SU374422A1 - DEVICE FOR DEFINING WORKING DIFFERENCE - Google Patents

Description

one

The invention relates to the automation of production processes in open pit mining, in particular, to the means of automatic control of technological processes in open pits.

A device for determining the deviation of the working body of a rotor excavator from the side slope surface is known, including the blocks for setting vertical reference planes in a fixed coordinate system, connected to the control points deviation blocks relative to the reference planes, the sensor determining the height of the center of the rotor wheel in the moving coordinate system and units for determining the angles of rotation of the rotor boom, yaw and lateral inclination of the excavator body.

The aim of the invention is to automatically /, control the amount of deviation of the working organ -.

For this, the device 1 is made with a block 0 | The radius of the cut radius, the input of which is connected to the output of a sensor determining the height of the center of the rotor wheel and the sine determining unit of the sum of yaw angles and boom rotation, the inputs of which are connected to the outputs of the rotor boom angles and yaw block excavator block definition

the actual ordinate of the end of the cutting radius connected to the unit for determining the deviation of the working body from the predetermined side slope, the inputs of which are connected to the ordinate task unit, which determines the position of the boom rotation boundary in the side slope direction.

FIG. 1 shows a block diagram of the proposed device; in fig. 2 is a diagram of the attachment of a device to a rotor excavator; in fig. 3 — the mobile and stationary coordinate system in the plan with reference to the face; in fig. 4 shows the cutting radius, pp, associated with the parameters r, e, L and Z-aj, va of FIG. 5 - the moving coordinate system associated with the fixed.

To determine the deviation of the working body of the rotor excavator from the side slope, the orthogonal OXyz system is used as a fixed coordinate system, the OX axis of which is oriented horizontally E to the direction of the reference course of the excavator, the OS axis is horizontally to the left from the OX axis direction, and the OZ axis is vertically up.

. The moving coordinate system OXyZ is also orthogonal and oriented as follows: the axes O X and OU are parallel to the plane of the turntable of the excavator, respectively, forward and to the left, relative to the body of the excavator, the axis OZ upward along the axis of rotation of the turntable. The surface, which makes the boom rotate at the end of the cutting radius when one layer or another is worked out, can be specified in a fixed coordinate system in the form of a longitudinal (along the approach) vertical plane, described by the UZ equation, the proposed device consists of blocks, / and 2 sets of vertical reference planes in a fixed coordinate system in the form of sharply expressed equal-signal OCRs on the border of parts of the light beams emitted by them, modulated by two different frequencies. The blocks / and 2 are mounted behind the excavator on the sole of the working ledge and are spotlights of the PUL-3 device. Block 3 is designed to determine the deviations of the OUT of the control points T relative to the fixation of the Go point or, equivalently, the offset of the Go point relative to the reference planes created by the boundary of the parts of the light beam modulated by the frequencies fi and / 2 and represents a one-dimensional photoelectric tracking system . Unit 3 consists of a photodetector designed to convert an Optical signal emitted by a searchlight into an electric one, which is fed to the input of a frequency selective amplifier, sharply tuned to frequencies fi and fa, a relay element, an electric motor, which is connected to the carriage through a gearbox and screw gear, able to move parallel to the axis of the op-amp. Through a reducer, an electric motor is connected with a DUt displacement sensor of a point G relative to a point Go, parallel to the axis of an op-amp. Block 3 is mounted on a unique part of the excavator. Unit 4 is designed to measure the displacement of the monitored point S relative to a fixed point So (or, the same thing, the displacement of a point 5 ° relative to the reference plane created at the boundary of the parts of the light beam modulated by frequencies / 1 and / 2). Block 4 is similar in design to block 5 and is also mounted on the non-rotary part of the excavator. Sensor 5 is a transducer of the angle of rotation of the shaft of the boom lift engine in a quantity proportional to the actual applicator (lift height) 2c of the center of the rotor wheel in the moving coordinate system. Sensor 5 with a boom lift drive is connected (at the entrance) through a tracking system. BLO.K 6, designed to measure the sine and cosine of the angle of rotation of the boom (turntable), is installed on the turntable and is a sine-cosine angle transducer. Unit 6 is connected to the drive rotation of the boom. Block 7, which is an electromechanical calculating device on rotary transformers, solves and deciphers the dependence πn – T-5o + ATt-D P; - The inputs of block 7 are connected to the outputs of blocks 3 and 4. Block 8, designed to measure the tangent of the angle of inclination of the excavator, is mounted on the non-rotary part of the excavator. Block 8 includes a plumb bob in the form of a weight suspended by a thread on a bracket attached to a non-rotating part of an excavator. The thread is movable through a slit and is connected with a carriage capable of moving in guides parallel to the Pe | Axis axis of symmetry of the body of the excavator (OS axis). The carriage through the rack and the gear wheel is movably connected to the gauge of the tangent of the angle of inclination of the excavator. Block 9 presents an electromechanical counting device on rotary transformers that solves and deciphers the dependence P, i + i (z), which determines the cutting radius. One input of block 9 is electrically connected to the output of block 5, the other two inputs are connected to manual setting units of design parameters L and e-j-r. Block 10 is an electromechanical calculating device on rotary transformers that solves and deciphers the sin (9 + F) sin tp cos Ф + sin Ф dependence, which determines the sine of the sum of the angle φ yawing of the excavator and the angle Φ of boom rotation. The inputs of block 10 are electrically connected to the outputs of blocks 6 and 7. The block // is an electromechanical counting device on rotary transformers that solves and decrypts the dependence b - xso sin p - RCD - A UZ - Zso tg O, defining the ordinate the beginning of the moving coordinate system in a fixed system. The inputs of block 11 are electrically connected to the outputs of blocks 4, 7 and 8. Block 12 is an electromechanical counting device on rotary transformers that solves and decrypts the + (-F) + Z "tg0 dependence, which determines the actual ordinate of the end of the cutting radius fixed coordinate system. The inputs of block 12 are electrically connected to the outputs of blocks 5, 8, 9, 10 and //. Block 13 represents a linear rotary transformer, with which a value is set that is proportional to a given ordinate of a sheep cutting radius in a fixed coordinate system. Block 14, which determines the cause of the deviation of the working element from a given side slope surface, is an algebraic adder of signals arriving at its inputs from blocks 12 and 13.

