JPS60106728A - Method of controlling locus of scraping section in continuous type unloader - Google Patents

Abstract

PURPOSE:To simply and surely determine the arival of the scraping section of a bucket conveyor at a desired position, by computing the distance between the present position of the scraping section and the desired position, and by confirming the travel of the scraping section by the same distance as mentioned above. CONSTITUTION:A computing device 1 computes at first a necessary travel distance DELTAdna of the front end of a scraping section in a bucket conveyor in accordance with the starting position coordinates of the front end of the scraping position upon playback operation and desired position coordinates memorized upon teachcing operation. Further, the present position coordinates of the scraping section are computed in accordance with the present position of the scraping section upon playback operation, which is detected by a position detector, and the travel distance DELTAdnp from the starting point to the present position upon playback operation is computed in accordance with the present position coordinates and the starting position coordinates. Further, the necessary travel distance DELTAdna and the travel distance DELTAdnp are compared with each other in a comparator 2, and if DELTAdnp>DELTAdna, it is determined that the front end of the scraping section reaches the desired position.

Description

DETAILED DESCRIPTION OF THE INVENTION This book 5i', 1111 is a continuous type pusher 1'' which has a continuous type pusher 1'' whose scraping part tip has one stroke so as to reproduce a pre-memorized trajectory. This relates to a method for controlling the trajectory of the take-off part.

As a driving method for the continuous unrotor, the applicant of the wooden rudder 111 uses manual 1i7i picking operation to store the movement locus of the tip of the elevator scraping part in the storage device. (De, f
-Zing), automatic driving +1. Y (when 'playbarak')
To do this, linearly interpolate a predetermined locus stored in advance for each minute button, and select Baffler 1 to Competition 1? - We created a dieting playbar 91f type that automatically scrapes off the scattered material while avoiding reproducing the trajectory of the tip of the scraping part. Therefore, it is necessary to detect whether or not the tip of the scraping section has reached the target position from the current position. As a law (is the first
As shown in the diagram, the baffle 1- has been launched from the starting position A.
21. The tip of the scraping part of A7 is Ll 4? ! (◇If you enter a circle with radius r centered on direction B, you can trace it to target position RB until it reaches Y. However, method C, for example,
~The tip of the conveyor scraping part is straight! In the case where the target position 13>1, the tip of the packet competition A7WI retrieval part will not reach the target position even if it moves by a distance l5ltJdI1 or more, which may interfere with automatic driving. There is.

In view of the above points, the present invention can easily and reliably judge whether the tip of the scraping section 1 to 17 has reached the target position or not, thereby allowing smooth automatic operation of the continuous unrotor. 1. If you don't hit the mark,
Calculate the distance from the current position of the tip of the scraping section of the bucket conveyor to the target position i angle at the current position during playback, and set the tip of the scraping section of the bucket conveyor to the starting point JJ
&)-? : When the tip of the scraping section of the bucket conveyor travels a distance equal to or longer than the predetermined distance, it is determined that the tip of the scraping section of the bucket conveyor has reached the target position, and it moves toward the next target point position.

Embodiments of the present invention will be described below with reference to the drawings.

In FIG. 2, 1 is an arithmetic and control unit, and 2 is a comparator C. Accordingly, from the light output position coordinates of the tip of the scraping section of the bucket conveyor 1 during playback and the target position coordinates stored during teaching, the tip of the scraping section of the bucket conveyor 1 is determined in playback 11,1. The required travel distance IAdna is calculated, and on the other hand, the current position of the packet conveyor scraping section during playback is detected by the decoy detector, and the current position coordinates are calculated from the current position, and the current position coordinates and the departure position are calculated. From the coordinates, the moving distance Δdnp from the light output position during playback of the packet conveyor scraping unit to the current position
is calculated.

The signals of the required moving distance A d na and the moving distance Δ d llp are compared in the comparator 2, and if Jdnp<Adna, backt=1. Then, the linear movement continues toward the target position, but if Δdnp≧Adna, it is determined that the tip of the scraping section of the packet conveyor has reached the target position, and the next target command is issued. It will be done. If the target position 1 row has been reached but is determined to be rgi, the position of A d l11) at that time becomes the new starting position coordinates, and control is performed in the same manner as described above.

It should be noted that the present invention is not limited to the above-mentioned embodiments, and ClIr! It goes without saying that various changes in history can be added.

According to the method for controlling the trajectory of the seeding section of a continuous antuter of the present invention, it is determined that the target position (■) has been reached when the scraping section 17 has moved a predetermined distance.
Judgment becomes easy and driving can be done easily and reliably, and various effects can be achieved.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of an example of a method for controlling the trajectory of the scraping part of a continuous type ant 1-da, and Fig. 2 is an example of a method for controlling the trajectory of the scraping part of a continuous type ant 1''-da of the present invention. It is a d1 clear diagram of. In the figure, 1 is for calculation control l/ζ, and 2 is for comparator. Special 5'F Application Person Ij Kawashima Harima Heavy Industry Co., Ltd. Page 1 continuation 0 Inventor Shinatabu 2-1 Toyosu, Koto-ku, Tokyo
Inventor Takashi Koyama Inventor in Shatsukuda Office, Tsukuda 2-chome, Chuo-ku, Tokyo Inventor Isao Maebo Inventor in Otemachi Co., Ltd. Head Office, Chiyoda-ku, Tokyo Taibe Shima 11, Otemachi Co., Ltd. Head Office, Chiyoda-ku, Tokyo! ", Q-" No. 1-1 Ishikawajima-Harima Heavy Industries Co., Ltd. No. 5-4 Ishikawajima-Harima Heavy Industries Co., Ltd. 2-2-1 Ishikawajima-Harima Heavy Industries Co., Ltd. 2-2-1 Ishikawajima-Harima Heavy Industries

Claims (1)

[Claims] 1) In a method of operating a continuous unloader that automatically reproduces an arbitrary predetermined trajectory while moving linearly over a predetermined distance, From the 11γ position to the target position (press the button ゛ and press J3, and if the distance is the same or more or the baffler I/conveyor A7 scraping section moves, the buffler l- 1. A method for controlling the trajectory of a scraping part of a continuous type A7 injector, characterized in that it is determined that the scraping part has reached a target position.