JP2000015133A - Crushed stone treatment system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve working efficiency and productivity by adequately and easily carrying out the stop of the operation of an automatically operated shovel accompanying the supply of crushed stones and the ejection of the produced crushed stone. SOLUTION: The crushed stone treatment system to obtain the crushed stone by excavating the quarried stones stored in a stockyard 4 by the automatically operated shovel 1 which regenerates and actuates a series of the operations from the taught excavation to earth release, releasing the quarried stones to a crusher 5 and crushing the quarried stones by this crusher 5 is equipped with a remote manipulation device 2 which is disposed in a position apart from the automatically operated shovel 1 and controls the start and stop of the automatically operated shovel 1 and moving type manipulation devices 30, 31, 8 which function in a range capable of monitoring this crushed stone treatment system, control the stop of the automatically operated shovel 1 and are movable.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crushed stone processing system, and more particularly to an automatic shovel for quarrying a quarry on a stock yard and supplying the quarried quarry to a crusher. The present invention relates to a crushed stone processing system that facilitates the supply of quarries and the removal of produced crushed stones.

[0002]

2. Description of the Related Art Conventionally, as an example of a processing plant using a hydraulic excavator, Japanese Patent Application Laid-Open No. 9-195321 is known. This is a bulldozer that collects quarry that has broken down the ground, which is the object to be processed, with a bulldozer, scoops it with an automatic driving shovel placed on the same plane as the bulldozer, and puts it into a mobile crusher that is a processing means. In addition, a bulldozer operated by the operator is equipped with a device for instructing automatic operation of the automatic driving shovel and a device for monitoring the crushed stone level of the mobile crusher, and quarrying is performed by the bulldozer. They are collected at the front part, operated by an automatic driving shovel to scoop quarries, and are discharged to a mobile crusher. In addition, when the quarry level of the mobile crusher becomes high, work is performed while monitoring the quarry level in order to stop the automatically driven shovel.

[0003]

In the above-mentioned conventional processing plant, the automatic operation shovel is on the same plane as the bulldozer, and the bulldozer must quarry the shovel in the vicinity of the automatic operation shovel. It is necessary to stop the operation of the automatic driving shovel so that the front of the automatic driving shovel does not collide.

[0004] For this reason, the operator on the bulldozer must always take into account the distance from the self-driving shovel and stop or stop the vehicle as necessary, thereby improving work efficiency as desired. Could not.

[0005] The automatic driving shovel detects the quarry level of the crusher and controls its operation. However, the bulldozer must monitor in what state the automatic driving shovel is stopped. However, it was a hindrance factor for improving work efficiency.

Further, on the side where the crushed stone produced as a product is carried out, it is necessary to stop the work due to some factor, for example, when the crushed stone discharged by the crusher conveyor is accumulated and its height becomes too high. If this occurs, it is necessary to detect this and stop the automatic driving shovel. However, on the unloading side, for example, the wheel loader does not have a function to stop the automatic driving shovel, and the bulldozer operator has too much distance between them to monitor this, and monitoring cannot be performed easily. As a result, the work of supplying quarries to the self-driving shovel was a factor that caused stagnation.

An object of the present invention is to improve the work efficiency and productivity by appropriately and simply stopping the operation of an automatic shovel in connection with the supply of quarry and the removal of the produced crushed stone. It is to provide a processing system.

[0008]

The present invention employs the following means in order to solve the above-mentioned problems.

[0009] The quarry stored in the stock yard is excavated by a self-driving shovel that regenerates a series of operations from the excavation to the excavation taught, and is excavated to a crusher. The quarry excavated by the crusher is excavated. In a crushing stone processing system for crushing stone to obtain crushed stone, a remote control device provided at a position away from the automatic driving shovel to operate start and stop of the automatic driving shovel, and a function within a range that can monitor the crushing stone processing system And a movable operation device that operates to stop the automatic driving shovel.

[0010] Further, in the crushed stone processing system according to the first aspect, the movable operation device is provided in a transport machine that carries quarry into the stock yard.

Further, in the crushed stone processing system according to any one of claims 1 and 2, the movable operation device is provided in a work machine for loading the crushed stone.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

FIG. 1 is a diagram showing a configuration of a crushed stone processing system according to the present embodiment and a working form thereof.

