SU872668A1

SU872668A1 - Device for monitoring and registering excavator operation

Info

Publication number: SU872668A1
Application number: SU792852431A
Authority: SU
Inventors: Юрий Моисеевич Щербина; Станислав Васильевич Кутергин; Зоя Владимировна Уткина; Михаил Семенович Фельзер; Валентин Петрович Сенгуров
Original assignee: Киевский Институт Автоматики Им. 25-Съезда Кпсс
Priority date: 1979-12-14
Filing date: 1979-12-14
Publication date: 1981-10-15

Description

(54) УСТРОЙСТВО ДЛЯ УЧЕТА И КОНТРОЛЯ РАБОТЫ . ЭКСКАВАТОРА ,(54) DEVICE FOR ACCOUNTING AND CONTROL OF WORK. EXCAVATOR,

Изобретение относитс к автоматизацииThis invention relates to automation.

управлени одноковшовыми экскаваторами, а именно к устройствам дл учета и контрол их работы.control of single-bucket excavators, namely, devices for recording and controlling their work.

Известно устройство, предназначенное дл контрол эффективности управлени процессом копани экскаватора, включаЬщее в себ датчик скорости выдвижени руко ти, датчик усили , множительное устройство , интегратор и прибор-указатель. В устройстве вычисл етс мощность, затрачиваема на заполнение ковша, и производитс сравнение с эталонным значением. Индицируемое прибором-указателем отклонение позвол ет машинисту оценить эффективность процесса показани - и прин ть при необходимости меры по улучшению работы и более полному использованию машины A device for monitoring the efficiency of excavator digging process control is known, which includes a stick advance speed sensor, a force sensor, a multiplier device, an integrator, and a pointer device. The device calculates the power expended to fill the bucket and compares it to the reference value. The deviation indicated by the instrument-indicator allows the driver to evaluate the effectiveness of the indication process - and take, if necessary, measures to improve the work and make fuller use of the machine.

Недостатком этого устройства вл етс то, что его функциональные возможности ограничены, поскольку оно позвол ет контролировать лишь один из процессов экскавационного цикла - процесс заполнени ковша, и при этом только с точки зрени использовани мощности привода. Оценку полноты заполнени ковша, времени выполнени отдельных операций цикла, общего времени цикла, а также оценка основных интегральных показателей - выработки, полного времени работы и т. п. не производитс из-за отсутстви в составе устройства необходимых дл этого- техническихA disadvantage of this device is that its functionality is limited, since it allows you to control only one of the processes of the excavation cycle - the process of filling the bucket, and only from the point of view of using drive power. Estimation of the bucket full completeness, the time of performing individual cycle operations, the total cycle time, as well as the evaluation of the main integral indicators - generation, total working time, etc., are not performed due to the lack of necessary equipment

средств. means.

Наиболее близко по технической сущности к предлагаемому устройство дЛ учета и контрол работы экскаватора, содержащее схемы управлени приводами и датчик по, ... ложени поворотной платформы, выходы которых соединены с входами блока управлени , датчик временных интервалов, соединенный с входами счетчиков. времени цикла и общего времени работы, блок загрузки ковша, выход которого соединен со входом счетчика количества вынутого грунта. При этом блок управлени соединен с входами счетчиков времени цикла, общего времени работы и блока загрузки ковша, .. Кроме того, устройство содержит логические элементы И, ИЛИ, датчик положени ковша,The closest in technical essence to the proposed device is dL of accounting and control of the operation of an excavator, which contains drive control circuits and a sensor on ... rotary platform, the outputs of which are connected to the inputs of the control unit, a time interval sensor connected to the inputs of counters. cycle time and total operation time, the bucket loading unit, the output of which is connected to the input of the amount of excavated soil. In this case, the control unit is connected to the inputs of the cycle time counters, the total operation time and the bucket loading unit. In addition, the device contains AND, OR, bucket position sensor,

20 блоки задержки пам ти с соответствующими св з ми. В ходе рабочего процесса устройство позвол ет определить количество вынутого .грунта, общее врем работы и выполнени цикла. Возможен также учет времени работы экскаватора нутем суммировани времени выполнени отдельных циклов 2.20 memory delay blocks with corresponding links. During the work process, the device allows to determine the amount of the excavated soil, the total time of work and the cycle. It is also possible to take into account the operating time of the excavator by summing up the execution time of individual cycles 2.

