CN203855993U - Industrial machine - Google Patents

Abstract

The utility model relates to an industrial machine. The industrial machine comprises a bucket, a telescopic motor driving device and a controller, wherein the telescopic motor driving device is configured to provide one or more control signals for a telescopic motor, and the telescopic motor can operate so as to provide force for the bucket, so that the bucket moves towards or away from a working face; the controller is connected to the telescopic motor driving device and is configured to monitor characteristics of the industrial machine, recognize an impact event associated with the bucket based on the monitored characteristics of the industrial machinery, and set a telescopic electric conversion torque limit to the telescopic motor driving device.

Description

Industrial machinery

The cross reference of related application

The application is the U.S. Patent application No.13/742 submitting on January 15th, 2013,091 part continuation case, the latter is the U.S. Patent application the 13/222nd of submitting on August 31st, 2011,582 continuation case, the latter requires the U.S. Provisional Patent Application the 61/480th of submitting on April 29th, 2011, the rights and interests of No. 603, the full content of above document is incorporated to herein by reference.

Technical field

The utility model relates to the dredge operation of controlling such as the industrial machinery of electronic rope excavator or power digger.

Background technology

Be used to carry out the dredge operation of removing materials from work plane for example such as the industrial machinery of electronic rope excavator or power digger, dragline etc.For example, in difficult mining environment (, hard-edge square ring border), extrapolated scraper bowl bar (, making the translation of scraper bowl bar away from industrial machinery) can cause scraper bowl surprisingly to stop clashing into work plane.The accident of scraper bowl stops then causing cantilever jacking.Cantilever jacking is that whole cantilever is because excessive release reaction force recoils.The cantilever jacking or the recoil that are surprisingly stopped causing by scraper bowl cause industrial machinery along backward directions inclinations (, overturning moment or center of gravity [" CG "] are offset away from work plane).Such overturning moment causes pulsating stress on industrial machinery, and this can cause weld cracking or other strain.Industrial machinery along forward or backward directions tilt degree affect the structural fatigue that industrial machinery stands.Therefore the maximum of restriction industrial machinery forward and/or backward overturning moment and CG skew can increase the operation lifetime of industrial machinery.

Utility model content

Thereby the utility model provides the control of industrial machinery, make to be controlled at the flexible and lifting power of expired use of dredge operation, to prevent or to limit forward and/or the backward overturning moment of industrial machinery.For example, reduce CG side-play amount, for example, to reduce the structural fatigue (, the structural fatigue on mobile foundation, turntable, machinery deck, lower end etc.) on industrial machinery and to increase the service life of industrial machinery.For example, control contractility (for example, flexible moment of torsion or flexible torque limit) with respect to lifting power (, lifting discharges pulling force (hoist bail pull)), make the level that discharges pulling force based on lifting set flexible moment of torsion or flexible torque limit.Such control is limited in the flexible moment of torsion that dredge operation can apply in early days, and in the time that lifting discharges the level increase of pulling force, is little by little increased in the flexible moment of torsion that dredge operation can apply from the beginning to the end.In addition,, in the time that the scraper bowl of industrial machinery clashes into work plane, the determined acceleration of the parts (for example, scraper bowl, scraper bowl bar etc.) based on industrial machinery increases (for example, exceeding normal or standard operation value) maximum permission and recovers or retraction moment of torsion.Control by this way the performance constraint of industrial machinery or eliminate Static and dynamic overturning moment and the CG skew backward can to the operation lifetime of industrial machinery with adverse effect at dredge operation device.For example, forward and backward static overturning moment relates to the operating characteristics such as the industrial machinery of applied lifting and flexible moment of torsion.Forward and backward dynamically overturning moment for example relates to by scraper bowl and clashes into the transient force on industrial machinery that work plane etc. causes or the feature of industrial machinery.

In one embodiment, the utility model provides a kind of industrial machinery, and described industrial machinery comprises scraper bowl, flexible motor drive and controller.Flexible motor drive is configured in order to provide one or more control signals to flexible motor, and flexible motor can operate in order to provide power to scraper bowl, so that scraper bowl moves towards or away from work plane.Controller is connected to flexible motor drive, and be configured in order to: monitoring industrial machinery feature; The feature of the industrial machinery based on monitoring is identified the crash being associated with scraper bowl; And in the time identifying crash, be flexible electric torque (motoring torque) limit value of flexible motor drive setting.