In FIG. 1, reference numeral 1 denotes an automatic operation for automatically repeating a series of work procedures from the excavation to the excavation taught, excavating the debris stored in the stock yard 4 and discharging the debris to the movable crusher 5. Driving excavator, 2 is a remote control device installed at an arbitrary place suitable for performing automatic driving operation of the automatic driving excavator 1, 30 and 31 are trucks for alternately supplying quarry to the stock yard 4, and 32 is a wheel. A stock yard for taking out the crushed stone loaded by the loader 8, a stock yard 4 for temporarily storing the quarry 6 and separating the trucks 30 and 31 for supplying the quarry and the automatic shovel 1 from the same plane. Crush the debris released by the self-driving shovel 1
A mobile crusher for manufacturing the crushed stone 4, 7 is a crushed stone manufactured by the mobile crusher 5, 8 is a wheel provided with a communication device 81 for a wheel loader, and a wheel for loading the crushed stone 7 manufactured by the mobile crusher 5 on a truck 32. Loader.

Here, the self-driving shovel 1 includes a traveling body 1
01, a revolving unit 1 that is rotatably provided on the traveling unit 101
11, a boom 11 rotatably provided on the revolving body 111
2. A cylinder for pivotally operating the arm 113 rotatably provided at the tip of the boom 112, the bucket 114, the boom 112, the arm 113, and the bucket 114 rotatably provided at the tip of the arm 113. 11
5, 116, 117, a driver's cab 118 provided on the swing body 111, a shovel communication device 121 for transmitting and receiving signals to and from the remote operation device 2, signals to and from the trucks 30, 31 and the wheel loader 8. An excavator communication device 122 that performs transmission and reception and the shovel controller 11 are provided.

The remote operation device 2 includes a system operation unit 21,
It comprises a remote control device controller 22, a system status display section 23, and a remote control device communication device 24.

The trucks 30 and 31 include truck communication devices 300 and 310 for transmitting and receiving signals to and from the automatic driving shovel 1, respectively.

The movable crusher 5 comprises a traveling body 50, a hopper 51, a crushed stone section 52, and a conveyor 53.

As described above, this crushed stone processing system is performed by the cooperation of various construction machines,
The quarry 6 is alternately supplied to the stock yard 4 by 0 and 31. When the automatic driving shovel 1 receives a start command from the remote control device 2, the operation of excavating the quarry 6 and discharging the quarry to the mobile crusher 5 is repeated. . The mobile crusher 5 crushes the excavated quarry to produce crushed stones 7, and the crushed stones 7 are loaded onto a truck 32 by a wheel loader 8 and carried out.

FIG. 2 is a block diagram showing an outline of a control mechanism of the crushed stone processing system according to the present embodiment. In addition,
In the figure, the same reference numerals as those shown in FIG. 1 indicate the same parts.

In FIG. 1, reference numeral 10 denotes an automatic driving shovel 1
11 is a shovel controller for storing and reproducing the contents of the teaching and controlling the automatic driving shovel 1; 121, an operation command input from the remote control device 2; A communication device for receiving a stop command transmitted from a communication device mounted on the truck 30, the truck 31, the wheel loader 8, and an automatic driving shovel 14 A teaching operation unit 15 for teaching the work procedure 1 is driven by a drive current output from the shovel controller 11, a proportional solenoid valve for adjusting a pilot pressure of a control valve 16, and 16 is output from the proportional solenoid valve 15. Control the amount of oil or oil pressure flowing into the actuator 17 That the control valve, 17 is an actuator such as a cylinder (not shown) for operating each section of the automatic operation shovel 1 shown in FIG. 1, 18 swing body 111, the boom 112, the arm 113, the bucket 11
4 is an angle sensor for measuring the position of each joint.

Reference numeral 20 denotes a device on which the remote control device 2 is mounted.
The remote control device 2 includes a remote control device communication device 24 for transmitting various operation commands to the automatic driving shovel 1, a start button 211 for starting at least the automatic driving shovel 1, and a stop button for stopping the automatic driving shovel 1. A system operation unit 21 including an automatic operation shovel 212; a system state display unit 23 for displaying various states of the crushed stone processing system such as an abnormal operation state, a normal operation state, and a teaching operation state of the automatic driving shovel; The operation command is converted into a command and output to the communication device 24.
The status of the self-driving shovel 1 received by the system display unit 2
3 for controlling the remote control device.