Недостатком устройства вл етс его мала эффективность, как устройства автоматического контрол . Вырабатываема устройством информаци вл етс недостаточной дл текущего контрол работы экскаватора . Эта информаци не позвол ет получить оценку рациональности реализуемого режима управлени процессом экскавации , ритмичности загрузки машин в течение смены или на более длительном интервале времени, использовани технических возможностей экскаватора и др. Это, в свою очередь, делает затруднительной оценку машинистом своей работой с точки зрени выполнени планового задани , не позвол ет оценить необходимость повышени интенсивности работы или достаточность ее сохранени на достигнутом уровне, определить необходимое повышение производительности в каждом из рабочих циклов.The disadvantage of the device is its low efficiency, as an automatic control device. The information generated by the device is insufficient for monitoring the operation of the excavator. This information does not allow to obtain an assessment of the rationality of the implemented mode of controlling the excavation process, the rhythm of loading the machines during a shift or for a longer time interval, using the technical capabilities of the excavator, etc. This, in turn, makes it difficult for the operator to estimate his work from the point of view plan, does not allow to assess the need to increase the intensity of work or the sufficiency of its maintenance at the achieved level, to determine the necessary increase in productivity in each of the cycles.

Цель изобретени - повышение эффективности контрол процесса экскавации и получение информации контрол дл текущего управлени работой экскаватора.The purpose of the invention is to increase the efficiency of control of the excavation process and obtain control information for the current control of the operation of the excavator.

Поставленна цель достигаетс тем, что устройство дополнительно снабжено задатчиком эталонной производительности, индикатором контрол текущей производительности и арифметическим блоком, вхбды которого соединены с выходами блока управлени , счетчика общего времени работы, счетчика количества вынутого грунта и задатчика эталонного значени производительности , а выход арифметического блока соединен с индикатором контрол текущей производительности.The goal is achieved by the fact that the device is additionally equipped with a reference performance adjuster, an indicator for monitoring current performance and an arithmetic unit, the inputs of which are connected to the outputs of the control unit, a total operating time counter, a count of the amount of excavated soil, and an output of the arithmetic unit connected to indicator of control of current performance.

Кроме того, устройство снабжено индикатором контрол в цикле экскавации, задатчиком номинальной производительности в цикле экскавации и вторым арифметическим блоком, входы которого подключены к выходам блока загрузки ковша, счетчика времени выполнени цикла экскавации и задатчика номинальной производительности в цикле экскавации, а выход арифметического блока соединен с входом индикатора контрол производительности в цикле экскавации , причем вход задатчика номинальной производительности подключен к выходу датчика положени платформы.In addition, the device is equipped with a control indicator in the excavation cycle, a nominal capacity adjuster in the excavation cycle, and a second arithmetic unit whose inputs are connected to the outputs of the bucket loading unit, an excavation cycle time counter and an explorer of the nominal performance in the excavation cycle, and the output of the arithmetic unit is connected to the input of the performance monitoring indicator in the excavation cycle, the input of the nominal capacity setting unit being connected to the output of the position sensor n atformy.

На чертеже представлена схема устройства .The drawing shows a diagram of the device.

Устройство содержит датчик 1 временных интервалов, выходы которого соединены с входами счетчиков 2 и 3. В качестве датчика может быть прин та кака -либо из схем генераторов тактовых импульсов. Функциональное назначение датчика заключаетс в выработке сигнала по истечении временного интервала, прин того в качестве единичного . Наиболее простым и удобным выполнением счетчика 2 общего времени работы и счетчика 3 времени цикла экскавации вл етс их выполнение в виде двоичных счетчиков на базе соответствующих электронных схем. Дл индикации этих временных параметров на вход счетчиков могут быть параллельно подключены .электромеханические счетчики,используемые в существующих устройствах контрол и учета. Управление работой счетчиков (включение, сброс) выполн етс блоком управлени 4, дл чего два выхода соединены с управл ющими входами счетчиков.The device contains a sensor 1 of time intervals, the outputs of which are connected to the inputs of counters 2 and 3. As a sensor, it can be received from any of the circuits of clock generators. The functional purpose of the sensor is to generate a signal after a time interval received as a unit. The simplest and most convenient execution of the counter 2 of the total operation time and the counter 3 of the excavation cycle time is their execution in the form of binary counters based on the corresponding electronic circuits. To indicate these time parameters, electromechanical meters used in existing monitoring and metering devices can be connected in parallel to the meter input. The operation of the counters (on, reset) is controlled by the control unit 4, for which two outputs are connected to the control inputs of the counters.