In another embodiment, the utility model provides a kind of method of the dredge operation of controlling direct current (" DC ") industrial machinery.This industrial machinery comprises scraper bowl and flexible motor drive.Described method comprises: the feature of monitoring industrial machinery; The feature of the industrial machinery based on monitoring is identified the crash being associated with scraper bowl; With in the time identifying crash, for flexible motor drive is set flexible electric torque limit value.Described crash produces overturning moment on industrial machinery.

Other side of the present utility model is by considering that the detailed description and the accompanying drawings will become apparent.

Brief description of the drawings

Fig. 1 illustrates according to the industrial machinery of embodiment of the present utility model.

Fig. 2 illustrates according to the controller of the industrial machinery of embodiment of the present utility model.

Fig. 3 illustrates according to the digital data recording system of the industrial machinery of embodiment of the present utility model.

Fig. 4 illustrates according to the control system of the industrial machinery of embodiment of the present utility model.

Fig. 5-9 signal is for controlling according to the flow process of the industrial machinery of embodiment of the present utility model.

Detailed description of the invention

Before in detail explaining any embodiment of the present utility model, should be understood that application of the present utility model is not limited to set forth in following manual or accompanying drawing in CONSTRUCTED SPECIFICATION and the parts illustrated arrange.The utility model can have other embodiment and can otherwise put into practice or implement.In addition, should be understood that the wording and the term that adopt are the objects for explanation herein, and should not think restriction." comprise " herein, " comprising ", " having " with and the use meaning of modification be to comprise project and its equivalent and the other project after this listed.Term " installation ", " connection ", " connection " are used widely and are comprised directly with indirectly and install, be connected and connect.In addition, " connection " and " connection ", no matter be direct or indirect, is not limited to physics or mechanical connection or connection, and can comprise electrical connection or connect.In addition, telecommunications and notice can be implemented with any known way that comprises direct connection, wireless connections etc.

It should be noted, multiple hardware and the device based on software and multiple different structure member can be used to implement the utility model.In addition,, as described in paragraph subsequently, the concrete structure shown in accompanying drawing is intended to illustrate embodiment of the present utility model, and other alternate configuration is possible.Unless otherwise mentioned, term " processor ", " CPU " and " CPU " are interchangeable.Here term " processor " or " CPU " or " CPU " are used as the unit of mark enforcement concrete function, it should be understood that, unless otherwise mentioned, multiple processors that these functions can be arranged by single processor or by any way, comprise that parallel processor, serial processor, series connection processor or cloud processing/cloud computing construct to implement.

The utility model described herein relates to and discharges pulling force with lifting power based on industrial machinery or lifting and dynamically control system, method, device and the computer-readable medium that the one or more flexible torque limit of industrial machinery is associated.Industrial machinery such as electronic rope excavator or similar mining machine can operate to carry out dredge operation, to remove actual load (being material) from work plane.In the time that industrial machinery excavates in work plane, clashed into and the power on industrial machinery of acting on that causes or flexible moment of torsion and lifting discharge the relative value of pulling force and can on industrial machinery, produce along backward directions overturning moment and center of gravity (" CG ") skew by scraper bowl and work plane.The value of CG skew depends on for example allows that flexible moment of torsion or flexible torque limit discharge dissipate after scraper bowl and the work plane shock ability of kinetic energy of one or more flexible motors of the ratio of level of pulling force and industrial machinery to lifting.As the result of CG skew, industrial machinery stands to cause the operation lifetime of industrial machinery loop structure fatigue and the stress of adverse effect.In order to reduce overturning moment backward that industrial machinery stands and the CG scope along backward directions skew, the controller of industrial machinery is the optimum value to the level with respect to lifting release pulling force by flexible torque limited dynamically, and parts based on industrial machinery (for example, scraper bowl, scraper bowl bar etc.) the acceleration of being determined dynamically increase maximum and allow retraction moment of torsion or flexible retraction moment of torsion (for example, be above standard operating value).The operation of controlling by this way industrial machinery during dredge operation reduces or eliminates overturning moment backward and the CG skew of the Static and dynamic of industrial machinery.

