JPH08157074A - Operation control method and operation control device for bucket elevator excavating device - Google Patents

Abstract

PURPOSE: To provide an operation control method and an operation control device for a bucket elevator excavating device capable of automatically and efficiently excavating a heap of a bulk cargo generated by a collapse. CONSTITUTION: Multiple sensors 15 detecting the distance to a bulk cargo 14 are arranged on the excavating frame 5 of a bucket elevator excavating device, the height H of the start end section of a heap 14b of a bulk cargo generated by a collapse is calculated from the detected values of the sensors 15, and 1/2 of the calculated height H is used for the erection quantity of the excavating frame 5 for the forward excavating operation. The height (h) of the end section of the heap 14b of the bulk cargo is calculated from the detected values of the sensors 15, and the calculated height (h) is used as the erection quantity of the excavating frame 5 for the return excavating operation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation control method and an operation control device for a bucket elevator excavator in an unloader or the like.

[0002]

2. Description of the Related Art FIG. 5 is a side view of an excavating portion of a bucket elevator excavating device for an unloader according to the prior art, and FIG. 6 is an explanatory view of the depth of cut of the bucket shown in FIG.

As shown in FIG. 5, at the lower end of the bucket elevator column 1, a swing frame 2'comprising an upper half swing frame 2a 'and a lower half slide frame 2c'.
And an L-shaped frame composed of the excavation frame 5 and the excavation frame 5 are connected via a shaft 3. The excavation frame 5 and the swing frame 2'are connected via a shaft 6. Further, the upper swing frame 2a 'is provided with a digging section telescopic cylinder 2b', and the lower half slide frame 2c 'slides and expands due to the extension and contraction of the digging section telescopic cylinder 2b'. 12a etc. move up and down. On the other hand, both ends of the tilting cylinder 4 are connected to the lower end of the bucket elevator column 1 and the lower end of the upper half rocking frame 2a ', and the center of the lower half slide frame 2c' and the center of the excavating frame 5 are connected. Both ends of a horizontal holding cylinder 7'are connected to the respective parts. Therefore, as shown by the alternate long and short dash line in FIG.
The rocking frame 5 is swung about the shaft 3 by the horizontal holding cylinder 7 ', and the excavating frame 5 is rotated about the shaft 6 and held horizontally.

Further, guide sprockets 8, 9 and 10 are provided at both ends of the excavation frame 5 and the upper end of the upper half rocking frame 2a ', respectively. These guide sprockets 8, 9 and 10 guide the bucket chain elevator 12 so as to circulate in the direction of arrow A in FIG. 5 along the frame composed of the excavating frame 5 and the swing frame 2 '. The bucket chain elevator 12 is composed of a bucket chain 12b that engages with the guide sprockets 8, 9, 10 and the like, and a plurality of buckets 12a attached to the bucket chain 2. Therefore, when the bucket chain elevator 12 is driven by the drive sprocket (not shown) in the bucket elevator column 1, the bucket chain elevator 12 is guided by the guide sprockets 8, 9 and 10 and is constituted by the excavation frame 5 and the swing frame 2 '. The bucket 12a is conveyed while circulating around the frame and in the bucket elevator column 1. In addition, 13 in FIG. 5 is a wall of the hold, and 14 is a bulk cargo loaded in the hold.

Therefore, according to the excavator for a bucket elevator having the above structure, a hoisting device (not shown) which is above the bucket elevator column 1 and hoists the entire excavator.
After excavating the excavation part from the mouth of the hold into the hold by excavating the bulk cargo 14 in the hold with the bucket 12a by circulating the bucket chain elevator 12 and laterally feeding the excavation part. It is conveyed upward and is unloaded so as to be discharged at the upper end of the bucket elevator column 1. For such unloading, first, the solid line in FIG. 5 (however, the bucket chain levitator 12 is a one-dot chain line)
The rocking frame 2'and the excavating frame 5 are L
Starting from the unloading of the bulk load 14 near the center of the hold in the shape of a letter, sequentially tilting the tilting cylinder 4 as shown by the alternate long and short dash line in FIG. In this state, the bulk cargo 14 near the wall 13 of the hold is unloaded. At this time, the excavation frame 5 is held horizontally by the horizontal holding cylinder 7 '.

