JPH04235831A - Operating method of unloader, reclaimer or the like to deliver fixed quantity - Google Patents

Abstract

PURPOSE:To provide an operating method to deliver a fixed quantity of a bulk material in cargo handling by means of a circulating excavation bucket such as an unloader and a reclaimer. CONSTITUTION:Light wave type space detectors 39, 45, 46, which take measurements of the space between a specified height of a circulating excavation bucket when it separates from a pile of a bulk material and the surface of the excavated material in the bucket, is arranged by setting its falcrum on a circulating excavation bucket supporting frame 7 of an unloader, reclaimer or the like and positioning it to the upper fixed point of the position where the said bucket separates from a pile of the bulk material, and a calculation is made of the comparison value between the excavated quantity of the bulk material inside the bucket, which is calculated from the measurement value of the detector, and the set excavation quantity of the control device whereby either the bucket sidewise speed or the bucket circulating speed or the bucket cut-in depth is automatically controlled toward the direction where the comparison value shows zero.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fixed-quantity dispensing operation method for cargo handling, such as an unloader or reclaimer, in which a circulating excavation bucket is used to disburse material.

0002

[Prior Art] Conventionally, in the operation of this type of unloader or reclaimer, the operator manually moves the unloader or reclaimer from the location where the machine is stopped to the location where cargo handling is to be started. While watching the monitor of the TV camera installed in the operator's cab, the bucket is manually placed at a predetermined cargo handling open position on the loading surface, and from this position the bucket movement pattern is automatically programmed into the control device. Dispensing operation is performed under control.

0003

SUMMARY OF THE INVENTION The above-mentioned prior art has the following problems. In the automatic operation of unloaders, reclaimers, etc., the excavation bucket section automatically moves along a specified pattern trajectory to cut out the material, but the depth of cut into the material surface of the bucket, To determine the amount of excavation taken into the bucket, the driver must manually adjust the forward and backward movement of the bucket and the swing or lateral movement speed of the bucket while monitoring the monitor television. This remote manual operation requires skill to adjust, and the cutting depth of the bucket and the amount of excavation taken into the bucket are not stable, resulting in variations in the amount of output per hour, making it difficult to accurately control the amount of output and load handling. It is difficult to manage schedules.

An object of the present invention is to propose a fixed-quantity dispensing operation method for an unloader, reclaimer, etc., which solves the above-mentioned problems in the prior art.

[0005]

[Means for solving the problem] The supporting frame of the circulation bucket in this type of equipment is used as a fulcrum, and the bucket moves from the bulk material to the surface of the excavated material in the bucket at a predetermined cutting height at a fixed point above the cutting position. A light wave distance detector is placed to measure the distance between the two, and a control device calculates a comparison value between the amount of excavation in the bucket calculated from the measurement value of the detector and the set amount of excavation, and sets this comparison value to zero. The bucket swing speed, bucket circulation speed, and bucket cutting depth are automatically controlled in the direction. Furthermore, using the support frame as a fulcrum, the distance to the opposing stacking surfaces is measured at a fixed point opposite to the stacking surfaces on both sides at the cut end position of the bucket. A pair of light wave distance detectors are set, and the control device calculates a comparison value between the bucket cutting depth calculated from the measured values of the pair of detectors and the set cutting depth, and sets this comparison value to zero. Automatically controls the bucket cutting depth in the direction, calculates a comparison value between the amount of excavation inside the bucket calculated from the measurement value of the former detector and the set amount, and sets this comparison value to zero. Automatically controls either bucket traverse speed or bucket circulation speed.