Such as, although the utility model described herein can be applied to various industrial machineries (rope excavator, dragline, alternating current [" AC "] machinery, direct current [" DC "] machinery, hydraulic machinery etc.), be implemented or be combined with various industrial machineries by various industrial machineries, embodiment of the present utility model described herein describes with respect to the electronic rope excavator of all power diggers as shown in Figure 1 10 or power digger.Excavator 10 comprises mobile foundation 15, drives crawler belt 20, turntable 25, machinery deck 30, cantilever 35, lower end 40, pulley 45, drag-line 50, back up bar 55, stay structure 60, scraper bowl 70, one or more halliard 75, winch cable drum 80, dipper-arm or bar 85, saddle piece 90, pivotal point 95, gear unit 100, release pin (bail pin) 105, clinometer 110 and pulley pin 115.In certain embodiments, the utility model can be applied to the industrial machinery that comprises the single leg bar, control stick (for example tubulose control stick) or the hydraulic cylinder that for example activate expanding-contracting action.

Mobile foundation 15 is by driving crawler belt 20 to support.Mobile foundation 15 supports turntable 25 and machinery deck 30.Turntable 25 can be around machinery deck 30 with respect to mobile foundation 15 rotating 360 degrees.Cantilever 35 is pivotably connected to machinery deck 30 in lower end 40.Cantilever 35 is retained with respect to deck and upward and outward stretches by anchoring to the drag-line 50 of back up bar 55 of pier construction 60.Pier construction 60 is arranged on machinery deck 30 rigidly, and pulley 45 is rotatably installed on the upper end of cantilever 35.

Scraper bowl 70 hangs from cantilever 35 by halliard 75.Halliard 75 is wrapped on pulley 45 and at release pin 105 places and is attached to scraper bowl 70.Halliard 75 is anchored to the winch cable drum 80 of machinery deck 30.In the time that winch cable drum 80 rotates, halliard 75 is released to reduce scraper bowl 70 or the scraper bowl 70 that drawn in to raise.Scraper bowl bar 85 is also rigidly attached to scraper bowl 70.Scraper bowl bar 85 is bearing in saddle piece 90 slidably, and saddle piece 90 is pivotally mounted to cantilever 35 at pivotal point 95 places.Scraper bowl bar 85 comprises tooth bar flute profile structure thereon, and this tooth bar flute profile structure engages the driving pinion being arranged in saddle piece 90.Driving pinion drives by electro-motor and gear unit 100, to stretch or retraction dipper-arm 85 with respect to saddle piece 90.

Power supply is installed to deck 30, with the one or more lifting electric motors to for driving winch cable drum 80, for driving one or more telescopic electric motors of saddle piece gear unit 100 and providing electric power for one or more revolution electro-motors of rotating table 25.Each in flexible, lifting and rotary motor all can be driven by the control signal that the motor controller of himself drives or response carrys out self-controller, as described below.

Fig. 2 illustrates the controller 200 being associated with the power digger 10 of Fig. 1.Controller 200 is electrically connected and/or communicates to connect with modules or the parts of excavator 10.For example,, controller 200 is connected to one or more indicators 205, subscriber interface module 210, one or more lift motor and lift motor drive unit 215(combination illustrates), one or more flexible motor and flexible motor drive 220(combination illustrate), one or more rotary motor and rotary motor drive unit 225(combination illustrate), data storage or database 230, power supply module 235, one or more sensor 240 and network communication module 245.Controller 200 comprises the operation that wherein can operate to control power digger 10, controls the position of cantilever 35, dipper-arm 85, scraper bowl 70 etc., activates such as liquid crystal display of one or more indicator 205([" LCD "]), the combination of the hardware and software of the operation of monitoring excavator 10 etc.Wherein, described one or more sensor 240 comprises load pin strain meter, clinometer 110, suspension bracket pin (gantry pin), one or more motor field module (field module), one or more current sensor, one or more velocity sensor (for example, multiple hall effect sensors), one or more voltage sensor, one or more torque sensors etc.Load pin strain meter comprises one group of strain meter of for example for example, locating along directions X (flatly) and one group of strain meter of for example, locating along Y-direction (vertically), makes it possible to definite making a concerted effort in load pin that act on.In certain embodiments, except flexible motor drive, can use the retractable driving device retractable driving device of single leg bar, control stick, hydraulic cylinder etc. (for example for).For example, motor 215,220 and 225 can be direct current (" DC ") motor, exchange (" AC ") induction motor, AC wound rotor motor, brushless DC(" BLDC ") motor, permanent magnet motor, switched reluctance motor, synchro switch magnetic resistance motor, hydraulic motor etc., or its combination.

