SU1425284A2 - Apparatus for controlling digging process of quarry excavator - Google Patents

Description

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3 and a head 10, a logical block (LB) 21 for determining the operation of a copier, an integrator of AND 18 and an included and its feedback circuit is stabilized 19. The outputs of the sensor 20 and LB 21 are under / 1 connected to the inputs of And 18, the output of which connected to the input of a monopolar amplifier 13. The command devices 16 and 17 are connected to the inputs of regulators 2 and 7 of the voltage of the systems 1 and 6 of control P 5, 10 and to two inputs of LB 21. The third input of LB 21 is connected to the output of i 11 of the load of P 5 lifting. The voltage from sensor 11 is valid for the signal from the source of 15 ps; this voltage is proportional to, ifoMy, the specified load value

P 5 lifting. The signal from the code of the amplifier 13 acts in the direction of increasing the output signal of the second monopolar amplifier 14 connected to the head current controller 8. When digging, the signal from the output of the LB 21 is removed and AND 18 is unblocked; a signal arrives at its input only from sensor 20. The signal at the output of AND 18 is proportional to the path of the bucket when it is filled with soil. The limitation of the max. Signal at the output of AND 18 is provided by the stabilitron 19 which is included in its feedback. The output signal of AND 18 supplied to the input of the amplifier 13 increases the value of the stabilized lifting force P 5. 1 hp ff, 3 sludge

one

The invention relates to single-bucket excavators of the type of direct shovels, r intended for controlling the digging mechanism 1) and mechanisms in the process of filling your soil with soil and is an improvement of the device according to auth. if 910956.

I The aim of the invention is to improve the performance of an excavator). by adjusting the drive force of the cod plug.

FIG. Figure 1 shows the functional diagram of the device for controlling the process of digging a career excavator; in fig. 2 - the characteristic of the first amplifier; on. FIG. 3 characteristic of the second amplifier.

The device contains system 1; control of the lift drive with regulator - topoM 2 lifting voltage and regulator T-ora 3 lift current, converter 4 lifting and lifting motor 5, System 6 controlling the drive of the head t regulator 7 voltage of the drive ipore and regulator 8 of the head current, pre - (pressure transmitter 9, motor 10 Yapora, sensor 11 for loading the hoist drive, sensor 12 for the derivative of the drive drive load, first unipolar amplifier 13, Second unipolar amplifier 14, constant voltage source 15.

 command switch 16 of the drive lift, command switch 17 of the drive drive

I integrator 18, Zener diode 19, lift drive speed sensor 20, logic with KIY unit 21. Logic unit 21

The definition of a digging operation contains the first 22, second 23, third 24, and fourth 25 relay elements.

The device includes a lift drive control system 1 MU 1 consisting of successively connected i-fa lift voltage regulator 2 and a lift current regulator 3. System 1 control is connected to

15 for the lift 4 with the lift engine 5 connected to it. The drive actuator control system 6, consisting of series-connected voltage regulators 7

20 of the head and the regulator 8 of the head current are connected to the head converter 9 with the head motor 10 connected to it. A load drive load sensor 11 and a load output sensor 12: the lift drive load is connected to the inputs of the first unipolar amplifier 13, the output of which is connected to one of the inputs of the second unipolar amplifier 14, another input connected to the output of the pressure drive voltage regulator 7 . The constant voltage source 15 is connected to

the inputs of the first 13 and second 14 amplifiers.

A lifting device 16 is connected to the control system 1, and a pressure control device 17 to the pressure control system 6. The inputs of the integrator 18, which connects in feedback to the Zener diode 19, are connected to the outputs of the lift drive speed sensor 20 and the logic unit 21. The logic unit 21 contains the first 22 relay element, the input connected to the lift load sensor 11, the second 23 relay ant built with the output of the command and control unit 16 of the lift, the third 24 relay element, the input connected to the output of the pressure controller 17, and four

thirty

the first relay element 25, the inputs for under-20 of the output of the first amplifier 13 is connected to the outputs of the first 22, second 23 and third 24 relay relays. cops, and the output - to the input of the integrator 18.

The device works as follows.

In the absence of signals at the input of the first amplifier 13, its characteristic is 26a. (Fig. 2). The voltage taken from the constant voltage source 15 acts towards decreasing the output voltage of the amplifier 13, i.e. shifts its characteristic to position 266. The voltage from the load actuator 11 of the drive actuator acts counter to the signal from the source 15 of constant voltage. A signal taken from a constant voltage source 15 is proportional to a given load value of the lifting drive. This load value is chosen equal to (0.8-0.9) of the magnitude of the force corresponding to the cut-off zone of the mechanical characteristic of the drive. When the load on the lift drive is greater than the one set at the output of the first amplifier 13, a signal appears, and when the load on the lift drive is less than the specified output, the output signal of this amplifier is zero. The voltage from the output of the first amplifier 13 is fed to the input of the second amplifier 14, which, in the absence of signals at its input, has a characteristic 27a (Fig. 3). The voltage from the constant voltage source 15 acts in the direction of decreasing the output signal of this amplifier and shifts the characteristic of the amplifier 14 to position 276.

more signal at the output of the voltage regulator 7, measured from the maximum value acting on the pull-in of the handle. If this signal is greater than the voltage at the output of the first amplifier 13, then the voltage at the output of the second amplifier 14 is zero. Thus, the resulting signal at the input of the current regulator is equal to the largest of the two: the signal from the output of the first amplifier 13 or the signal from the output of the voltage regulator 7.

When the load of the setpoint-raising drive is exceeded, a signal arrives at the input eg of the current regulator 8, which reduces the pressure of the handle to the bottom or reverses the pressure force.

