JPS6310057B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic operation control method for a reclaimer, particularly to an improvement in an automatic operation control method at the initial stage of unloading a pile of ore, etc. that has been loaded.

A stacked pile of ore, etc. in a state of completion of loading has a conical shape with respect to the center of the stacking, and in order to unload this stacked pile, the top of the pile must be stepped and changed at the initial stage. Conventional general tiering and tiering work is performed by manually guiding the reclaimer's boom tip to the top of the pile, using a bucket wheel installed at the boom tip to unload the pile, and manually adjusting the boom position. It can be done. According to this conventional manual operation, it is possible to perform work with high operating efficiency without the boom swinging out, but it has the disadvantage that manual operation is required at the initial stage of discharging even for automatically operated reclaimers. . For this reason, conventional reclaimers with improved automatic operation control have been proposed in which automatic control is also adopted for changeover work at the initial stage of unloading piles. There was a drawback that the bucket wheel could not be brought into contact with the bucket wheel reliably and efficiently, and the operating efficiency of the device was significantly reduced.

The present invention has been made in view of the above-mentioned conventional problems, and its purpose is to provide an improved automatic operation control method for a reclaimer that can automatically control the changeover work at the initial stage of unloading piles. It is in.

In order to achieve the above object, the present invention detects the relative distance between the boom tip and the accumulated pile using a side tracker installed at the boom tip of the reclaimer, and based on this, bucket tip at the initial stage of discharging each pile pile. In an automatic operation control method for a reclaimer that performs wheel stage change, when the bucket wheel completes discharging at each stage of the stacked pile and then changes to the next lower stage, the side beam is moved until the end of the stage is detected. is characterized in that the scanning is controlled so that its pointing direction is always vertically downward, and after the step edge is detected, the scanning is controlled so that it always points in the normal direction of the end face slope of the stacked pile.

According to the present invention, a range finder using ultrasonic waves or the like is provided at the tip of the boom, and the range finder emits a range measurement beam in any two-dimensional direction, and changes are made while constantly checking the position of the pile. This makes it possible to carry out efficient and safe stage change work at the initial stage of dispensing.

Preferred embodiments of the present invention will be described below based on the drawings.

FIG. 1 shows a reclaimer 12 disposed facing a pile 10 of ore, etc., and its boom 14.
A bucket wheel 16 is provided at the tip of the bucket wheel 16, and the stacked pile 10 is paid out by the bucket wheel 16. FIG. 2 shows a plan view of FIG. 1, in which the tip of the boom 14 is disposed facing the top of the pile 10, and the stacking center of the pile 10 is indicated by 0. In Figures 1 and 2, the height of the stacked pile 10 is indicated by H, and the number of unloading stages is
k ₀ is set to four stages, and each payout stage is indicated by a broken line.

A device to which the present invention is applied for automatically controlling the reclaimer 12 described above is shown in FIG. The remote setting operation panel 18 is set in the ground remote control room, and the angle of repose θ ₀ of the payout pile, the total number of payout stages
k ₀ , number of unloading turns per each stage n ₀ , plunge amount (traveling amount) ΔX in one unloading, pile height H
Setting various parameters required for automatic dispensing control such as automatic dispensing control, switching operation mode between automatic operation and manual operation, etc.
Controls such as starting, temporarily stopping, restarting, and stopping automatic operation are performed. The aforementioned remote setting operation panel 18 is connected to an automatic operation control device 20, and the automatic operation control device 20 includes a minicomputer or a microcomputer, and various settings are set on the remote setting operation panel 18 according to a pre-stored automatic operation control program. The reclaimer 12 is automatically controlled using the parameters. The control output of the automatic operation control device 20 is supplied to the travel drive control device 22, the swing drive control device 24, and the elevation drive control device 26, and each control device is provided with speed signals such as high speed, medium speed, and low speed, or forward, backward, and left turn signals. The travel drive device 28 and the swing drive device 30 give direction command signals such as turn, right turn, raise, and lower.
and the reclaimer 12 by driving the elevation drive device 32.
The boom 14 is controlled to move to a desired position to perform a predetermined work. Encoders 34, 36, and 38 are connected to each drive device 28, 30, and 32, and the amount of axial movement of the drive unit is electrically detected, and the detection signals of each encoder 34, 36, and 38 are sent to the automatic operation control device 20. Feedback control of the drive system is performed by feedback. The control output of the automatic operation control device 20 described above is sent to each drive control device 22, 24, 2 via the operation mode changeover switch 40.
The control output of a master control switch 42 installed on the reclaimer machine is supplied to the other input of the changeover switch 40, and the automatic operation control device 2 is controlled by the changeover switch 40.
The automatic operation control output of 0 or the manual control output from the master control switch 42 is selected.

