JPS59149237A - Method of sensing inclination of boom - Google Patents

Abstract

PURPOSE:To automatically restrict movement of a boom end for purpose of safe operation, by mounting a strain gauge type accelerometer on a boom in such a manner that a direction of sensing of acceleration is a longitudinal direction of the boom, and sensing inclination of the boom according to change in gravitational acceleration. CONSTITUTION:A strain gauge type accelerometer 15 is mounted in such a manner that a direction of sensing of acceleration is a longitudinal direction of a boom as shown by an arrow. An influential characteristic of the accelerometer 15 relative to gravity shows a since curve, and therefore when the accelerometer 15 is horizontally mounted to the boom 5, an angle of inclination of the boom 5 upon actual use is small, and it may be used in the approximately linear range and in the range of relatively large gradient of change. Accordingly, if the gradient is preliminarily noticed as a correct value, a sensed value of change in gravitational acceleration is regarded as a change value of a boom angle, and change in the gravitational acceleration may be incorporated into a control system of inclination operation of the boom.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a boom inclination detection method, and particularly to a boom inclination detection method suitable for controlling the amount of movement of the boom tip.

[Prior art] □ Conventional boom inclination detection methods relied on the driver's visual judgment, which could result in the boom being tilted more than necessary due to operator error or falling asleep, and normal cargo handling operations could not be carried out. This resulted in inefficient loading and unloading operations, and sometimes resulted in overloading the boom, causing damage to the loading equipment.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide a boom inclination detection method that automatically detects the inclination of the boom, automatically suppresses movement of the tip of the boom, and enables highly efficient and safe operation.

[Summary of the invention]

Strain gauge accelerometers are originally used to detect the vibration acceleration of a vibrating object, and are used by matching the direction of vibration to the detection direction of the strain gauge accelerometer. The gauge has characteristics that influence gravity, and this influence characteristic is considered to be extremely effective in detecting boom inclination. The present invention applies the above functions of the strain gauge type accelerometer, and installs the strain gauge type accelerometer on the boom so that the acceleration sensing direction is in the longitudinal direction of the boom.1 The tilt of the boom is detected by changes in gravitational acceleration. This is what I did.

[Embodiments of the invention]

, Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a side view of a stunker reclaimer showing the implementation status of the present invention. This stunker reclaimer is used for efficiently handling lump or powdered coal and ores.The pedestal 1 has a structure that allows it to run on traveling rails 2, and the revolving body 3 It can be rotated on the upper surface of the pedestal 1 via the next device 4. The boom 5 is connected to the revolving body 3 by a pin 6, and at the same time is pin-coupled to one end of the boom 5 by a tension bar 7. A balancer 9 is provided at the other end of the lever 8, and the lever 8 It is built into the upper part of the body 3 so as to maintain an appropriate balance using the lever fulcrum lO as the fulcrum.

The boom 5 can be hoisted by winding or unwinding the rope 11 using a hoisting device 12. Further, a rotatable packet wheel 13 is attached to the tip of the boom 5, and by rotating this packet wheel 13, the rotation of the revolving body 3, the raising and lowering of the boom 5, and the traveling of the frame 1 are combined. By pointing, the cargo handling object 14 can be excavated.

By the way, since the objects to be handled 14 are piled up in a pile, if they are not excavated sequentially from the upper layer, a landslide will occur.
Inevitably, the excavation will have an excavation shape with a terrace-like step H. Furthermore, if the step H in a terraced field is too high, a landslide will naturally occur, and a large amount of cargo handling objects 14 will ride on the packet wheel 13, exceeding the allowable load, which is extremely dangerous for safety.On the other hand, if the step H is too low, The amount of excavation is reduced, resulting in poor excavation efficiency (and inefficiency).Therefore, the step H is an extremely important dimension in carrying out cargo handling operations.

In conventional stacker reclaimers, this level difference determination relies on the visual judgment of the cargo handling driver.

It goes without saying that individual differences occur due to driver changes, but large differences occur due to differences in the environment, such as conditions that obstruct visibility such as night work or rainy weather, resulting in inefficient cargo handling and, in some cases, the above-mentioned problems. Landslides create a dangerous situation.

As described above, dimensional control of the step H is important in terms of both cargo handling efficiency and safety during cargo handling operations, and automatically managing the step H is an extremely effective means. It goes without saying that this level difference H can be managed by managing the inclination angle of the boom 5.
The method for detecting the slope of the slope and its management will be described in detail below.

The strain gauge type accelerometer 15 attached at any position on the boom 5 is attached in the direction of the arrow so that the direction of acceleration sensitivity is in the longitudinal direction of the boom 5. By the way, since the influence characteristic of this strain gauge type accelerometer on gravity exhibits a sinusoidal curve as shown in Fig. 2, if it is installed horizontally on the boom 5, the actual undulation of the boom 5 will be Since the angle is small, the gravitational acceleration changes in the range shown by the diagonal lines in FIG. 2, and is used in an approximately linear range and a relatively large gradient of change. Therefore, if this gradient is known in advance as a calibration value, the gravitational acceleration change detection value can be obtained as the boom angle change value.

By utilizing the above-mentioned phenomenon and incorporating it into the control system for the raising and lowering operation of the boom, the angle value of the boom 5 can be determined numerically without relying on visual inspection of the step H shown in FIG.

〔Effect of the invention〕

According to the present invention, the inclination of the boom can be automatically detected, thereby enabling efficient and safe driving operations.

[Brief explanation of the drawing]

FIG. 1 is a side view of the Stabkerley-Kramer device showing the state of implementation of the present invention, and FIG. 2 is a diagram showing the gravity influence characteristics of the strain gauge type accelerometer. 1... Frame, 2... Running rail, 3.
...Rotating body, 4...Next equipment 1.5...
...Boom, 7...Tension bar, 8.
...Lever, 9...Balancer, 10...
...Lever fulcrum, 11...Rope, Minoru...
...Luffing device, 13...Packet wheel,
14... Cargo handling object, 15... Strain gauge accelerometer

Claims (1)

[Claims] 1. Install the strain gauge accelerometer on the boom so that the acceleration sensing direction is in the longitudinal direction of the boom.Use the phenomenon that affects the gravity of the strain gauge accelerometer to determine the elevation angle of the boom. Boom tilt detection method characterized by detecting storm