The set value of the drive force of the lift is determined by the sum of the signal from the output of the source 15 of the constant voltage and from the output of the integrator 18. This integrator is blocked in all operations of the excavator cycle, except for the digging operation, with a signal from the logic unit 21. At the time of the starting-copying operation output from logic unit 21 is removed and the integrator is released. Since the input to the integrator 18 in this case is only a signal from the output of the speed sensor 20, the lifting drive, the signal at the output of the integrator 18 is proportional to the path traveled by the bucket when it is filled with soil. The parameters of the integrator are chosen so that for the entire path of filling the bucket with soil the voltage at its output reaches (0.240

45

50

55

The maximum signal from the output of the voltage regulator 7 of the pressure control system 6 displaces the characteristic of the second amplifier 14 and position 276 to the right in the 27v position, if the polarity of the voltage regulator 7 corresponds to the torque of the pressure motor 10, and to the left in position 27a - if the moment of the thrust motor acts on the extension of the handle.

The signal from the output of the first amplifier 13 acts upwards

output signal amplifier 14.

The input parameters of the second amplifier 14 are calculated in such a way that the signal at its output is equal to the difference between the input signals, if

0

0 output at the output of the first amplifier 13

more signal at the output of the voltage regulator 7, measured from the maximum value acting on the pull-in of the handle. If this signal is greater than the voltage at the output of the first amplifier 13, then the voltage at the output of the second amplifier 14 is zero. Thus, the resulting signal at the input of the current regulator is equal to the largest of the two: the signal from the output of the first amplifier 13 or the signal from the output of the voltage regulator 7.

When the load of the setpoint-raising drive is exceeded, a signal is received at the input g of the current regulator 8, which reduces the pressure of the handle on the bottom or reverses the pressure force.

The drive-lift force setpoint is determined by the sum of the signals from the output of the constant voltage source 15 and from the output of the integrator 18. This integrator is blocked in all operations of the excavator cycle, except for the digging operation, with a signal from the logic unit 21. At the time of the starting-copying operation signal. output from logic block 21 is removed and the integrator is unlocked. Since the input of the integrator 18 in this case is only a signal from the output of the sensor 20 of the drive speed of the lift, the signal at the output of the integrator 18 is proportional to the path traveled by the bucket when it is filled with soil. The parameters of the integrator are chosen in such a way that for the entire path of filling the bucket with soil the voltage at its output reaches (0.20

five

0

five

five

0.25) the value of the signal removed by the source 15 constant voltage

The maximum signal limit at the output of the integrator 18 is reached by the inclusion of an atabilitron 19 in its feedback.

Thus, the signal supplied from the output of the integrator 18 to the input n: the first amplifier 13 increases the

The introduction of a stabilized drive force under the hood ensures, by the very same condition, the thickness of the soil chips being removed by the ladle during the sopan process.

The functioning of the logical

The 21J deblocking integrator is based on the time of the digging operation, based on the following.

When executing a digging operation, the guide sets the head command 17 to the extreme position

On the hand out of the handle, and the commander ™ The device 16 of the lift - in the extreme polosenie On the rise of the bucket.

Since such a position of the paramedical commands is possible even when performing ilpaHcnopTHbix bucket transfer operations, additional information is needed for detecting the digging operation. Such information is the effort developed by the lifting curve. about | dhodimo dp lifting loaded goat when performing transport operations. Thus, the logical unit detects the digging operation according to the information on the load of the lifting drive and the n value of the signals at the output of the co-operative lifting device and head.

The signal from load sensing drive sensor 11 is supplied to the first relay element 22. With a lifting load greater than the weight of the loaded bucket, there is a voltage at the output of the first relay element 22; while with a lifting load smaller than the loaded weight of the bucket, the voltage is zero,

Similarly, the outputs of the second 23 and third 24 relay elements and signals appear only if the control devices of lift 16 and head 7 are at extreme. position respectively On io ,,. bucket and on the rise of the hand ,, If there are signals at the output of the first 22, second 23 and third 2A relay elements, the voltage is

the output of the fourth relay element 25 is zero, the integrator 18 is unlocked, and the voltage at its output as the drive moves increases.

If, at the output of one of the three first relay elements 22-24, the voltage disappears, which indicates the termination or interruption of the digging operation, then a signal appears at the output of the fourth relay element 2b. This signal, having polarity, reverse polarity of the output voltage of the rise rate sensor 20 when the bucket is lifted, is fed to the integrator 18 with a large gain, reducing the voltage at its output to zero. The unipolar voltage at the output of the integrator 18 is achieved by including a zener diode 19 in its inverse: / 1 coupling.

The drive control systems for lift 1 and pressure 6 are filled with two-circuit, subordinate control.

The 2 to 7 voltage regulators can be made proportional, and the current regulators 3 and 8 are proportional-integral.

On the basis of operational amplifiers, for example, the K551UD2 series, the first and second single-pole amplifiers with saturation can be implemented. The command devices 16 and 17 for controlling the main drives are contactless.

The first 22, the second 23, the third 24 and the fourth 25 relay elements and the integrator 18 can be implemented on the basis of operational amplifiers.

A Zener diode 19 can be adopted, for example, of the type D 814.

As a speed sensor 20 with} the lift code, it can be used with a motor EMF sensor.

Sensor 12 load drive lift can be implemented on the basis of operational amplifiers as an elastic moment sensor.

Claims (1)

Invention Formula 1, A device for controlling the excavator digging process according to auth. No. 910956, about tl i - h 3 y u e so that, in order to pszyshen the performance of the excavator, it is additionally equipped % " % Fm.2 iwzh