In the present invention, in order to correctly position the tip of the boom 14 to face the pile 10, a distance finder is provided at the tip of the boom 14 of the reclaimer 12, and as shown in FIGS. The rangefinder 44 consists of an ultrasonic beam transmitter/receiver attached to the tip of the boom 14, and includes an ultrasonic transmitter/receiver element 4.
Contains 6. As shown in FIG.
A scanning control command is supplied from the ranging control device 48, and the ranging beam R→ is transmitted from the ultrasonic transmitting/receiving element 46 of the ranging device 44. At this time, the ranging beam is directed in the elevation direction and the turning direction. is scan-controlled in any direction. The reflected wave from the stacking pile 10 is received by the ultrasonic transmitting/receiving element 46, and is supplied to the distance measurement control device 48 as a relative distance signal between the boom tip and the stacking pile, and this detection signal is output to the automatic operation control device 20, The boom tip position can be controlled to the optimum position.

In FIG. 2, the tip of the boom 14 of the reclaimer 12 is arranged opposite to the top of the pile 10 of height H.
The initial position for starting stage payout is shown. This initial positioning is performed by manual operation, etc., and the bucket wheel 16 is positioned at the highest height position of the total number of payout stages (k ₀ = 4 in the example), and the boom 14 is rotated at this position. When performing the dispensing work, the bucket wheel 16
The maximum value of the amount of penetration into the pile 10 is set to be the amount of penetration (Δx).

Turning and dispensing is automatically performed from the initial position shown in Figure 2, and the number of dispensing turns n ₀ set in each stage
When the dispensing of the rangefinder 44 is completed, the stage is changed to the next lower stage unless it is the lowest stage, but in order to efficiently perform the stage change, the scanning control of the distance measuring beam R→ of the range finder 44 described above is performed. In , the scanning control of the detection beam R→ is performed so that the direction of its orientation is always vertically downward until the end of the step is detected at the time of changing to the next adding step after completing the dispensing of each step of the stacked pile.
Further, after the step end is detected, the scanning control is always performed in a direction normal to the end face slope of the stacked pile. Figures 6 and 7 show the rangefinder 44 at this time.
6 mainly shows the vectors of the ranging beam R→ in relation to the rotation of the boom 14, and FIG. 7 mainly shows the vectors of the ranging beam R→ in the turning and elevation directions.

The angle detection operation when controlling the ranging beam R→ according to the elevation angle and rotation angle of the boom 14 will be explained below.

The angle of the ranging beam R→ includes a turning direction α and an elevation direction β, and the turning angle α will be explained first.

Assuming that the origin of the ranging beam R→ is set in the longitudinal direction of the boom 14 with respect to the turning direction, and below perpendicular to the longitudinal direction and the transverse horizontal direction of the boom 14 with respect to the elevation direction, the boom turning specific angle δ The turning angle α of the ranging beam R→ with respect to the deviation Δδ from ₀ is set to a value that approximately satisfies the following relational expression.

αH／k ₀ cotθ ₀ ≒ Δδ・L・sinγ ...(1) However, α: Turning angle of R→, Δδ: Deviation of boom turning angle from δ ₀ , H: Mountain height, k ₀ : Total number of payout steps , θ ₀ : Angle of repose, L: Boom length, γ: Elevation angle, i.e. α≒Δδ・L・sinγ・k ₀ /Htanθ ₀ ...(2) Here, the specific angle δ ₀ is the angle determined by manual positioning at the start of payout. This is the boom rotation angle when the boom 14 is exactly facing the loading center O of the pile 10 at the traveling fixed point Q of the reclaimer 12, and at this time, as is clear from Fig. 6, sinδ ₀ {Lsinγ+(H/k ₀ cotθ ₀ −Δx ₀ )}=W/2
...(3) Where, W: Total width of the yard, Δx ₀ : Amount of one thrust. That is, δ ₀ = sin ^-1 W/2 {L・sinγ+(H/k ₀・cotθ ₀ −
Δx ₀ )}...(4) By substituting equation (4) into equation (2), the beam rotation angle α for any angle δ is α≒(δ ₀ −δ)・L・sinγ・k ₀ /Htanθ ₀ ...(5) It can be obtained.