Before starting the machining, the spotlights (blocks / and 5) are set so that the vertical reference planes they create in the form of equal-signal zones1 coincide with the OX axis of the fixed coordinate system, parallel to the motion paths of the excavator and pass through the 3 W 4 blocks of the photoreceivers. In block 13, a signal is introduced that is proportional to the value of Y, the specified ordinate of the end of the cutting radius in the fixed coordinate system. Values proportional to the design parameters L and are entered in block 9 during the initial setup of the device. After that, the proposed device is put into operation.

Ori tilting the excavator and its deviation from a given trajectory occurs the following. In blocks 3 yi 4, the photodetectors are shifted relative to the zero position, resulting in equal energy, modulated by the frequencies fi and fz, f3 and f4 and falling on the photosensitive elements of the photodetectors. Depending on the prevalence of photosensitive elements of a particular frequency (fi or fa, fs or f4), frequency-selective amplifiers, which receive signals from photodetectors, turn on electric motors in the direction required to restore the equilibrium of photoelectric tracking systems through relay elements .

Electric motors through gearboxes and helical gears move parallel to the OS axis of the carriage until the photodetectors combine with reference planes created by spotlights (blocks / and 2), respectively.

The electric motors rotate the sensors to a new position through the gearboxes, which causes the appearance at their outputs of signals proportional to the displacements of DUs and DUp photo detectors parallel to the OT axis relative to the corresponding reference planes.

In block 8, under the action of a load, the thread shifts relative to the zero position and moves along the rails parallel to the OS axis a carriage that rotates the sensor through a rack and pinion, which causes an output signal proportional to the tangent of the angle of inclination of the excavator (tg в). The signals from blocks 3 to 4 are fed to the input of block 7, the output of which

a signal appears that is proportional to sin f. The signal from block 5 is fed to the input of block 9, the signals of nz blocks 6 and 7 to the inputs of block 10, and the signals from blocks 7 and 8 to the inputs of block P.

At the inputs of blocks 9, 10 and // there appear signals proportional to the values of PP (f + F) and 6, respectively, which are fed to the inputs of block 12. Pa inputs of block 12 also receive signals from sensor 5 and block 8. Pa output of block 12, a signal appears that is proportional to the magnitude of Ud (the actual ordinate of the end of the cutting radius in the fixed coordinate system).

In block 14, the signals received at its inputs from blocks 12 and 13 are summed up, with the result that a signal appears at the output of block 14, which is pro-functional to the deviation of the working element from a given side slope surface. Eliminating this deviation by manually or automatically controlling the drive of the boom 15 and the drive lift of the boom 16 allows you to work out a given side slope surface, taking into account the displacement of the excavator in the bottom space.

Subject invention

A device for determining the deviation of the working body of a rotor excavator from the side slope surface, including blocks for setting vertical reference planes in a fixed coordinate system, connected to blocks for determining deviations of control points relative to the reference planes, a sensor for determining the height of a center of a rotor wheel in a moving coordinate system, and blocks for determining angles rotation of the rotor boom, yaw and lateral tilt of the excavator's cor., characterized in that, in order to provide The automatic control of the deviation of the working body, the device is made with a block for determining the cutting radius, the input of which is connected to the output of the sensor determining the height of the center of the rotor wheel and the block determining the sine of the sum of yaw angles and boom, the inputs of which are connected to the outputs of the blocks for determining the angles of rotation of the rotor boom and yaw of the excavator body, with a unit for determining the actual ordinate of the end of the cutting radius connected to the unit for determining the deviation of the working body from the set th surface side slope whose inputs are coupled with the block specifying ordinates defining the position of the rotation toward the boundary of the boom side slope.

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