SU1199868A1 - Method of controlling unloading of dragline bucket - Google Patents

Abstract

1. METHOD OF CONTROL OF UNLOADING THE BUCKET OF THE EXCAVATOR-DRAGLINE, including defining the excavating cycle, determining the start of filling and tearing off the loaded bucket from the bottom taking into account the measured current of the crankshaft of the lifting mechanism engines and the current of the lifting mechanism of the lifting mechanism and the angle of rotation of the platform when filling the bucket the lengths of the hanging parts of the haul and hoisting ropes, the state of the main drives of the excavator and taking into account the angles of the beginning and end of the bucket filling sector, and counting the number of cycles performed Xcavacation, characterized in that, in order to increase the operational performance of an excavator by forming a team for dumping a bucket in a heap, set the angles of the beginning and end of the unloading sector of the bucket and the elementary volume of the rock mass corresponding to the elementary cross-sectional area of the dump, take the excavation cycle as a sequential execution of operations the beginning of the bucket filling, the separation of the loaded bucket from the bottom, the beginning of the unloading and the beginning of the bucket filling in the subsequent excavation cycle, the actual angle is measured by Orochi platform with loaded bucket is determined desired angle transferring ladle loaded and unloaded bucket to command formed at the moment of equality of the actual steering angle swing excavator bucket and laden with the desired angle of the ladle laden transport. C 2. Method pop.1, which is also distinguished by the fact that the required (L transfer angle of the loaded bucket is calculated by the formula. t ... gr, e oi mi the angle of the beginning of the unloading sector of the bucket; cC; - the bucket filling angle; i W J is the current value of the priority; platform angle of rotation. 0d 3. The method according to claim 2, characterized in that the current value of c, the increment of the angle of rotation of the platform is determined by the formula Lo (.o {,., where 1 O p p 2, if Pd p- “:. P K. 3, if p 2 p ;, p and so on, with a triangular cross section of the blade p. | I.) 4 with a rectangular cross section from the shaft

Description

(N, -1) 1.5

The trapezoidal section of a and, up to the moment of the dump height, the amount of rock mass in the every-metering point of the dump profile is the same as for the treated shape of the dump section, and this value is constant and equals the fault of the specified value,

received element Qj PTC const tare volume of the rock mass corresponding to an elementary cross-sectional area

 5-25 accepted number

n excavation cycles corresponding to the elementary volume of the rock mass Qji; proportionality ratio} is the sequence number N. the calculated dump profile point for calculating the angle L od J the number performed

P; excavation cycles;

the number of cycles i excavated into

 the estimated profile point from the shaft

Lsb const - step increments of the angle of rotation of the platform.

The method according to claim 1, differs 4. with what, operation na and

The start of unloading the bucket is defined as the simultaneous execution of the condition

VIY

f 0,6 b „.

; /

 eleven

Sign b

 mime j

- the shortest distance between the center of gravity of the moving bucket and the conventional axis of the excavator boom;

-projection of the hanging part of the hoisting rope on the conventional axis of the excavator boom;

VT, V ,.

- speeds of movement of rope and hoisting ropes;

Sign - with a decrease in the main current of the engine of the engine; end angle of the unloading sector of the bucket.

The invention relates to the control of the parameters of the work performed and the control of the dragline excavator during open cast mining. v

The purpose of the invention is to increase the operational performance of an excavator by forming a team to unload the bucket in the heap.

Fig. 1 shows the angular parameters of the rotation of the excavator platform during the transfer of the loaded bucket, Fig. 2 shows the dump formation schemes; FIG. 3 is a block diagram of a system implementing a control method.

loading excavator bucket drag line.

The proposed method includes the following main operations: measure the current of the crust motor circuit of the lifting mechanism 1c, measure the current of the crust motor circuit of the thrusting mechanism motor 1, measure the excitation circuit current of the motor of the lifting mechanism, measure the lengths of the hanging ropes of the lifting 6. and hoisting ropes from guide pulleys; determine the condition of the excavator main drives: engine rotation me.

