JPS5953324A - Method of automatically regulating cut depth of reclaimer - Google Patents

Abstract

PURPOSE:To prevent overload operation by comparing the highest turning speed and the lowest turning speed of a boom with the maximum permissible turning speed and the minimum permissible turning speed respectively to automatically control the cut depth of a bucket in such a manner that the turning speed is always within the permissible speed. CONSTITUTION:The highest turning speed and the lowest turning speed are computed according to the turning speed and turning signal of a boom 2 by arithmetic units 11, 12. When the highest turning speed is greater than the maximum permissible turning speed in a comparator 13, a correction operation command is output to an operation control device 15 to control the cut depth of a bucket 1 in such a manner that both speeds are equalized. When the lowest turning speed is smaller than the minimum permissible turning speed in a comparator 14, a correcting operation command is output to an operation control unit 16 to automatically control the cut depth of the bucket 1 in such a manner that both speeds are equalized.

Description

[Detailed Description of the Invention] The present invention provides a method for obtaining a predetermined dispensing whip with a reclaimer.
Automatically prevents the boom turning speed from being required to exceed the maximum permissible speed or from having to reduce to the minimum permissible speed to A1 without bothering the operator. This invention relates to a method for automatically adjusting the amount of reclaimer penetration.

Conventionally, in order to set the payout amount of the reclaimer, the user operated the travel control word to visually determine the amount of cut per time, or set the amount of cut per time using a setting device, and issued a travel command using a push button. However, at this depth of cut, if the specified payout amount cannot be obtained even if the boom rotation speed reaches the maximum allowable speed, or if the specified payout amount cannot be obtained even if the boom rotation speed reaches the allowable minimum speed. If it exceeds the limit, the driver must manually correct the depth of cut. This is because unless the depth of cut is increased by 1ω, cargo handling efficiency will decrease or overload operation will occur. However, having the operator correct the depth of cut each time makes the operation complicated, which is not preferable from the viewpoint of safe driving.

In view of this point of view, the present invention provides that, in order to obtain a predetermined payout amount with a reclaimer, the swinging speed of the boom must be at least the minimum allowable speed, or must be at or below the minimum allowable speed. This system automatically prevents the occurrence of the reclaimer's incision without bothering the operator, making it possible to improve excavation work efficiency and save labor, as well as to ensure safe operation. The aim is to provide an automatic meter adjustment method.

Hereinafter, first, the principle of the present invention will be explained with reference to FIGS. 1 and 2.

As shown in Fig. 1 and Ditch Fig. 2, the side of one cut by the bucket (1) of the reclaimer is Ll, the penetration depth is H, the swing speed of the boom (2) is V, and the running learn r (
If the swing angle at any position of the boom (2) based on 1) is θ, then the payout amount Q due to the swing operation is:
It becomes it. However, K is a constant.

In the above equation (1), if H, L, and (2) are constant, it can be seen that as the swing angle θ of the boom (2) increases, the payout amount Q decreases. In other words, the turning speed V is -c
The payout amount Q can be made a constant by multiplying the value by osO and controlling the rotation speed while changing the rotation speed during waiting.

On the other hand, a fully enclosed external fan type is often used for the swing motor of the rift 1/-ma, and as a matter of course, there is a limit on the minimum allowable rotation speed in continuous operation, and there is also a limit on the allowable maximum rotation speed. be. Therefore, in equation (1), if the swing speed of the bucket (1), which is determined by the relationship with the allowable rotation type of the swing motor, exceeds the allowable maximum speed, or is smaller than the allowable minimum speed, Vmin-, the swing The ability to automatically adjust the depth of cut of the bucket (1) so that the speed V always satisfies Vmax≧V≧Vmin- allows efficient and safe operation at all times. 7. C That is, from the above formula (1), the turning speed V is as follows.If the maximum turning angle of the boom (2) is 01 and the minimum turning angle is 02, then the arithmetical maximum speed v9νn, e
· and the minimum speed Vmin · are expressed by h.

Also, from equation (11) and equation (iii) Then, (from formula 10 and formula (1v)) It depends.

Therefore, at any turning angle θ of the boom (2),
and Vm of the boom (2) to obtain a predetermined payout amount Q.
i? I′, can be found.

On the other hand, the maximum allowable speed Vmax/minimum allowable speed Vt
Bakeno l-(1) cut 'A iE in case of YLin
,": L is expressed as 1-□ ...... (vii) K・HφvrNLc,・co8θ society. Therefore, the above-mentioned Vrnax, is Vma
z.

or when Vmin is smaller than ■mi7+, Vmr from formula (vii) or (viii).
Find the cutting depth to make w- or Vmin, and calculate this L
To adjust the depth of cut, use Vmaz and Vm.
It becomes ax, and ■Hunle becomes Vmin.

However, since the depth of cut calculated using formula (vii) or (viii) is the required depth of cut from the previous operating position, the depth of cut ΔL to be corrected is calculated by setting the first depth of cut to L.
When B, it is expressed as . Therefore, by determining ΔL from the diagram or formula (x), and sending this signal to the reclaimer travel motor, the depth of cut can be automatically adjusted to N1-4.

