JPH07115758B2 - Turning reversal control method in automatic operation of reclaimer - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a turning reversal control method in automatic operation of a reclaimer.

[0002]

2. Description of the Related Art Regarding a turning reversal control method in automatic operation of a reclaimer, Japanese Patent Application Laid-Open No. 48-35557 discloses that reversal control is performed by detecting no-load by a current value of a hydraulic pump drive motor of a wheel motor. Kaisho 60
No. 137727 discloses that reversal control is performed by a mountain break detector such as an ultrasonic wave or an optical range finder.
Furthermore, there is a method of performing forced reversal control by setting the reversal position (turning angle).

[0003]

Problems to be Solved by the Invention JP-A-48-3555
In the method described in Japanese Patent Laid-Open No. 7, when the payout amount is reduced due to a landslide portion or an insufficient bite amount, the hydraulic pump drive motor current is detected as a no-load current value, and is reversed during the swing payout.

According to the method described in Japanese Patent Laid-Open No. 60-137727, the reversal position at the initial mountain is not detected unless it turns significantly, and the payout efficiency (average payout T / H) is lowered. Also, if there are obstacles such as a retaining wall or a fuselage near the reversal position, it becomes difficult to detect the mountain break, and further the detector must be adjusted frequently because the detection position shifts due to the vibration of the fuselage,
It is difficult to secure the reliability of the detector.

In the method of performing the forced reversal control by setting the reversal position, the swingable angle changes with every reversal of the swing while the initial pile after stacking is being discharged, and therefore the operator must always change the swing angle.

According to the present invention, efficient reversal control is performed in order to improve the payout efficiency, and the reversible range angle setting at the initial mountain payout and cut-off mountain payout is automated to reduce the work load.

[0007]

Means for Solving the Problems The gist of the present invention is to provide an automatic operation in which a reclaimer delivers a fixed amount of a material pile in a raw material yard, and the reversal reversible swivel range angle is θ _Lx + α on both sides. set to _{lo ~θ Lx -α Ls} and _{θ Rx + α Ro ~θ Rx -α} Rs, the pivoting inversion operation at no-load current value set in advance of the invertible angle range the hydraulic pump driving the motor in the wheel hydraulic motors In the initial mountain payout after the end of loading, the payout for one turn is first performed, and the turn reversal operation position angle is detected by detecting the no-load current value within the turn reversible range angle.
θ _L1 and θ _R1 are stored, and the values of the turning reference angles θ _Lx and θ _Rx are set to θ _Ln (n
= 2,3, ...), θ _Rn (n = 2,3, ...) . The turning reversal control method in the automatic operation of the reclaimer is characterized by updating the values.

[0008]

The present invention will be described below with reference to the drawings.

FIG. 2 is an explanatory view of the equipment of the reclaimer machine body.

The electric motor 3 drives the hydraulic pump 2, the hydraulic pump 2 drives the hydraulic motor 1, and the hydraulic motor 1 drives and rotates the wheel loader 10 to discharge the raw material pile in the raw material yard. Then, the discharged raw material is sent to the above-ground conveyor by the boom conveyor 11. The hydraulic pipe 12 sends oil to the hydraulic motor 1. The reclaimer runs on rail 15.

The automatic operation control device 4 measures a wheel rotation speed detector 14 for detecting the rotation speed of the wheel loader 10, a swing speed detector 13 for measuring the swing speed of the boom conveyor 11, and a swing angle of the boom conveyor 11. The signals from the turning position detector 5 and the current detector 9 for detecting the load current of the electric motor 3 are adopted to control the wheel control device 7 and the turning control device 6. The turning control device 6 controls the turning drive device 8 that drives and turns the boom conveyor 11 according to the control signal from the automatic operation control device 4, and the wheel control device 7 responds to the control signal from the automatic operation control device 4 with an electric motor. Control 3

FIG. 1 is a diagram showing a control flow of the present invention.

Before starting the automatic operation, a reference turning angle θ _Rx when turning right (clockwise) is set as a reference angle of a turning range in advance.
And the reference turning angle θ _Lx when turning left (counterclockwise). The reclaimer basically swings the boom conveyor within the range of the left and right reference swing angles to perform the payout operation. Boom conveyor swing reversible range angle based on the standard swing angle (+ α _Ro and −α _Rs when turning right,
By _presetting + α _Lo and -α _Ls ) when turning to the left, the boom conveyor can be reversed only within this range. Further, the no-load current value I _UL of the electric motor for driving the hydraulic pump of the wheel hydraulic motor at the time of no-load of the pay-out is set, and the automatic pay-out is performed.

During the automatic fixed amount dispensing control, the current turning position angle θ and the current electric current value I of the electric motor for driving the hydraulic pump are constantly monitored, and the turning position angle θ falls within the reversible range θ _Lx + α _Lo, for example, during a left turn. located ~θ _Lx -α _Ls, further when the motor current value I is equal to or less than the no-load current value I _UL, stores the turning position at that time as a time of left turn inverted position angle theta _Ln, stop left turn operation After the jogging (biting into the raw material pile) operation, the reversing operation is performed to the right turn. If the no-load current value is not detected within the reversible range, forced reversal is performed with the turning angle θ _Lx + α _Lo at the upper limit of the reversible range.

After that, the payout is performed by the right turn operation, the reversal operation at the time of the right turn is performed as described above, and the payout is performed by the left turn.