chanting in the direction of winding the rope on the drum (Sign); increase in the current of the engine gearbox gi (Sign); rotation of the thrust mechanism in the direction of winding the rope from the drum (Sign); reduction of the current of the engine gearbox gi (Sign); set the angles of the beginning and end of the sectors of the filling (in: ,, jOi-Moncc) unloading (mc I max) of the bucket, accepting 7 the excavation cycle, as a sequential execution of the beginning of the operation of filling the bucket, tearing off the loaded bucket from the bottom, beginning of the unloading of the bucket in the current cycle the excavation and the beginning of the bucket filling operation in the subsequent excavation cycle, and the operation of the beginning of the filling of the bucket SignC i is determined as the simultaneous fulfillment of the conditions:

Sn; 0.5 P,

Sign

Sign

  S .1p., - Up;

Where

- force in h ° Dg / a hoisting rope;

V i In; Ji

- average

(H (ti 1 „: t, -i,

J

current of a kornaya chain of the engine of the mechanism of rise;

1p in;

- average magg

F.SI-e

motor excitation current;

PIJ - saturation magnetic flux of the lifting mechanism engine;

i is the constant magnetization characteristics of the engine of the lifting mechanism;

 - motor current of the lifting mechanism;

tj-t, is the integration interval; q is the number of integration intervals;

1998684

RO is the mass of the empty bucket;

Sign - under the condition that the engine rotates in the thrust direction in the direction providing winding of 5 ropes on the drum;

Sign - with an increase in the core current of the engine mechanism;

““ WH, ”lGax of the beginning and end of the bucket filling sector. 10 The operation of detachment of the loaded bucket from the bottom of the Sign is defined as the simultaneous fulfillment of the conditions of Sign a 1

- .6 Р

(2)

dd) 0.6

Ln

"Min about vmax where Sign - under the condition of rotation

engine thrusting mechanism in direction

ensuring the coiling of the rope from the drum

dc

(3) (4)

b (&n; - & r-, l

4i

j

ai

where in". Sf. - the lengths of the hanging parts of the hoisting and traction ropes from the guide pulleys; L is the distance between the points of the gathering rope and the hoisting rope from the guide pulleys (conditional axis of the excavator medium).

The operation to start unloading a bucket Sign is defined as the simultaneous fulfillment of the conditions: J,

0.6

P;

(five)

 1 Vr

Sign

 Mii- And Max J

where d- is the shortest distance between the center of the weight of the moving bucket and the conventional axis of the excavator boom i