Next, the elevation angle β of the ranging beam R→ can be determined by taking an angle at which the ranging beam R→ exactly coincides with the normal direction of the end face slope of the pile 10, as shown in FIG. 7, β=90°−( γ−θ ₀ ) ...(6). In addition, the above distance measurement beam turning angle α
A method for calculating the elevation angle β is especially required when the accumulated pile has a conical shape.

When the number of payout turns n ₀ set at each stage is completed, the stage is changed to the next lower stage unless it is the lowest stage. The control output of the automatic operation control device 20 is supplied to the swing drive control device 24, and the reclaimer 12
The boom 14 of is positioned at the specific turning angle δ ₀ shown in FIG. Angle of repose θ ₀ of the data set payout pile,
Total number of dispensing stages k ₀ , number of dispensing turns per each stage n ₀ ,
The control output of the automatic operation control device 20 is supplied to the travel drive control device 22 based on the values of various parameters such as the plunge amount (traveling amount) Δx and pile height H in one payout, and the reclaimer 12 At the same time as the bucket wheel 16 is retreated from position a in FIG. 8, scanning control is performed so that the direction of the ranging beam R→ of the ranging device 44 is directed vertically downward to detect the step end. From rangefinder 44 to bucket wheel 16
Assuming that the distance to the bottom surface is d ₁ , when the bucket wheel 16 retreats to position b in Fig. 8, the distance finder 4
The distance measurement data D of No. 4 becomes D>d ₁ , and the step end is detected. The automatic operation control device 20 takes the diameter of the bucket wheel 16 into account and further retreats R _W tan θ ₀ from the step end detection position b, and when it reaches position c, the pointing direction of the ranging beam R→ of the range finder 44 changes. The traveling drive control device 22 and the elevation drive control device perform scanning control so that the direction is substantially normal to the end slope of the pile pile 10, and furthermore, the distance measurement data D of the distance finder 44 is always D= _d1 . A control output is provided to 26. boom 1
4 is lowered by H/k ₀ from the previous dispensing position and the bucket wheel 16 is positioned at position d in FIG. 8, completing the stage change to the next lower stage. At this time, the range finder 44
The distance measurement data is D=d ₁ , and the pile pile 10
The bucket wheel 16 can be brought into reliable contact with the bucket wheel 16.

As described above, according to the present invention, it is possible to carry out the initial changeover work of unloading a stacked pile in a state where loading has been completed by efficient, safe and reliable automatic operation without missing or deep digging. Become. With respect to the stacked piles for which the stage changing work has been performed according to the present invention, the unloading work will be continued using separate automatic operation control systems corresponding to each stage.

The calculation of automatic operation control in the present invention is performed in real time by a microcomputer or minicomputer, and highly responsive and highly efficient dispensing work can be performed, which is extremely suitable for automatic operation of a reclaimer.

[Brief explanation of the drawing]

Figure 1 is a front view showing a schematic structure of a reclaimer to which the present invention is applied, Figure 2 is a plan view of the main part of Figure 1, and Figure 3 is a reclaimer to which the automatic operation control method of the present invention is applied. A block diagram showing the control circuit, FIG. 4 is a front view of the main part of the tip of the boom equipped with the range finder used in the present invention, FIG. 5 is a perspective view of FIG. 4, and FIGS. 6 and 7. 8 is a vector diagram of a distance measuring beam scan-controlled by the automatic operation control method according to the present invention, and FIG. 8 is a diagram of the stage change method according to the present invention. The same members in each figure are given the same reference numerals, 10 is the pile pile, 12 is the reclaimer, 14 is the boom, 4
4 is a distance finder, 46 is an ultrasonic transmitting/receiving element, 48 is a distance measurement control device, and R→ is a distance measurement beam.

Claims (1)

[Claims] 1. The relative distance between the boom tip and the accumulated pile is detected by a side tracker installed at the boom tip of the reclaimer, and based on this, the bucket wheel is changed at the initial stage of discharging each pile pile. In the reclaimer automatic operation control method, when the bucket wheel completes discharging at each stage of the pile and changes to the next lower stage, the direction of the side beam is fixed until the end of the stage is detected. An automatic operation control method for a reclaimer, characterized in that scanning is controlled so that the direction is always vertically downward, and after detection of a step end, scanning is controlled so that it is always directed in the normal direction of the end face slope of a stacked pile.