In the next reversal operation at the time of turning left,
Change the value of the reference turning angle theta _Lx during left turning by rewriting the reference swing angle theta _Lx during left turning automatically in inverted position angle theta _Ln during left turning the previously stored to repeat the subsequent operations thereafter.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 3 is a diagram showing turning reversal control at the time of paying out when turning left.

Before starting the automatic operation, θ _Rx and θ _Lx are set as reference angles of the turning range, and turning reversal range angles α _Rs and α
Set _Ro and α _Ls and α _Lo . The reclaimer turns the boom conveyor to the left from the running rail, discharges the raw material from the raw material pile while controlling the quantitative discharge, and continues until the position of the boom conveyor reaches the current swing angle θ = θ _{Lx −} α _Ls. .

The position of the boom conveyor is the current turning angle θ.
= Θ _Lx −α _Ls or more, the load current of the electric motor 3 is detected by the current detector 9, and the load current I is continuously detected for a preset time T seconds at a preset no-load current value I _UL or less. (A in FIG. 3) is performed, the deceleration operation of the left turn is performed, and after confirming that it has stopped, it is switched to the right turn operation, and the reversal control is performed to accelerate the right turn. The position angle θ _Ln (n = 1, 2, 3, ...) At which the left turn is decelerated and stopped is automatically detected by the automatic operation control device 4, and the turn angle θ _Ln (n =
1, 2, 3, ...) is the reference turning angle θ for the next left turn.
_In order to obtain _Lx , the value of θ _Lx is θ _Ln (n = 1, 2, 3,
...) is automatically rewritten.

FIG. 4 is a diagram showing an example in which the present invention is applied to the reversal control at the time of turning to the left when the initial mountain is paid out.

When the turning position during the payout operation in the first left turn exceeds the turning angle θ = θ _Lx -α _Ls , the load current of the electric motor 3 is detected by the current detector 9, and the load current I is set in advance. When the no-load current value I _UL or less is continuously detected for a preset time T seconds (B in FIG. 4), the left turning deceleration operation is performed, and after confirming that it has stopped, the operation is switched to the right turning operation and the right turning operation is performed. Reverse control is performed to accelerate the rotation. The position angle theta _L1 of left turn becomes slow down and stop automatically detected by the automatic operation control device 4, the theta _Lx to the turning angle theta _L1 and the reference pivot angle theta _Lx during the next left turning By automatically rewriting the value to θ _L1 , the fixed amount payout control range in the second left turn is automatically expanded, and the reversal control range in the second left turn is the previous reversal start position (Fig. 4). The rotation reversal range angles α _Ls and α _Lo set in advance on the basis of B) are expanded. The turning position during the payout operation in the second left turn is the turning angle θ = θ _{L1 −} α
_When it becomes _Ls or more, the load current of the electric motor 3 is detected by the current detector 9, and the load current I is the preset no-load current value I _UL.
In the following, the time is continuously detected for a preset time T seconds (C in FIG. 4), the left turn deceleration operation is performed, and after confirming that it has stopped, the mode is switched to the right turn operation, and the right turn is accelerated to reverse. Take control. The position angle theta _L2 which left turn becomes slow down and stop automatically detected by the automatic operation control device 4, the theta _Lx to the turning angle theta _L2 with the reference turning angle theta _Lx during the next left turning The value is automatically rewritten to θ _L2 .

[0022]

According to the present invention, even if the hydraulic pump drive motor current is detected as a no-load current value when the payout amount is reduced due to a landslide portion or an insufficient bite amount, etc., the turning is performed outside the turning reversal range angle. You can avoid flipping during payout. In addition, because no special mountain break detector such as ultrasonic wave or optical range finder is needed, the turning angle automatically changes with each turning reversal even when the initial mountain after loading is being discharged, so the worker Especially, it is not necessary to change the turning angle, and efficient reversal control is performed, and the work load is reduced and the payout efficiency is improved by automatically setting the reversible range angle when paying out the initial mountain and the cut-off mountain. be able to.

[Brief description of drawings]

FIG. 1 is a diagram showing a control flow of the present invention.

FIG. 2 is an explanatory diagram of a reclaimer machine body.

FIG. 3 is a diagram showing turning reversal control at the time of paying out when turning left.

FIG. 4 is a diagram showing an example in which the present invention is applied to reversal control at the time of turning left when paying out an initial mountain.

[Explanation of symbols]

 1 hydraulic motor 2 hydraulic pump 3 electric motor 4 automatic operation control device 5 turning position detector 6 turning control device 7 wheel control device 8 turning drive device 9 current detector 10 wheel loader 11 boom conveyor 12 hydraulic piping 13 turning speed detector 14 wheel Rotation speed detector 15 rail

Claims (1)

[Claims] 1. In an automatic operation for discharging a fixed amount of a pile of raw materials in a raw material yard by a reclaimer, the reversible swivel reversible range angle is θ _Lx + α _Lo on both sides.
~ Θ _Lx -α _Lg and θ _Rx + α _Ro ~ θ _Rx -α _Rg
The turning reversal operation is performed with the preset no-load current value of the hydraulic pump drive electric motor of the wheel hydraulic motor within the reversible range angle, and when the initial mountain is paid out after the end of loading, one turning first The payout is performed, and the turn reversal operation position angles θ _L1 and θ _R1 are stored by detecting the no-load current value within the turn reversible range angle, and in the subsequent payout, the values of the turn reference angles θ _Lx and θ _Rx for each turn. Respectively θ _Ln (n = 2, 3, ...) And θ _Rn (n = 2, 3,
...) value is updated to a reversing control method in automatic operation of the reclaimer.