L. — projection of the hanging part of the hoisting rope onto the conventional axis of the excavator boom;

&"T; cher VT -TP - r -: - - scoAt

. & t S growth of the movement of rope and hoisting ropes; Sign - when the core current of the engine of the thrust engine is reduced, i i min I о max start and end of the bucket unloading sector. The angle of rotation of the platforms is measured when the bucket is filled (ecf); The actual angle of rotation of the mold with the bucket load ("a,.) I is measured. I select an elementary mass volume corresponding to the elementary section of the blade section Q; K. "n and const where an 5-25 is the accepted number of excavation cycles K, is the proportionality coefficient, the number of excavation cycles (n) is actually calculated, the necessary angle of transfer of the loaded bucket is determined by formulas (6) (9 ): ““ H- ll i is the angle of the start of the bucket loading sector {oi i is the filling angle of bucket j, the current value is the increment of the angle of rotation of the platform where KjJ 1 if O jf n i Ki 2, if n, n K 3, if p. p; and so on. With a triangular cross section of the shaft p | i- 2+ (N; -1) 4 with a rectangular cross section from the shaft n | i 2. (Ni-1) 1.5 with a trapezoidal cross section from the shaft until a given height is reached of the heap, the number of buckets of the dumped rock mass at each calculated point of the blade profile is determined in the same way as for the triangular shape of the blade section, and then this value is constant and equal to half of the specified value, where QJ K, Pc const is the received elementary volume of the mountain masses. 86 corresponding to the elementary area of the cross section of the blade; Pc 5-25 is the accepted number of excavation cycles corresponding to the elementary volume of the rock mass Q ;, K is the proportionality coefficient N; - the sequence number of the calculation point of the dump profile for calculating the increment of the angle n J - the number of completed excavation cycles; Forehead const - increment step of the angle of rotation of the platform J p - required to send the number of excavation cycles in the N - and the calculated point of the blade profile. Indeed, during the formation of the blade, the required angle of rotation of the platform with a loaded bucket in the i-M excavation cycle is determined by the expression (Fig. 1): o nG "Min-" -, obviously). 0 ("min-- M ™ min b", i.e., in any case, it is possible to determine the point of origin of the generatrix of the heap, from which the correctness of formula (6) follows. Depending on the configuration of the heap section (Fig. 2), the current increment value the angle of rotation of the platform with the loaded bucket is determined by the formula (7), while for the triangular shape of the blade section (Fig. 2a): n § 2-b (N - 1) -4l, k - J; since Q; Pi - const and at QJ S, where S; is the elementary sectional area of the blade at the point N 1, i.e. at angle D, it is necessary to pour 2Q; the rock mass in order to form a blade of triangular shape frames with a cross-sectional area of 2S | (avb figure), at point N, - 2, i.e., at angle L otj, to form a triangular shaped blade with a cross-sectional area of 8 S, it is necessary to pour out 6 Qj, which will make an infinite cross section; The reasoning is also applicable to all subsequent points up to the top of the blade.It is obvious that if the distance E between 7. the ridges of the triangular blade is smaller than the base row, then the previous ridge of the dumping ridge occurs. In this case, an additional negative term is entered in the formula (8) at the corresponding calculation point: for example, in the (H-2) -th point, the correction value is equal to - 2; since the preceding ridge is formed by filling with the value of 2S-s2Q at the (H-1) -th point, the correction value is –6, since the filling amount is 6S, –6Q., at the Nth correction point is –10, as 10S occurs. ; H10Q., I.e. the correction at each point is determined by the corresponding part of the backfill area (figure KNL, fig.2a) -dl rectangular shape from the shaft (fig.26) the following is obvious: at 1 L oi; K 1, if 0, p ;. 2Pu / at the point 2 K 2, if 2Piёp. , 1 /) - 3.5 „,; at point 3 K 3, if 3.5 5Pts and so on, i.e. formula (9) takes place, if layer-by-layer laying of rock mass with different physicomechanical properties is required, then dependence 9 uses the corresponding number of times Dp of the trapezoidal shape of the heap (Fig. 2c) ocularly the following: n; is calculated to the Nth point by formula (8), then to the Mth point is taken equal to half the value calculated by the formula (8). If there is a backfilling with the previous ridge of the dump of the subsequent crest, then the calculated value of p is corrected by analogy with the previously considered case of the filling of the dump with a triangular cross-sectional shape. Consequently, in the process of excavation, in each cycle, a check is made that the platform’s actual rotation angle with the loaded bucket is checked (the transport angle of the loaded bucket is required for the given excavation conditions Y c in each excavation cycle, - var, and depends on the filling angle of the bucket ” : and the current value of the increment of the angle of rotation of the platform L in. 88 The moment of unloading of the bucket Sign P 1 is determined if gon; (10) An example of the method is shown in Fig. 3. The complex of technical means includes angle sensors Atforms 1, lengths of hoisting rope 2, lengths of traction rope 3, signaling unit 4 and calculator 5. Calculator 5 contains a control unit 6 for carrying out the operation of breaking the loaded bucket from the bottom, a control unit 7 for performing the unloading operation for the start of the bucket bucket filling, excavation cycle determination unit 9, excavation control unit 10, received received elementary volume of the rock mass, platform rotation angle increment component 11, platform 12 determination unit of the required transfer angle g Fishing bucket excavation in a given cycle, unloading signal generating unit 13 of the bucket in the heap, a node 14 detecting the rotation angle of the platform with loaded bucket filling unit 15 for determining the angle of the bucket. Sensors 1-3 and node 4 are connected to computer 5, which is connected to the main circuits of the engines of lifting mechanisms and chains, to the excitation circuit of the engine of the lifting mechanism, to the chains of the engine management system of lifting mechanisms and t gi Along chains 23-27, parameters are entered into the computer, characterizing the process of excavation. In the calculator 5, the functional nodes are interconnected in the following manner. The outputs of nodes 6 and 7 are connected to the inputs of nodes 9 and 14, the output of node 8 is connected to the inputs of nodes 9 and 15, the output of node 9 through node 10 is connected to the corresponding input of node 11, the output of which is connected to one input of node 12, another input of node 12 is connected with the output node 15. The output of the node 12 is connected to one input of the node 13, the other input of which is connected to the output of the node 14. The device works as follows. In the process of excavation, from the outputs of sensors 1-3, the input of the numerator of the numerator 5 signals, proportional to the Hbietf ;, 2.n. , 6t; , Along the chains 16-22, the signals from the main drives of the excavator and the drive control system to the calculator are received: I. IT; , Sign d, Sign e, Sign a, Sign b, i. Along the chains 23-27, the signals ,, / wqK Tf - - utHii MM, are entered into the compiler. After the next filling of the bucket with a rock mass at the beginning of its separation from the bottom, if conditions (2) are observed at node 6, the signals Sign 1, which enters the inputs of nodes 9 and 14. After the loaded bucket is transferred to the dump zone at the moment when the unloading of the ball begins, under condition (5), Sign 7 is formed by the node 7, which goes to the inputs of the nodes 9 and 14. After unloading the bucket and The return of the empty bucket to the area at the beginning of the bucket filling operation, subject to conditions (1), Sign & 1, which enters the inputs of nodes 9 and 15. Node 9 analyzes the sequence of incoming signals and if it corresponds to the sequence Sign C 1, Sign A 1, Sign B 1, SignC, then a signal is generated to perform an excavation cycle Sign U 1, which goes to the node 10. In the latter, when the number of excavation cycles reaches a set value of Pz, a signal Sign Q 1 is formed, which characterizes the movement into the dump of the received elementary volume of the rock mass Q. corresponding to the elementary area of the cross section S; node 10 implements the function Sign Q 1 if Q. At the output of node 11, a signal is generated that characterizes 68 the current value of the increment of the angle of rotation of the platform DY i. node 11 implements dependencies 7) - (9). The node 12, processing the input signals: coming from the output of node 11, coming from the output of node 15 and specified in accordance with the excavation passport ciJ, determines the required angle of transfer of the loaded bucket in this excavation cycle o (n- J, i.e. realizes the dependence ( 6). Node 14 generates a signal proportional to the actually performed angle of rotation of the platform with a loaded bucket Km by implementing the function OO, sign Sign Node 15 generates a signal proportional to the filling angle of the bucket 0 by implementing the function Sign С 1 Sign А 1 At the exit of the node 13 formed Signal to unload the bucket in the dump Sign P 1, if oi (f; 5 From the output of the node 13 Sign P 1 enters the input of the signaling node 4. The driver of the excavator proceeds to perform the unloading operation of the bucket with this signal, while ensuring the formation of the blade Thus, the use of the proposed method allows the excavator driver to precisely construct a heap of a given configuration without excessive voltage, which leads to a reduction in the duration of the excavation cycle and ultimately leads to an increase in performance, Gravitational excavator.