Блок управлени 4 представл ет собой релейно-контактную схему с использованием свободных контактных групп контакторов и переключателей, вход щих в схемы управлени 5 приводами экскаватора, а также р д логических блоков. Использование в блоке 4 элементов схем управлени приводами 5 обозначено на схеме св зью между выходом блока 5 и входом блока 4.The control unit 4 is a relay-contact circuit using free contact groups of contactors and switches included in the control circuit of 5 excavator drives, as well as a series of logic blocks. The use in block 4 of the elements of drive control circuits 5 is indicated in the communication diagram between the output of block 5 and the input of block 4.

Блок загрузки ковща 6 обычно выполн етс в виде электронной схемы, управл емой блоком управлени 4 и вырабатывающей импульсы, количество которых пропорционально среднему значению тока кор двигател подъема ковша. Как дл канатноковшовых , так и дл экскаваторов типа «пр ма каната степень загрузки ковша достаточно объективно можно оценивать по величине тока кор двигател подъема в период поворота платформы с груженым ковшом в сторону разгрузки после выхода двигател подъема в установившийс режим. Этот принцип используетс в большинстве известных учетных станций. Выход блока соединен с входом счетчика 7. Счетчик количества вынутого грунта 7 принципиально не отличаетс от счетчиков 2 и 3. Выход счетчика соединен с одним из счетных входов арифметического блока 8.The boot unit of the bucket 6 is usually implemented in the form of an electronic circuit controlled by the control unit 4 and generating pulses, the number of which is proportional to the average current value of the bucket lift motor core. For both cable and bucket excavators, the degree of bucket loading can be fairly objectively assessed by the current magnitude of the lift motor core during the period of platform rotation with the bucket loaded in the unloading direction after the lift motor reaches the established mode. This principle is used in most of the known accounting stations. The output of the block is connected to the input of the counter 7. The counter of the amount of excavated soil 7 does not differ in principle from the counters 2 and 3. The output of the counter is connected to one of the counting inputs of the arithmetic unit 8.

