JPS6354614B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic operation control method for a reclaimer, and more particularly to an improvement in an automatic operation control method for a step forming operation necessary at the initial stage of discharging 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, it is necessary to carry out a step formation operation to unload the top of the pile at the initial stage. Conventional general tiering work involves manually guiding the tip of the crane's boom to the top of the pile and unloading the pile using a wheel bucket installed at the boom tip, and then manually adjusting the boom position to perform tiering work. will be carried out. According to this conventional manual operation, it is possible to perform work with high efficiency in the operation of the equipment without the boom swinging out, but manual operation is also required for the step formation work required at the initial stage of dispensing for automatically operated reclaimers. It had the disadvantage of being necessary. For this reason, conventional reclaimers with improved automatic operation control have been proposed in which automatic control is also adopted for the tiering work at the initial stage of unloading piles. The problem was that the bucket wheels could not be brought into contact 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 step formation work at the initial stage of unloading of piles. There is a particular thing.

In order to achieve the above object, the present invention detects the relative distance between the boom tip and the stacking pile by a range finder provided at the boom end of the reclaimer, and the range finder has a range finder whose ranging beam is in the elevation direction and The range finder is scan-controlled in the turning direction, and the range finder is scan-controlled so that the direction of the ranging beam of the range finder is always directed toward the stacking center of the pile at the time of initial step-up for discharging the top of the pile that has been loaded. The feature is that mountain breaks are detected by detecting the relative distance between the tip of the boom and the stacked pile.

In the present invention, it is preferable that the range finder is scan-controlled so that the range finder beam is directed in a direction substantially normal to the end face slope of the pile.

According to the present invention, a distance finder using ultrasonic waves or the like is provided at the tip of the boom, and the range finder emits a distance measuring beam in any two-dimensional direction, and the stack is stacked while constantly checking the position of the pile being paid out. This enables efficient and safe step-up 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 O. 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.
A predetermined payout operation is performed by controlling the movement of the boom 14 to a desired position. Each drive device 28, 30, 3
Encoders 34, 36, and 38 are connected to 2, and the amount of axis movement of the drive unit is electrically detected, and the detection signals of each encoder 34, 36, and 38 are fed back to the automatic operation control device 20 to control the drive system. Feedback control is performed. The control output of the automatic operation control device 20 described above is sent to each drive control device 22,
24 and 26, and 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 of the automatic operation control device 20 is performed by the changeover control of the changeover switch 40. Output or manual control output from master control switch 42 is selected.

In the embodiment of 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, as shown in FIGS. 4 and 5. The distance finder 44 consists of an ultrasonic beam transmitting/receiving device fixed to the tip of the boom 14, and includes an ultrasonic transmitting/receiving element 46. As shown in FIG. 3, a scanning control command is supplied to the range finder 44 from a range finder control device 48, and the ultrasonic transmitting/receiving element 46 of the range finder 44
A distance measurement beam R→ is transmitted from the center, and the elevation and rotation directions of the distance measurement beam at this time are scan-controlled in arbitrary directions. 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 discharging is automatically performed from the initial position shown in FIG. 2, but in order to efficiently detect mountain breaks at the left and right ends of the turn, scanning control of the distance measuring beam R→ of the range finder 44 is performed as described above. In the invention,
The scanning control of the detection beam R→ is performed by the range finder 44 so that the direction of the detection beam always points toward the conical axis passing through the stacking center O of the stack pile 10 during the step formation work at the initial stage of discharging the top of the stack pile 10. It is characterized by being controlled. 6 and 7 show the scanning control vector of the range finder 44 at this time, and FIG. The rotation and elevation vectors of the beam R→ are shown. If the direction of the ranging beam R→ emitted from the range finder 44 is fixed, this beam direction will depend on the turning angle of the boom 14, and in such a fixed beam method, detection of a mountain break is extremely difficult. becomes inaccurate. That is, as is clear from FIG. 6, the turning circle of the boom 14 and the contour line S _a of the pile 10 intersect only near the point P at the end of the pile, and as a result, the ranging beam R → 14, a slight change in the turning angle results in a large change in the measured distance, making it impossible to perform stable mountain break detection. For this purpose, in the embodiment of the present invention, the range finder 44 is scan-controlled so that the direction of the range finder beam R→ of the range finder 44 is always directed toward the cone axis passing through the stacking center O of the stacking pile 10. It is characterized by

In other words, even if the range finder 44 is located at an arbitrary position above the conical slope of the stacking pile 10, if the beam R→ is scanned toward the conical axis passing through the stacking center O, the beam will be reflected from the slope and the beam will be reflected from the slope. The distance measured reaches its minimum value when the beam R→ coincides with its normal line, and by using this minimum value as the measurement amount, accurate distance measurement can be obtained even when the boom 14 turns, and stable mountain break detection can be achieved. It becomes possible.