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Claims (3)

- 1. METHOD OF EXCAVATOR-DRAGLINE DUCK UNLOADING UNIT CONTROL, including determining the excavation cycle, determining operations to start filling and tearing the loaded bucket from the bottom, taking into account the measured currents of the anchor chain of the lifting and traction motors, the current of the lifting chain excitation circuit, and the platform rotation angle when filling the bucket , the lengths of the hanging parts of the traction and hoisting ropes, the condition of the main drives of the excavator and taking into account the angles of the beginning and end of the bucket filling sector, and counting the number of excavation cycles performed cations, characterized in that, in order to increase the excavator's operational performance by forming a team for unloading the bucket in the dump, the angles of the beginning and end of the unloading sector of the bucket and the elementary volume of rock mass corresponding to the elementary cross-sectional area of the dump are set, take the excavation cycle as sequential execution the operations of the beginning of filling the bucket, tearing the loaded bucket from the bottom, the beginning of unloading and the beginning of filling the bucket in the subsequent excavation cycle, measure the actual angle of rotation of the platform rmy with loaded bucket, determine the required angle laden transport bucket, and the bucket to unload command is formed at the moment of equality of the actual angle of rotation of an excavator bucket platform laden with the desired angle and transfer the loaded bucket. 2. The method according to claim 1, characterized in that the required angle of transfer of the loaded bucket is calculated by the formula where ού _{And and} - the angle of the beginning of the sector of unloading of the bucket; οί; - bucket filling angle; 4 ".; - the current value of the increment of the angle of rotation of the platform. 3. The method of pop.2, characterized in that the current value of the increment of the angle of rotation of the platform is determined by the formula where K *; = 1, if K = 2 * · if K * <= 3 if and so on, with a triangular shaped blade section ^{n * = sf L 2+ (N rO4} ]; when the rectangular sectional shape The relative