Reference numerals 301, 311, 82 denote stop buttons mounted on movable construction machines on which the operator can move and are mounted, such as the truck 30, the truck 31, and the wheel loader 8, respectively.
Is pressed, the respective communication devices 300,
A stop command is transmitted from 311 and 82 and received by the communication device 122 of the automatic shovel 1. The automatic driving shovel 1 stops the operation of the automatic driving shovel according to the received stop command. In this configuration, the communication device 122 only needs to have a reception function.
Also, 0, 310, and 81 need only have a transmission function, and relatively inexpensive devices can be used for these.

FIG. 3 is a block diagram showing a detailed configuration of the shovel controller 11 shown in FIG. In the figure, the same reference numerals as those shown in FIGS. 1 and 2 indicate the same parts.

In the same figure, reference numeral 119 denotes a current position calculating section for calculating an angle signal detected by the angle sensor 18 into current position data. Reference numeral 111 denotes a teaching command and a current command by an operation from the teaching operating section 14 during teaching. A teaching processing unit that outputs the current position of the automatic driving shovel 1 obtained from the position calculation unit 119 as teaching position data; 114, a teaching command storage unit that stores the teaching command output from the teaching processing unit 111; A teaching position storage unit for storing the teaching position data output from the unit 111;
When activated by a start signal from the system operation unit 21, the teaching command 117 sequentially interprets the teaching commands stored in the teaching command storage unit 114, and
A command interpreter unit 113 for instructing the output of predetermined teaching position data from the command interpreter unit 113
The teaching position output unit 115 that outputs the teaching position data from the teaching position storage unit 112 in response to a command from the control unit 115.
A servo pre-processing unit that creates a plurality of teaching position data by interpolating between the teaching position data from the teaching position data of the teaching position output unit 113 and sequentially outputs the plurality of teaching position data.
5 is compared with the current position data output from the current position calculation unit 119 and the interpolated teaching position data is output to output a drive current for controlling each unit of the automatic driving shovel 1 to a predetermined position. A servo control unit 118 is a priority command selection unit.

FIG. 4 shows the teaching command storage unit 1 shown in FIG.
FIG. 4 is a diagram illustrating an example of a teaching command stored in a storage unit;

In the figure, L1 represents a row label.

V is a command for specifying a moving speed.
The larger the numerical value, the higher the moving speed.

"Move" is a command for instructing movement to a designated teaching position, and "P1" to "Pn" are labels indicating angle information of each joint of the "move" command. For example, m
ove P1 is a position number shown in FIG. 5 from the teaching position data stored in the teaching position storage unit 112. Indicates that it should move to P1.

Goto is a jump instruction.
L1 indicates that the execution is started again from the line label L1.

FIG. 5 shows the teaching position storage unit 112 shown in FIG.
FIG. 4 is a diagram showing an example of teaching position data stored in the storage device.

In the figure, P1 to Pn correspond to the respective teaching positions, and the label P of the teaching command shown in FIG.
1 to Pn, and values of a turning angle, a boom angle, an arm angle, and a bucket angle to be taken by each joint of the automatic driving shovel 1 at each teaching position are set.

Next, the operation of the automatic driving shovel 1 according to the present embodiment will be described with reference to FIGS.

At the time of teaching, in FIG. 3, teaching is performed via the teaching processing unit 111 by operation from the teaching operation unit 14 in the automatic driving shovel 1, and the current position calculation unit 119 receives the input from the angle sensor 18. The calculated teaching position data as shown in FIG. 5 is stored in the teaching position storage unit 112, and the teaching command as shown in FIG. 4 is stored in the teaching command storage unit 114.

At the time of playback, the system operation unit 21
A start command is issued by the start button 211 of the communication device 2.
4. A start command is issued via the communication device 121, and the command interpreter 117 is started via the priority command selector 118. Command interpreter 117
Executes sequentially referring to the teaching commands stored in the teaching command storage unit 114 shown in FIG. 4 to reproduce the operation as taught.