[0006]

[Operation] A light wave distance detector installed on the support frame of the circulation bucket of the unloader or reclaimer at a fixed point above the bucket cut-up location detects when the bucket has cut off the load and has been cut to an approximately horizontal position. , the distance to the surface of the excavated object taken into this bucket is detected. The timing at which each circulating bucket reaches the position where the distance is detected is detected by another sensor, which will be described later, and is transmitted to the distance detector, which then repeats the measurement. The measured distance is converted into the depth of excavated material in the bucket and the amount of excavated material by a microcomputer in the control device, and a comparison value with a reference amount of excavated material set in the control device is calculated. Meanwhile, on the support frame of the circulation bucket of the unloader or reclaimer,
A pair of light wave distance detectors installed at fixed points opposite the piled surfaces on both sides of the cut position of the bucket measure the distance to the piled surface before one is cut by the bucket, and the distance to the piled surface after the other is cut by the bucket. Repeat the measurement of the distance to the piled surface, for example, at 2 second intervals. The distance measured for each pair is converted into a bucket cutting depth for each measurement by a microcomputer in the control device, and a comparison position with a reference cutting depth set in the control device is calculated.

[0007] The comparative value of excavation amount and the comparative value of cutting depth are as follows.
Displayed on a display device and monitored. Automatic operation for quantitative excavation can be carried out by using a control device to control the bucket traverse speed, bucket circulation speed, or depth of cut in a direction that makes the excavation amount comparison value zero, or by first adjusting the depth of cut comparison value. This is done by controlling either the bucket traversing speed or the bucket circulation speed in the direction of making the excavation amount comparison value zero after executing cutting depth control in the direction of making it zero.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the operating method according to the present invention will be explained with reference to an unloader shown in FIG. 1 and a reclaimer shown in FIG. 2. In FIGS. 1 and 2, 2 and 22 are traveling gantry;
3, 23 are rotating frames, 4, 24 are luffing booms, 6,
26 is a drilling rig; 7 and 24 are support frames for the drilling rig;
8 and 28 are excavation buckets, 9 and 29 are on-board conveyors, 1
2 and 32 are driver's cabs, 13 and 33 are control devices with a built-in microcomputer, 14 and 34 are ground conveyors, and 17 and 3
7 is a collection.

FIG. 1 shows a revolving frame 3 installed on a traveling gantry 2 along a quay 1, a luffing boom 4 installed on the frame 3, a column 5 swingably supported at the tip of the luffing boom 4, This unloader is equipped with a bucket chain type excavator 6 that is rotatably and swingably supported at the lower end of a column 5, 7 is a support frame that supports the bucket 8 of the excavator 6, and 9 is a support frame that is attached to the column 5 and the boom 4. A continuous conveyor on the machine, 10 is a chute, 11 is a relay conveyor, 12 is an unloader cab provided at the bottom of the boom 4, 13 is a control device with a built-in microcomputer provided in the cab, and 14 is a ground conveyor. The excavation bucket 8 is circulated in the direction of the arrow 15 by operation from the control device 13, and the excavation bucket 8 is circulated in the direction of the arrow 15.
is cut out and delivered to the on-board conveyor 9, and delivered from the opposite end of the conveyor 9 to the ground conveyor 14 via the chute 10 and the on-board relay conveyor 11. At this time, the lateral movement of the bucket 8, that is, the movement of the bucket in the direction perpendicular to the plane of the figure, is given by the movement of the unloader gantry 2, and the movement of the bucket 8 in the cutting direction, that is, the movement of the bucket to the right in the figure, is caused by the movement of the unloader gantry 2. , by the rightward movement of the column due to travel and boom rotation, and further, the vertical movement of the bucket 8 is provided by the raising and lowering operation of the boom 4.

FIG. 2 shows an L-shaped revolving frame 23 installed on a gantry 22 running along a pile yard 21, a hoisting boom 24 installed on the revolving frame 23, and a bucket foil type excavator installed at the tip of the holing boom 24. 28 is a bucket of the excavation device 26, 29 is an on-board conveyor provided on the undulating boom 24, 30 is a chute, and 32 is a reclaimer (stacker Kaneda type) equipped with a device 26 at the front of the revolving frame 23. 23 is a control device with a built-in microcomputer provided in the driver's cab 32, and 34 is a ground conveyor. By operation from the control device 33, the excavation bucket 28 is rotated in the direction of the arrow 35 in the figure, and the excavation bucket 28 is rotated in the direction of the arrow 35 in the figure.
The pickled vegetables are cut out from the upper mixed pile 37, delivered to the on-board conveyor 29, and delivered to the ground conveyor 34 via the chute 30.