[0006]

However, as the excavation progresses, the bulk cargo 14 becomes a steep cliff near the wall 13 of the hold, and during this time the bulk cargo 14 collapses suddenly (hereinafter referred to as landslide). ) Occurs. As a result, a mountain of the loose bulk load 14 may occur on the reference surface of the bulk load 14 that was horizontally moved and excavated by normal automatic operation. On the other hand, in the bucket elevator excavating device according to the above-mentioned conventional technique, when the automatic operation is continued as it is, the bucket 12a tries to excavate the bulk load 14 with a normal cutting amount. An excessive force is applied to the excavation part such as the bucket chain 12b or the bucket chain, and the automatic operation is abnormally stopped.

Further, in order to avoid this inconvenience, when a pile of bulk goods 14 occurs, normal automatic operation is interrupted,
After manually breaking the pile of the bulk cargo 14, the normal automatic operation was restarted again. However, at this time, the height of the mountain of the bulk cargo 14 can be grasped only by visual observation, and the operator estimates the mountain height of the bulk cargo 14 to perform excavation operation based on his own experience. There was a problem that the depth of cut varied greatly and the optimum operation was not performed. The depth of cut of the bucket 12a is the amount h ₀ of the bucket 12a excavating the bulk cargo 14 as shown in FIG. However, in FIG. 6, the horizontal direction in the drawing is the lateral feed direction of the excavation portion (that is, the bucket 12a), and the direction perpendicular to the plane of the drawing and the front direction is the bucket 12a.
It is the direction of circulation.

Therefore, in view of the above-mentioned prior art, the present invention provides an operation control method and an operation control device for a bucket elevator excavator capable of automatically and efficiently excavating a pile of an excavated object such as a bulk cargo. With the goal.

[0009]

According to the operation control method of the present invention for achieving the above object, a plurality of sensors for detecting a distance to an object to be excavated are provided in an excavation portion of a bucket elevator excavator, and the excavation object is excavated. The height difference of the starting end is calculated from the detection value of the sensor at the starting end of the pile of objects, and the optimum undulation amount of the excavation portion is calculated based on the calculated height difference. The excavation operation of the forward path is performed by controlling the undulating means of the excavation unit, and then the height difference of this end portion is calculated from the detection value of the sensor at the end portion of the mountain of the object to be excavated,
An optimum undulation amount of the excavation part is obtained based on the calculated height difference, and the undulation means of the excavation part is controlled based on the undulation amount to perform the excavation operation on the return path.

Further, the operation control device is provided with a plurality of sensors arranged in the excavation section for detecting the distance to the excavation object, and from the detection value of the sensor at the starting end of the mountain of the excavation object. The height difference of the start end is calculated, and the optimum undulation amount of the excavation part is obtained based on the calculated height difference, and the undulation means of the excavation part is controlled by this undulation amount to perform the excavation operation on the outward path. Then, the height difference of this end portion is calculated from the detection value of the sensor at the end portion of the mountain of the excavation object, and the optimum undulation amount of the excavation portion is obtained based on the calculated height difference. Operation control means for controlling the undulation means of the excavation section according to the amount of undulation to perform excavation operation in the return path.

[0011]

According to the present invention having the above-described structure, when there is a mountain to be excavated, the height difference (mountain height) at the starting end of the mountain is calculated from the detection value of the sensor at the starting end. The forward excavation operation is performed with the optimum amount of undulation according to this height difference, and at the end portion of the mountain, the height difference at this end portion is calculated from the detection value of the sensor at this time, and the optimum height according to this height difference is calculated. The excavation operation on the return path is performed based on the amount of relief.

[0012]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 1 is a side view of the excavator of a bucket elevator excavator for an unloader according to an embodiment of the present invention, FIG. 2 is a control block diagram of the bucket elevator excavator shown in FIG. 1, and FIG. 3 is a bucket elevator shown in FIG. FIG. 4 is a flow chart showing a control method at the time of landslide of the excavator, and FIG. 4 is an explanatory view showing a control method at the time of landslide of the bucket elevator excavator shown in FIG.