Here, V = 0.7, and this speed is set in the servo preprocessing unit 115 for adjusting the speed between the teaching positions. Next, the command interpreter 117
The veP1 is interpreted, and the teaching position of the label P1 as shown in FIG.
2 is output to the servo pre-processing unit 115 as the movement target position P1. The servo preprocessing section 115 subdivides and interpolates the teaching position from the previous speed command and the movement target position P1 so as to be able to move at a given speed between the current position and the target position P1 by interpolation processing. Data is created and output to the servo control unit 116. The servo control unit 116 compares the interpolated teaching position data with the angle data of each joint output from the current position calculation unit 119 and drives each unit of the automatic driving shovel such as the bucket 114 to a predetermined position. Outputs current. By driving the proportional solenoid valve 15, a pilot pressure is generated in the drive current, and the amount of oil and the oil pressure flowing to the actuator 17 via the control valve 16 are controlled. Thus, the automatic driving shovel 1 is moved to the position P1 taught, and m is similarly moved to the position P2 by the move P2.
ove P3 is moved to the position P3. Thus, a series of operations such as excavation, turning, discharging, and turning can be performed. Finally, the command execution position is shifted to the label L1 by goto L1, whereby the automatic operation can be repeatedly performed.

The stop button 2 of the system operation unit 21
When the user operates 12, the stop command is transmitted to the automatic operation controller 11 via the communication device 24 and the communication device 121, and the command interpreter 117 stops the operation of the automatic operation shovel 1.

Here, the priority command selection unit 1 shown in FIG.
18 will be described in detail.

In this embodiment, the operation system from which a command is issued is composed of the system operation unit 21 and the tracks 30 and 3.
1 and the respective stop button 30 of the wheel loader 8
1, 311 and 82, and the system operation unit 21
Is connected to the communication line of the communication device 121, and the other three systems are connected to the communication device 122, and finally two command input lines are connected to the priority command selection unit 118. The priority command selection unit 118 determines from which system a command from which system is given priority and what kind of additional processing is to be added, and determines whether to actually start or stop the command interpreter 117.

Next, each of the communication devices 24, 81, 300, 3
The processing procedure in the priority command selection unit 118 for the start command and the stop command transmitted from 10 will be described with reference to the flowchart shown in FIG.

In this flowchart, the processing procedure of the stop command or the start command is the processing priority order as it is. As shown in the figure, the stop processing from the fixed remote operation device 2 has the highest priority, followed by the stop button 82 of the wheel loader 8, the stop button 301 of the truck 30, the stop button 311 of the truck 31, and the remote operation device. The start button 211 is in order.

In step 1, commands are input from the communication devices 121 and 122. In step 2, it is checked whether the input command is a stop command from the stop button 212 of the system operation unit 21. In the case of YES, execution in the command interpreter unit 117 is stopped in step 8, and the next command is input in step 1. If no, in step 3
It is checked whether it is a stop command from the stop button 82 of the wheel loader 8. In the case of YES, execution of the command interpreter unit 117 is stopped in step 8 to stop the operation of the automatic driving shovel 1, and in step 1, the next command input is waited. In the case of NO, it is checked in step 4 whether the stop button 301 of the track 30 is present. YES
In the case of, the execution of the command interpreter unit 117 is stopped in step 9 to stop the operation of the automatic driving shovel 1, and in step 10, the truck 30 automatically waits for n seconds to drop the quarry to the stock yard 4, During this time, no other command is received, and thereafter, the command interpreter 117 is started in step 11 to restart the operation of the automatic driving shovel 1, and the next command is input in step 1. In the case of NO, in step 5, it is checked whether the stop button 311 of the track 31 is present. Y
In the case of ES, the execution of the command interpreter unit 117 is stopped in step 9 to stop the operation of the automatic driving shovel 1, and in step 10, the truck 31 automatically waits for n seconds to drop quarry to the stock yard 4. During this period, no other command is received, and thereafter, in step 11, the command interpreter 117 is started to restart the operation of the automatic driving shovel 1, and the next command is input in step 1. In the case of NO, it is checked in step 6 whether the button is the start button 211 of the system operation unit 21. YE
In the case of S, the command interpreter 117 is started to restart the operation of the automatic driving shovel 1, and the next command input is executed in Step 1. In the case of NO, nothing is performed and the next command is executed in Step 1. Make the input.