Next, FIGS. 3 and 4 are enlarged views of the vicinity of the bucket wheel excavator 26 of the reclaimer shown in FIG. 2, and show an example of the arrangement of the detectors used in the present invention. In the figure, numeral 38 is a light frame for mounting the detector made of aggregates or pipes fixedly assembled on the support frame 24 of the excavation device 26, and 39 is a light frame for mounting the detector, which is cut from the pile 37 and raised to a substantially horizontal position. A light wave distance detector 42 is fixedly arranged on a light frame 39 above the bucket 28a and measures the distance 41 to the excavated object surface 40 in the bucket 28a at the cut-up position. This is a protruding piece for bucket position detection provided inside the annular boss 43 in correspondence with each bucket 28 position. In FIG. 4, reference numeral 44 indicates a photoelectric sensor provided on the side of the boom 24 across the protruding piece 42 located on the side of the boom 24 to detect the bucket cut-up position [position shown as 28a] under the state of the bucket 28 shown in FIG. The type switches 45 and 46 are fixedly arranged on the light frame 38 at positions opposite to the both-side scattering surfaces of the bucket cut position 28b into the pile 37, that is, the uncut surface and the cut surface, and are fixed to the opposite scattering surfaces. These are a pair of light wave distance detectors that measure distances 47 and 48 to the surface. For the sake of explanation, the light wave distance detector 39 is shown as being disposed diagonally above the cut-up position bucket 28a;
It is desirable to arrange it at a position directly above 8a.

In the case of the unloader shown in FIG. 1 as well, light wave distance detectors 39, 45, and 46 are provided using the support frame 7 of the excavating device 6 as a fulcrum in the same manner as described above. The above-described detectors 39, 45, 46 and photoelectric switch 44 are connected to the control devices 13, 33, respectively, and the detector 39 is
The photoelectric switch 44 is in the bucket position, that is, the protruding piece 4
2 is detected, the distance to the surface of the excavated object in the bucket 28a that has reached the cut-up position is repeated, and the control devices 13, 33
Then, the microcomputer converts the depth of excavated material and the amount of excavated material in the bucket 28a from this measured value, and also converts the excavated material depth and excavated material amount into the control devices 13 and 33.
Calculate the comparison value with the standard excavation amount set in . The other detectors 45 and 46 are activated, for example, when the drilling rig 6 is in operation.
Repeat at intervals of seconds to measure the distance to the cutting surfaces on both sides of the bucket cutting completion position. In the control devices 13 and 33, the microcomputers convert the bucket cutting depth at each measurement time from the measured values of the detectors 45 and 46, and cause the control devices to calculate a comparison value with a reference cutting depth set.

[0013] The above two types of comparison values are displayed on a display device, and by monitoring them, the optimum bucket cutting depth and quantitative excavation operation can be performed in manual operation. Next, FIGS. 5 and 6 show a control flow of an operating method according to the present invention using measurement by the above-mentioned detector and calculation by a microcomputer. Fig. 5 shows a system in which only the distance detector 39 system is incorporated into the automatic fixed-quantity dispensing control using the bucket, and the excavation amount correction corresponding to the comparison value between the detected bucket excavation amount and the set value is performed using the bucket traverse speed, circulation speed, cutting speed, etc. With three options for depth,
This is a case where automatic correction control is performed.