As shown in FIG. 1, in the bucket elevator excavating device according to the present embodiment, the swing frame 2 and the excavating frame 5 form a frame in a substantially inverted T shape.

Of these, the swing frame 2 has an upper half swing frame 2a and a lower half slide frame 2c, and the upper half swing frame 2a is at the lower end of the elevator column 1. The lower half slide frame 2c is swingably supported via a shaft 3, and the excavation unit extension / contraction cylinder 2b provided inside the upper half swing frame 2a expands and contracts to allow the upper half swing frame 2a to move. Slide along the length. The lower half slide frame 2c slides to move the excavation frame 5 and the bucket 12a in the excavation section.
Moves up and down. Further, both ends of the tilt cylinder 4 are connected to the lower end of the upper half rocking frame 2a and the lower end of the elevator column 1, respectively. It is swung around.

The excavation frame 5 is connected at its center to the lower end of the lower half slide frame 2c via a shaft 16 and has its rear end (the right end in FIG. 1) of the lower half slide frame 2c. A horizontal holding cylinder 7 whose one end is connected to the central portion is connected to the other end via a shaft 6, and by the expansion and contraction of this horizontal holding cylinder 7, the horizontal holding cylinder 7 is always held horizontally regardless of the swing angle of the swing frame 2. To be done. Guide sprockets 8 and 9 are provided at both ends of the excavation frame 5.

The guide sprockets 8 and 9 are provided with a guide sprocket 10 provided at the lower end of the bucket elevator column 1 and a bucket chain elevator 12 driven by a drive sprocket (not shown) in the bucket elevator column 1. Guide sprocket 8, 9 and 10 are sequentially guided into the bucket elevator column 1 so as to circulate in the direction of arrow A in the figure. The bucket chain elevator 12 includes a bucket chain 12b that engages with the drive sprocket and the guide sprockets 8, 9 and 10, and a plurality of buckets 12a attached to the bucket chain 12b at predetermined intervals. Therefore, when the bucket elevator 12 is driven by the drive sprocket, the guide sprocket 8,
The bucket 12a is guided by being guided by 9 and 10, and circulates around the frame composed of the excavation frame 5 and the swing frame 2 and inside the bucket elevator column 1.

The bucket elevator excavator is provided with a plurality of sensors 5. That is, the sensor 15 is the support member 1 fixed to the upper part of the excavation frame 5.
A plurality of them are supported by 7, and the height difference of the bulk cargo 14 is detected by detecting the distances to the surface of the bulk cargo 14 occupying below the bulk cargo. As the sensor 15, a sensor capable of measuring a distance such as an ultrasonic sensor, an infrared sensor or a laser sensor is used.

As shown in FIG. 2, the sensor 5 is connected to an arithmetic processing unit 22 and a storage unit 23 via an interface circuit 21. Further, the arithmetic processing unit 22 and the storage unit 23 are connected to the control panel 24 via the interface circuit 21. Although details will be described later, the arithmetic processing unit 22 calculates the height difference of the bulk load 14 based on each detection signal of the sensor 15 input through the interface circuit 21, and the calculated height difference of the bulk load 14 is interfaced. It is output to the control panel 24 via the circuit 21, and the control panel 24 controls the amount of undulation of the excavation frame 5 (that is, the bucket 12a) based on this height difference. Here, the undulation amount means both the raising amount and the lowering amount of the excavating frame 5, the raising amount is the amount of raising the excavating frame 5, and the lowering amount is the lowering of the excavating frame 5 part. Is the amount. Further, the undulation of the excavation frame 5 is performed by an undulation device (not shown) which is located above the excavation section expansion / contraction Linda 2b or the bucket elevator column 1 and which undulates the entire excavation device.