As described above, according to the present embodiment, the operation of the automatic driving shovel can be temporarily stopped when the quarry is supplied to the stock yard by operating the stop button from the truck. In this way, it is possible to prevent the automatic driving shovel from entering the excavation operation and to prevent the quarry supply from being interrupted, thereby improving the efficiency of the quarry supply operation. In addition, quarry can be supplied to the stock yard at an arbitrary timing by a plurality of trucks, and the quarry supply operation can be greatly improved.

In addition, the crushed stones piled under the crushed stone discharging conveyor of the mobile crusher may become too high, causing an abnormality in the mobile crusher and stopping, or the work to be carried out may not be performed due to any factor such as a failure of the truck for carrying out. When it is necessary to stop the automatic excavator, the operator of the wheel loader performing the unloading operation knows this and operates the stop button to stop the automatic operation shovel.

[0045]

As described above, according to the present invention, in a crushed stone processing system, a remote control device which is provided at a position apart from an automatically driven shovel and operates to start and stop the automatically driven shovel, and monitors the crushed stone processing system. A movable operating device that functions within a possible range and operates to stop the automatic driving shovel, so that the operator can stop the automatic driving shovel from a plurality of locations using the mobile operating device according to the situation. The work efficiency can be improved on both the quarry supply side and the crushed stone discharge side.

Further, since the stop processing and the start-up processing can be performed as required from the respective operation devices, the work efficiency can be improved, and the automatic operation shovel can be stopped only at a certain fixed point as in the related art. Compared to the system, it is possible to judge the situation in detail, and the automatic driving shovel can be stopped immediately before causing a problem, so the work efficiency can be greatly improved and the crushed stone processing system is stable It can be operated on a regular basis.

[Brief description of the drawings]

FIG. 1 is a diagram showing an entire configuration of a crushed stone processing system according to an embodiment of the present invention and an operation form thereof.

FIG. 2 is a block diagram illustrating an outline of a control mechanism of the crushed stone processing system according to the embodiment.

FIG. 3 is a block diagram showing a detailed configuration of the shovel controller 11 shown in FIG.

4 is a diagram showing an example of a teaching command stored in a teaching command storage unit 114 shown in FIG.

FIG. 5 is a diagram illustrating an example of teaching position data stored in a teaching position storage unit 112 illustrated in FIG. 3;

FIG. 6 is a flowchart illustrating a processing procedure in a priority command selection unit shown in FIG. 3;

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 automatic driving excavator 2 remote control device 4 stockyard 5 mobile crusher 6 quarry 7 crushed stone 8 wheel loader 11 shovel controller 14 teaching operation unit 18 angle sensor 21 system operation unit 23 system status display unit 24 communication device for remote operation device 30, Reference Signs List 31 track 32 track 81 wheel loader communication device 82 stop button 111 teaching processing unit 112 teaching position storage unit 114 teaching command storage unit 115 servo preprocessing unit 116 servo control unit 117 command interpreter unit 118 priority command selection unit 119 current position calculation unit 121 communication device 122 communication device 211 start button 212 stop button 300 communication device 301 stop button 310 communication device 311 stop button

 ──────────────────────────────────────────────────の Continuing on the front page (72) Yoshiyuki Nagano, Kachidate-cho, Tsuchiura-shi, Ibaraki Pref.Hitachi Construction Machinery Co., Ltd. F-term in Tsuchiura Plant (reference) 4D067 DD04 DD06 DD12 GA02 GB05

Claims (3)

[Claims] A quarry stored in a stock yard is excavated by a self-driving shovel that regenerates a series of operations from a taught excavation to a dumping, and is dumped to a crusher.
A crushing stone processing system for crushing the quarried stone excavated by the crusher to obtain crushed stone, a remote control device provided at a position away from the automatic driving shovel to operate start and stop of the automatic driving shovel, and the crushed stone A crushed stone processing system, comprising: a movable operation device that functions within a range where the processing system can be monitored and that operates to stop the automatic driving shovel. 2. The crushed stone processing system according to claim 1, wherein the mobile operation device is provided on a transport machine that carries the quarry into the stock yard. 3. The method according to claim 1, wherein
The crushed stone processing system according to any one of claims 1 to 3, wherein the movable operation device is provided in a work machine for loading the crushed stone.