FIG. 6 shows a system in which both the distance detectors 45, 46 and 39 are incorporated into the automatic fixed-quantity dispensing control using the bucket, and the bucket cutting depth is automatically corrected to the set value by the distance detectors 45, 46 system. This is a case where the excavation amount correction by the detector 39 system is automatically controlled with two options: bucket traverse speed and circulation speed. Such a method is shown in Figure 1.
This can be similarly applied to the unloader shown in FIG. By adopting such a method, it is possible to easily realize operation control for dispensing a fixed amount of materials using buckets, which has been difficult to achieve in the past, both automatically and manually, and to significantly improve the efficiency of this type of cargo handling. It becomes possible.

[0015]

Effects of the Invention: (1) Every time the circulating bucket cuts off a load and reaches a substantially horizontal position, the distance to the surface of the load in the bucket is measured by a light wave distance detector placed at a fixed position. The control device calculates the amount of excavation and a comparison value with the set value, and automatically corrects the comparison value to zero. Alternatively, the control device measures the actual distance to the bucket notch using a light wave distance detector. Calculate the depth of cut and the comparison value with the set value,
By performing automatic correction operation that sets the comparison value to zero, it has become possible to automate quantitative excavation and discharging using buckets, which was difficult with manual control in the past, and automation has not been achieved. can significantly improve efficiency. (2) The results of automatic operation can be monitored and confirmed every moment on the display device by detection by the light wave detector system, and at the same time, even during manual operation, by controlling the manual operation while watching the monitor,
Since the results can be confirmed, automatic/manual switching combination operation can be easily performed, and accurate quantitative dispensing operation, dispensing amount management, and schedule management can be realized.

[Brief explanation of the drawing]

FIG. 1 is a schematic layout diagram of an unloader implementing an operating method according to the present invention.

FIG. 2 is a schematic layout of a reclaimer implementing the operating method according to the invention.

FIG. 3 is a side view showing the arrangement of detectors in the excavation rig in FIG. 2;

FIG. 4 is a plan view of FIG. 3;

FIG. 5 is a schematic diagram of a control flow showing an example of an operating method according to the present invention.

FIG. 6 is a schematic diagram of a control flow showing another example of the operating method according to the present invention.

[Explanation of symbols]

2 Traveling gantry 3 Swivel frame 4 Hoisting boom 6 Excavation rig 7 Excavation rig support frame 8 Excavation bucket 9 On-board conveyor 13 Microcomputer built-in control device 17 Sowing material

Claims (2)

[Claims] Claim 1: The support frame of the circulating excavation bucket in an unloader, reclaimer, etc. is used as a fulcrum, and the bucket is positioned at a fixed point above the point where the bucket cuts up from the bulk material, until the surface of the excavated material in the bucket reaches a predetermined cutting height. A light wave distance detector is installed to measure the distance of A quantitative dispensing operation method for an unloader, reclaimer, etc., characterized in that the bucket traverse speed, the bucket circulation speed, and the bucket cutting depth are automatically controlled in a direction to make the comparison value zero. Claim 2: The support frame of the circulating excavation bucket in an unloader, reclaimer, etc. is used as a fulcrum, and the bucket is positioned at a fixed point above the position where the bucket is cut up from the bulk material, and the excavated material surface in the bucket is set at a predetermined cutting height. A light wave distance detector for measuring the distance is arranged, and the supporting frame is used as a fulcrum, and the device is positioned at a fixed point facing the bulk material surfaces on both sides of the cut end position of the bucket into the transported material. A pair of light wave distance detectors are installed to measure the distance to the piled surface, and the control device of the unloader/reclaimer etc. calculates the bucket cutting depth calculated from the measured values of the pair of detectors and the control device. A comparison value with the set cutting depth is calculated, and the bucket cutting depth is automatically controlled in a direction that makes the comparison value zero, and the excavation amount in the bucket and the amount calculated from the measurement value of the former detector are calculated. Quantification of unloaders, reclaimers, etc., characterized by calculating a comparison value with the amount of excavation in the bucket set by the control device, and automatically controlling either the bucket traverse speed or the bucket circulation speed in a direction to make the comparison value zero. Payout driving method.