Therefore, according to the above-described embodiment, after the excavation section is moved into the hold from the hold mouth by the above-mentioned undulating device, the bucket chain elevator 12 is circulated and the excavation section is laterally fed, so that the inside of the hold is loose. The load 14 is excavated by the bucket 12a, scooped up, and then conveyed upward to be discharged at the upper end portion of the bucket elevator column 1 for unloading. Such unloading is performed by unloading the bulk load 14 near the center of the hold in a state where the rocking frame 2 and the excavating frame 5 form a substantially inverted T-shape. In the state in which is swung forward and fixed, the bulk cargo 14 near the wall 13 of the hold is unloaded. At this time, the excavation frame 5 is held horizontally by the horizontal holding cylinder 7. When digging near the bottom of the ship, the bulk cargo 14a of the bulk cargo 14 near the wall 13 of the hold becomes a steep cliff, as shown in FIG. 1, and during this time, the bulk cargo 14a may collapse. Due to this temporary landslide, a bulk cargo mountain 14b is generated on the reference surface of the bulk cargo 14 that has been horizontally moved and excavated during normal operation.

[0021] In this way, a mountain 14 of bulk cargo due to a landslide
When b is generated, the operation control corresponding to this is performed. The details of this operation control will be described below with reference to FIGS. 3 and 4. The steps of the flowchart shown in FIG. 3 are denoted by reference numerals S1 to S15, and the points in FIG. Further, in FIG. 4, the direction perpendicular to the paper surface is the circulation direction of the bucket 12a, and the left-right direction is the lateral feed direction of the excavation section, which is the forward path from right to left, and the return path from left to right.

In front of the pile 14b of bulk cargo (in FIG. 4), the bulk cargo 14 is excavated by normal operation. After that, the bucket 14a is the starting end portion of the pile 14b of bulk goods.
When the point A in the inside is reached, the height difference of the landslide portion (the uneven pile 14 from the detected values of the sensor 15 (in FIG. 4) at this time).
b height H of the start end portion) is calculated (S2), and 1/2 of the calculated height difference H is set as the undulation amount, and the undulation amount H /
The excavation frame 5 (that is, the bucket 12a) is raised by 2 (S3, in FIG. 4). However, if the height difference H is within the range of normal excavation, the normal operation is continued without raising the excavation frame 5.

It should be noted that the reason why the undulation amount is 1/2 of the height difference H is that the mountain 14b that must be excavated by this operation control does not have an extremely high height because of experience, and is generally Since most of the excavation can be done two times in the outward and return passes, if the height of the bulk pile 14b is H, then H /
This is because 2 is the optimum relief amount.

When the bucket 12a is raised to a height of H / 2, excavation is carried out at this height until the bucket 12a reaches the point B in FIG. S5, S6 in FIG. 4). Then bucket 12a
4 reaches the point B in FIG. 4, the sensor 15 at this time
From each detected value (in FIG. 4), it is determined that it is the end of the bulk crest 14b, and the height difference h of this end is calculated (S6, S7), and the calculated height difference h is undulated. Set as the amount, the bucket 12a is lowered by this undulation amount h (S9, FIG. 4). The height difference h and the amount of undulation h at this time are displayed on the monitor screen in the same manner as above (S
8).

When the bucket 12a is lowered by the undulation amount h,
Until the bucket 12a reaches the point A, the height of the bucket 12a is maintained and the excavation operation on the return path is performed (S10, S11, FIG. 4).
In). After that, when the bucket 12a reaches point A in FIG. 4, the height difference is calculated again from each detection value of the sensor 15 (in FIG. 4) at this time, and the bucket 12a is lowered to the reference plane H ₀ ( S12), the normal operation is restored and the operation is continued (S13, S14).

As described above, according to the present embodiment, the excavation operation is performed while monitoring the condition of the landslide, and if the landslide occurs and the bulky mountain 14b occurs, the height of the mountain 14b is adjusted. Since it is possible to operate by appropriately switching the operation at the time of landslide and the normal operation so as to perform the excavation operation by obtaining the amount of undulations of the excavation frame 5, the pile 14b of bulk cargo
In the above, the automatic operation is not stopped because an excessive force is not applied to the excavated portion such as the bucket 12a and the bucket chain 12b. Further, since the undulation amount of the excavation portion is set based on the height of the bulk material crest 14b calculated from the detection value of the sensor 15, the optimum bucket 1 corresponding to the height of the bulk material crest 14b is set.
It is possible to excavate the bulky pile 14b with a cutting depth of 2. Therefore, the operating efficiency of the bucket elevator excavator can be improved, and the productivity of the unloader can be further improved.