The angle detection action when controlling the ranging beam R→ according to the turning angle of the boom 14 will be explained below.

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

Assuming that the origin of the ranging beam R→ is set in the longitudinal direction of the boom 14 in the turning direction, and in the lower direction perpendicular to the longitudinal direction and horizontal direction of the beam 14 in the elevation direction, the specific boom turning angle δ is The turning angle a 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.

aH/k ₀ cotθ ₀ ≒ Δδ・L・sinγ ...(1) However, a: Turning angle of R→, Δδ: Deviation of beam turning angle from δ ₀ , H: Mountain height, k ₀ : Total number of payout stages , θ ₀ : Angle of repose, L: Boom length, γ: Elevation angle, that is, a≒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. At the traveling fixed point Q of the reclaimer 12,
This is the boom rotation angle when the boom 14 is exactly facing the loading center O of the pile 10, and at this time, as is clear from Fig. 6, sinδ ₀ {Lsinγ+(H/k ₀ cotθ ₀ −Δx ₀ )} = W/ 2...
...(3) Here, 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 a for any angle δ can be calculated as a≒(δ ₀ - δ)・L・sinγ・It can be obtained as K ₀ /Htanθ ₀ (5).

Next, the elevation angle β of the ranging beam R→ is the ranging beam R→
It suffices if the angle just coincides with the normal direction of the slope of the end surface of the pile 10, as shown in FIG. 7, β=90°−(γ−θ ₀ ) (6).

That is, the ranging beam R→ is directed in a direction substantially normal to the stacked pile, and the specular reflection surface of the stacked pile is captured by scanning with the beam R→. This is because the ranging beam R uses ultrasonic waves, etc., and the ore in the pile varies from fine powder to pebbles, so the smaller the particle size of the ore, the less likely it is that diffused reflection will occur. It is.

As described above, the scanning direction of the ranging beam R→ is controlled in accordance with the turning angle of the boom 14 so as to be directed toward the conical axis passing through the stacking center O, and the relative distance between the boom tip and the stacking pile is adjusted for a predetermined period of time. If the minimum detected value in each scan of these detected values exceeds a predetermined value while measuring at intervals, it is determined that there is a mountain break and the boom 14 is reversely rotated to perform the initial stepped forming work very efficiently. becomes possible.

Here, the predetermined location refers to the bucket wheel 16.
When dispensing the cumulative pile 10, the distance finder 44 is placed in a state where the bucket wheel 16 is about to leave the pile 10, that is, at a position where the bucket wheel 16 is no longer able to obtain sufficient ore, etc. from the pile 10. This is the distance measured by directing the distance measuring beam R→. In other words, since the boom 14 rotates, if the boom 14 rotates any further, the minimum value of the above-mentioned detection value will increase, and along with this, the boom 1
4 is a miss, and the limit value may be set as a predetermined value.

The calculations for automatic operation control in the embodiments of the present invention are 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.

As explained above, according to the present invention, it is possible to reliably carry out the tiering work at the initial stage of unloading the stacked pile after it has been loaded, and the unloading at this time can be carried out efficiently and safely without the boom swinging out. This can be done by automatic dispensing operation.

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, making it extremely suitable for automatic operation of a reclaimer.

[Brief explanation of the drawing]

FIG. 1 is a front view showing the general structure of a reclaimer to which the present invention is applied, FIG. 2 is a plan view of the main part of FIG. 1, and FIG. A block diagram showing the applied control circuit; FIG. 4 is a front view of the main part of the boom tip section equipped with a range finder used in an embodiment of the present invention;
FIG. 5 is a perspective view of FIG. 4, and FIGS. 6 and 7 are vector diagrams of the ranging beam scan-controlled by the automatic operation control method according to the embodiment of the present invention. The same members in each figure are given the same reference numerals, 10 is a stacked pile, 12 is a reclaimer, 14 is a boom, 44 is a range finder, 46 is an ultrasonic transmitting/receiving element, 48 is a ranging control device, and R→ is a measuring device. It is a distance beam.

Claims (1)

[Claims] 1. A range finder installed at the end of the boom of the reclaimer detects the relative distance between the end of the boom and the stacked pile, and the range finder controls scanning of the range measuring beam in the elevation direction and the turning direction. The range finder is scan-controlled so that the direction of the ranging beam of the range finder is always directed to the conical axis passing through the stacking center of the stack during the initial stage of unloading of the top of the pile that has been loaded. An automatic operation control method for a reclaimer, characterized in that mountain breakage is detected by detecting the relative distance between the tip of the boom and the pile pile. 2. A reclaimer automatic operation control method according to claim 1, characterized in that the range finder is scan-controlled so that the distance measuring beam is directed in a direction substantially normal to the end face slope of the pile.