Claims

Arithmetic unit 8 is designed to generate a signal proportional to the ratio of the current performance to a certain reference value of performance. The operation of the unit 8 is controlled by the control unit, for which one of the outputs of the unit 4 is connected to the control input of the unit 8. The value of the current performance is defined as partial. of dividing the weight or volume of the soil (the output of counter 7) by the total time of operation (the output of counter 2). The implementation of this operation is possible, for example, using an adder, to the input of which the initial values are supplied, and the output goes to a shift register or counter. Similar divider circuits have a disk of known magnitudes and are widely used. The determination of another relation — the current performance to the reference value — is performed analogously or, preferably, combined with the first operation. The input of the reference value is derived from one of the counting inputs of the block connected to the setting unit 9 of the reference capacity value. The setting device can be executed, for example, in the form of a potentiometric converter with the subsequent signal conversion by a continuous-discrete converter (when building block 8 on the basis of discrete technology). The input of the indicator for monitoring the current value of productivity 10 is connected to the output of the arithmetic unit 8. Indicator 10 can be implemented as a switch instrument or as a gas discharge indicator, the height of the light pole in the tube is proportional to the input signal. The functional purpose and device of the arithmetic unit 11 are similar to the arithmetic unit 8. Getting the initial information is provided by connecting the counting inputs to the outputs of blocks 3 and 6, as well as the setter 12. The control input of the block 11 is connected to one of the outputs of the control unit 4. Device of the setting unit 12 of nominal capacity in the excavation cycle, it is similar to the setting device 9. The task, as well as the introduction of corrections that make it a correction, taking into account the strength of the soil, the quality of drilling and blasting in the face, etc. to be carried out via potentiometric setting devices feed output signals to an adder and then to continuous-digital converter. The performance control indicator 13 in the excavation cycle is similar to indicator 10. The indicator input is connected to the output of the arithmetic unit 11. The platform position sensor 14 is a continuous-discrete converter (angle-code converter) mounted on the rotational drive reducer. One of the outputs of the sensor is connected to the input of the setting device 12, and the other with the control unit -4 .. The device operates as follows. During the operation of the excavator with the sensor of time intervals 1, after the expiration of the time interval received as a single one, a signal is generated, which is fed from the sensor output to the input of counter 2 of the total operating time. For example, 1 second can be taken as a unit of time. The sensor signals 1 are also fed to the input of the counter 3 of the excavation cycle time. Meter control is performed from the outputs of the control unit 4, the input of which, in turn, is connected to the control circuits of the excavator drives 1 5. The sensor and bucket loading unit also work: b. determine bucket filling by weight or volume. The operation of the unit is switched on for measurement purposes - performed from the corresponding output of the control unit 4. From the output of unit 6, the measurement result (as a rule, several measurements are made of the current of the motor core and the average value is determined) is fed to the input of the counter 7 of the amount of excavated soil, summing, weight or volume of soil removed in each cycle. After completion of the excavation cycle, the counting inputs of the arithmetic unit 8 receive signals from the output of a counter of the amount of excavated soil 7 and a counter of the total operating time 2. In the block, the value of the current productivity is determined as the ratio of the weight (volume) of excavated soil to the total operating time. Next, block 8 determines the ratio of the current capacity to some of its reference value, such as operating or technical performance. It is also possible task, resulting from the planned indicators. The task is entered using the dial 9. The indication of the ratio of the current capacity to the reference value is made by the indicator 10. After the excavation cycle ends, the counting inputs of the arithmetic unit 11 receive signals from the bucket 6 fill sensor output and the cycle time counter 3. Performance in the cycle excavation is defined as the ratio of the weight (volume) of excavated soil to the cycle time. Further, block 11 determines the ratio of the value found to the nominal capacity g cycle specified by the setter 12. Some experimentally determined value can be taken as the nominal value of the cycle productivity. It is possible, for example, to take as a nominal value obtained by field filling the bucket volume, defining the cycle time as the sum of the time for filling the bucket, turning on loading and unloading. G output of block 11, a signal proportional to the performance in the cycle, is fed to the indicator 13. To take into account the actual mining conditions, a switch is introduced into the setting device 12 to introduce corrections for the actual conditions of work in the bottomhole. In the form of a coefficient to the output signal of the setting unit, the strength of the excavated rocks, the quality of the drilling and blasting operations, etc. are taken into account. The setting unit automatically determines the ratio of the actual angle of rotation to the unloading (supplied from sensor 14) to its received nominal value, and depending on This ratio adjusts the output signal. Thus, the use of the Proposed Device increases the efficiency of monitoring the process of excavation, allows organizing the monitoring of the operation of an excavator by simply tracking an automatically calculated and indicated estimate of the current productivity value (output per unit total operating time) expressed in relation to the planned target or technical capabilities of the machine. In addition, the determination and indication of the performance evaluation in the last excavation cycle performed allows the operator to determine and maintain a rational operating mode for the excavator, ensuring full utilization of its technical capabilities in each of the operating cycles. The use of the device makes it possible to increase the efficiency of control over the operation of the excavator. Claim 1. A device for recording and monitoring an excavator operation, comprising drive control circuits and a rotary platform position sensor, the outputs of which are connected to the inputs of the control unit, a time interval sensor, the outputs of which are connected to the counting inputs of the excavation time counter and total operating time counter, and a bucket dumping unit, the output of which is connected to the counting input of a quantity counter taken out of the ground, and the outputs of the control unit are connected to the control inputs of the sci time meter kla, total running time counter and bucket loading unit, characterized in that. that, in order to increase the efficiency of control of the excavation process, it is additionally equipped with a reference performance indicator, an indicator for monitoring current performance and an arithmetic unit, the input of which is connected to the outputs of the control unit, the total operating time counter, the count of the excavated soil and the reference performance setting unit unit is connected to the indicator of control of current performance. 2. The device according to claim 1, characterized in that, in order to obtain monitoring information for the current control of the excavator, it is additionally equipped with an indicator of performance monitoring in the excavation cycle, a nominal performance indicator in the excavation cycle and a second arithmetic unit whose inputs are connected to the outputs bucket loading unit, an excavation cycle time counter, and a nominal capacity setter in an excavation cycle, and the output of the arithmetic unit is connected to the input of the indicator roll performance .in excavation cycle, the nominal setpoint input connected to the output performance of the turntable position sensor. Sources of information taken into account during the examination 1. USSR author's certificate No. 502100, cl. E 02 F 9/20, 1973.

2. USSR author's certificate No. 228305, cl. G 07 C 5/08, 1967 (prototype).