In the above-described embodiment, the undulation amount of the outward path and the return path of the bulk cargo 14b is set to H / 2 and h, but it is not necessarily limited to this and, for example, depending on the height of the bulk cargo mountain 14b. The undulation amount different from this may be appropriately set.

[0028]

According to the present invention as specifically described in connection with the above embodiments, even if there is a mountain of an excavated object such as a bulk cargo, the height difference of this mountain is calculated from the detection value of the sensor, Since the optimum amount of undulation is set on the basis of the calculated height difference to excavate the pile of the excavation object, there is a possibility that the bucket or the like in the pile of the excavation object is applied with an excessive force and the operation is stopped. Absent. Further, the pile of the object to be excavated can be excavated with the optimum amount of cutting of the bucket. Therefore, the operating efficiency of the bucket elevator excavator is improved, and if this is applied to the unloader, the productivity of the unloader can be further improved.

[Brief description of drawings]

FIG. 1 is a side view of an excavating section of a bucket elevator excavating device for an unloader according to an embodiment of the present invention.

2 is a control block diagram of the bucket elevator excavator shown in FIG. 1. FIG.

FIG. 3 is a flowchart showing a control method when the bucket elevator excavator shown in FIG.

FIG. 4 is an explanatory diagram showing a control method when the bucket elevator excavating device shown in FIG.

FIG. 5 is a side view of an excavating unit of the bucket elevator excavating device of the unloader according to the related art.

6 is an explanatory diagram of a cutting amount of the bucket shown in FIG.

[Explanation of symbols]

 1 Bucket Elevator Column 2 Swing Frame 2a Upper Half Swing Frame 2b Excavating Extension Cylinder 2c Lower Half Slide Frame 3,6,16 Axis 4 Tilt Cylinder 5 Excavation Frame 7 Horizontal Holding Cylinder 8,9,10 Guide Sprocket 12 Bucket chain elevator 12a Bucket 12b Bucket chain 13 Cargo wall 14 Bulk load 14a Bulk load before landslide 14b Bulk load after landslide 15 Sensor 17 Support member 21 Interface circuit 22 Computing device 23 Storage device 24 Control panel

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Hisaya Myokami 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima-shi, Hiroshima Mitsubishi Heavy Industries Hiroshima Works

Claims (2)

[Claims] 1. A plurality of sensors for detecting a distance to an object to be excavated are provided in an excavating portion of a bucket elevator excavator,
The height difference of this starting end is calculated from the detection value of the sensor at the starting end of the mountain of the object to be excavated, the optimum undulation amount of the excavation part is calculated based on this calculated height difference, and this undulation The undulation means of the excavation unit is controlled by the amount to perform the forward excavation operation, and then the height difference of the end portion is calculated from the detection value of the sensor at the end portion of the mountain of the object to be excavated, and this calculation An operation control method for a bucket elevator excavating device, characterized in that an optimum undulation amount of the excavation portion is obtained based on the height difference, and the excavation operation of the return path is performed by controlling the undulation means of the excavation portion based on the undulation amount. 2. A sensor provided in the excavation section for detecting a distance to an object to be excavated, and a starting end of a mountain of the object to be excavated from a detected value of the sensor. The height difference is calculated, the optimum undulation amount of the excavation portion is calculated based on the calculated height difference, and the undulation means of the excavation portion is controlled by this undulation amount to perform the excavation operation on the outward path, and then At the end of the mountain of the excavation object, the height difference of this end is calculated from the detection value of this sensor, the optimum undulation amount of the excavation part is obtained based on this calculated height difference, and the excavation is performed by this undulation amount. And an operation control unit that controls excavation operation in a return path by controlling the undulation unit of the section.