of the crusher which concerns on 1st Embodiment of this invention. It is the typical side view which partially saw through the inside of the self-propelled crusher carrying the control device of the crusher concerning a 1st embodiment of the present invention. It is a hydraulic circuit diagram of the hydraulic drive system of the control apparatus of the crusher which concerns on 1st Embodiment of this invention. It is a block block diagram of the control apparatus of the crusher which concerns on 1st Embodiment of this invention. It is a flowchart which shows the control content of the control apparatus of the crusher which concerns on 1st Embodiment of this invention. It is a flowchart which shows the control content of the control apparatus of the crusher which concerns on 1st Embodiment of this invention. It is a time chart which shows the change of the supply speed of the vibration feeder which concerns on 1st Embodiment of this invention. It is principal part sectional drawing which shows the control apparatus of the crusher which concerns on 2nd Embodiment of this invention. It is a hydraulic circuit diagram of the hydraulic drive system of the control apparatus of the crusher which concerns on 2nd Embodiment of this invention. It is a block block diagram of the control apparatus of the crusher which concerns on 2nd Embodiment of this invention. It is a flowchart which shows the control content of the control apparatus of the crusher which concerns on 2nd Embodiment of this invention. It is a flowchart which shows the control content of the control apparatus of the crusher which concerns on 2nd Embodiment of this invention. It is a time chart which shows the change of the drive pressure of the crushing apparatus which concerns on 2nd Embodiment of this invention. It is a side view of a general self-propelled crusher. It is a principal part side view of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Self-propelled crusher 2 Traveling device 3 Base frame 4 Crusher main body 5a, 5b Travel hydraulic motor 10, 10α Jaw crusher (crushing device)
DESCRIPTION OF SYMBOLS 10a Crushing chamber 10b Input port 10c Discharge port 11 Movable tooth 12 Fixed tooth 13 Frame 14 Rotating shaft 15 Flywheel 16 Hydraulic motor for crushing (hydraulic motor)
17, 17a, 17b Side plate 18, 18a, 18b Level sensor (height detection means)
20 Feeding device 21 Hopper 22 Vibrating feeder (feeder)
22a Base 22b Base drive mechanism 23 Feeder hydraulic motor 30 Discharge device 31 Conveyor conveyor 32 Magnetic separator 33 Conveyor hydraulic motor 34 Magnetic separator hydraulic motor 40 Work space 41 Control panel 42 Reset switch 43 Speed setting dial 50 Power unit 51 Engine 52, 52a, 52b Hydraulic pump 53a, 53b Traveling electromagnetic control valve 54 Crushing electromagnetic control valve 55 Feeder electromagnetic control valve 56 Conveyor electromagnetic control valve 57 Magnetic separator electromagnetic control valve 60, 60α Controller (control means)
61 ON / OFF control unit (time detection unit)
62 Storage unit 63, 63α Speed correction unit (number detection unit)
64 Minimum value selector (supply speed detector)
65 Zero setting section 66 Switching section 67 Electromagnetic control valve command setting section 70 Pressure sensor (pressure detection means)
L supply line S _X level signal (information)
T specified time (sampling time)
t _ON operation time t _OFF stop time V Supply speed V ₀ Reference target supply speed (reference speed)
V _f Actual supply speed (actual speed)
V _fdm correction target supply speed (correction speed)
V _min minimum speed X level (height)
P drive pressure P _ac drive average pressure P _LT drive upper limit pressure

Claims (8)

In a crusher comprising a crushing device for crushing a material to be crushed in a crushing chamber, and a feeder for supplying the material to be crushed to the crushing chamber,
A supply amount detecting means for detecting a supply amount of the object to be crushed supplied into the crushing chamber;
Control means for operating or stopping the feeder according to the supply amount detected by the supply amount detection means, and for controlling the supply speed of the object to be crushed to the crushing chamber when the feeder is operated. provided,
The control means includes a time detection unit that detects an operation time during which the feeder is operating and a stop time during which the feeder is stopped, a supply speed detection unit that detects the supply speed during operation of the feeder, and the time detection. A speed correction unit that corrects the supply speed of the feeder based on the operation time and the stop time detected by a section and the supply speed detected by the supply speed detection unit, Crusher control device. The speed correction unit calculates an average speed of the feeder based on the operation time, the stop time, and the supply speed, and decelerates and corrects the supply speed so that the supply speed of the feeder becomes equal to the average speed. The crusher control device according to claim 1, wherein: The control means includes a number detection unit that detects the number of repetitions of operation and stop of the feeder,
The speed correction unit is configured to decelerate and correct the supply speed of the feeder when the number of repetitions detected by the number detection unit within a specified time is a first predetermined number or more. The control apparatus of the crusher of 1 or 2. The speed correction unit accelerates and corrects the supply speed of the feeder when the number of repetitions detected by the number detection unit within a specified time is less than a second predetermined number. 3. The crusher control device according to 3. A hydraulic motor for driving the crushing device;
Pressure detecting means for detecting the driving pressure of the hydraulic motor,
5. The crusher control device according to claim 1, wherein the speed correction unit further corrects the supply speed based on the driving pressure detected by the pressure detection unit. The crusher control according to claim 5, wherein the speed correction unit further corrects the supply speed based on a ratio between the driving pressure and a predetermined driving upper limit pressure of the crushing apparatus set in advance. apparatus. The crusher control device according to claim 5 or 6, wherein the speed correction unit further corrects the supply speed when the driving pressure is larger than a predetermined driving upper limit pressure set in advance. The crushing chamber is charged with the material to be crushed supplied from the feeder from above and discharges the material to be crushed downward,
The crusher according to any one of claims 1 to 7, wherein the supply amount detection means detects a supply height of the object to be crushed supplied into the crushing chamber as the supply amount. control device.

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