Next, an example of the present invention based on the above principle will be explained with reference to FIG.

In the figure, (lυ is the turning speed V of the boom (2) detected and sent by an appropriate detection means and Boo-!, (
'2) Maximum speed Vtn, a based on the turning frj degree θ
, (6) is a computing unit that calculates (according to the vl formula), (6) is the rotation speed V of the detected packet (1) and boom
2) Based on the turning angle θ, the minimum speed Vmi1(',
vl) A calculator that calculates according to the formula, 03 is the maximum allowable speed Vmax that is not set.

and the arithmetic unit (calculated by 1υ A1 sent -C came Vmnz-
and Vmax if Vmax is 2.0.
The comparator a, which outputs a signal of
. The comparator G0 outputs a signal of Vmin when G61 is an arithmetic and control unit that calculates the cutting depth ΔL to be corrected and sends the calculated signal to the reclaimer's travel motor, and G61 compares the set predetermined payout amount Q with the comparator (1
Sent from 4);h? This figure shows an arithmetic control device that calculates the depth of cut ΔL to be corrected based on the received word and the value calculated according to the equation (viii) (using equation X7), and sends the obtained signal to the traveling motor of the reclaimer.

Next, the operation of the present invention will be explained.

The signals of the swing speed V and swing angle 0 of the boom (2) detected by the appropriate detection means are continuously sent to the calculator αυ(
6), the calculator (11) calculates the maximum speed - 6 according to the formula (■), outputs that value to the comparator (13), and the calculator (6) calculates the lowest speed according to the formula (vl). Vmin, is calculated and the value is sent to the comparator (14) -\
Output.

The comparator θ east has the preset allowable maximum speed V+yuz
. The maximum speed v that is calculated by the calculator αυ and sent A1 is
mIOLz, compared with Vymz. In the case of ≦V z・, it means that the detected turning speed V is within the allowable value, so it is not output to the side pipe to the arithmetic and control unit 0υ, and the comparator (14) Also, the allowable minimum speed Vmin is compared with the minimum speed Vmirb calculated and sent by the calculator @.Jl, Vmin≧'Vmi
In the case of n, the detected J and turning speed ■ are within the allowable value,
This means that there is no output from the side pipe to the arithmetic and control unit M (161).Therefore, the depth of cut is not equilibrated and the operation continues in its original state.

As a result of comparison by comparator 03, VwzZ・＞Vzz−
In the case of , a correction calculation command is output from the comparator 0 to the calculation and control unit u51 (the depth of cut is calculated by the formula Vii1), and the depth of cut ΔL to be corrected is calculated by the formula (1×). 1. The cutting depth ΔL is output to the crane's traveling device, and the cutting electric current is corrected.

The result compared with ratio 1llll L3 (14) Vmin
- (Vain), the correction calculation command is output from the Q unit (14) to the arithmetic and control unit (1.O).
When the depth of cut is calculated using formula viii), K(×
) The depth of cut ΔL to be corrected is calculated, and the depth of cut ΔL is output to the traveling device of the reclaimer. 11. The depth of cut ΔL is corrected.

It should be noted that as a method of automatically adjusting the depth of cut in the present invention, it is possible to adopt either the neutral method or the feedback control method, and various other changes may be made without departing from the gist of the present invention. Of course, it is possible to add .

According to the method for automatically adjusting the cutting depth of a glue cremer of the present invention,
Even if the depth of cut is set roughly, the depth of cut can be automatically adjusted, making operation easier and improving safety. Also, since the turning speed is always within the specified speed, overload operation can be prevented. In addition, various advantages and effects can be achieved, such as enabling efficient operation.

Depending on the predetermined payout amount or the size of the turning limit angle, the conditions of Vmin≦■≦Vmax can be satisfied. If 7u is not available, the minimum speed should be set to V = V to prevent overload.
min-, Vmnx, (in the V range, V
=V? It is best to limit it to 7LaZ.

[Brief explanation of drawings]

1 and 2 are detailed explanations of the present invention, and FIG. 5 is an explanatory diagram of an example of a control circuit used in the present invention. In the figure, 0υ(6) indicates an arithmetic unit, a■(14) a comparator, and αold IQ an arithmetic control unit. Patent applicant Ishikawajima Harima Heavy Industries Co., Ltd.

Claims (1)

[Claims] 1) Calculate the maximum swing speed and minimum swing speed of the boom required to obtain the specified payout amount based on the arbitrary swing angle and the swing speed at that time, and make sure that the maximum swing speed is lower than the maximum allowable swing speed. If the maximum rotation speed is greater than 2, the cutting depth of the packet is automatically adjusted so that the maximum rotation speed is equal to or smaller than the allowable maximum rotation speed, and if the minimum rotation speed is smaller than the allowable minimum rotation speed, The cutting depth of the bucket is automatically adjusted so that the minimum turning speed is equal to or thicker than the allowable minimum turning speed. Self
Auxiliary adjustment method.