In certain embodiments, the parts that provide in electric power, operation control and protection controller 200 and/or excavator 10 and multiple Electrical and Electronic parts of module are provided controller 200.For example, wherein, controller 200 comprises processing unit 250(for example microprocessor, microcontroller or other suitable programmable device), memory 255, input block 260 and output unit 265.Wherein, processing unit 250 comprise in control module 270, ALU (" ALU ") 275 and multiple register 280(Fig. 2 be shown one group of register), and use implement such as the known calculations machine architecture of improved Harvard architecture (Harvard architecture), variational OR architecture etc.Processing unit 250, memory 255, input block 260, output unit 265 and the modules that is connected to controller 200 controls by one or more and/or data/address bus (for example common bus 285) connects.For example object, control and/or data/address bus briefly illustrate in Fig. 2.In view of the utility model described herein, one or more control and/or data/address bus are well-known for intercommunicating and interconnecting between modules and parts to those skilled in the art.In certain embodiments, controller 200 partially or even wholly for example, is realized on semiconductor (, field programmable gate array [" FPGA "] semiconductor) chip, and described semiconductor chip is such as the chip of developing by Method at Register Transfer Level (" RTL ") design process.

Memory 255 comprises for example program storage area and region of data storage.Program storage area and region of data storage can comprise the combination of dissimilar memory, such as, such as read-only storage (" ROM "), random access memory (" RAM ") (dynamic ram [" DRAM "], synchronous dram [" SDRAM "] etc.), EEPROM (" EEPROM "), flash memory, hard disk, SD card or other suitable magnetic, optics, physics or electronic memory device.Processing unit 250 be connected to memory 255 and carry out can be stored in memory 255 RAM(for example the term of execution), the ROM(of memory 255 is for example on substantially permanent basis) or such as the software instruction in other nonvolatile computer-readable medium of other memory or disk.The software being included in the enforcement of excavator 10 can be stored in the memory 255 of controller 200.Described software comprises for example firmware, one or more application program, routine data, screening sequence, rule, one or more program module and other executable instruction.Wherein, controller 200 is configured to fetch and carry out from memory the instruction that relates to control flow described herein and method.In other structure, controller 200 comprises other, still less or different parts.

Network communication module 245 is configured to be attached to network 290 and communicates by letter by network 290.In certain embodiments, facility network is for example wide area network (" WAN ") (for example network based on TCP/IP, cellular network, such as such as global system for mobile communications [" GSM "] network, GPRS (general packet radio service) [" GPRS "] network, CDMA [" CDMA "] network, Evolution-Data Optimized [" EV-DO "] network, enhanced data rates for gsm evolution [" EDGE "] network, 3GSM network, 4GSM network, DECT [" DECT "] network, digital AMPS[" IS-136/TDMA "] network or integrated digital enhanced network [" iDEN "] network etc.).

In other embodiments, network 290 is for example LAN (" LAN "), neighborhood net (" NAN "), home network (" HAN ") or the PAN (" PAN ") adopting such as any various communication protocols of Wi-Fi, bluetooth, ZigBee etc.Communicate and can protect by one or more encryption technologies by network 290 by network communication module 245 or controller 200, the technology providing in the IEEE802.1 standard of the network security based on port, wildcard, Extensible Authentication Protocol (" EAP "), Wired Equivalent Privacy (" WEP "), Temporal Key Integrirty Protocol (" TKIP "), Wi-Fi protection access (" WPA ") etc. such as those.Communication between network communication module 245 and network 290 is for example the combination of wired connection, wireless connections or wireless and wired connection.Similarly, the communication between controller 200 and network 290 or network communication module 245 is the combination of wired connection, wireless connections or wireless and wired connection.In certain embodiments, controller 200 or network communication module 245 comprise one or more COM1s (such as Ethernet, Serial Advanced Technology Attachment [" SATA "], USB [" USB "], ide [" IDE "] etc.), for transmitting, the data that are associated with the operation of excavator 10 or excavator 10 of reception or storage.

Power supply module 235 provides specified AC or DC voltage to other parts or the module of controller 200 or excavator 10.Power supply module 235 is for example by having rated line voltage between 100V and 240V AC and the about Power supply of the frequency of 50-60Hz.Power supply module 235 is also configured to provide low voltage, with circuit and parts in operation control 200 or excavator 10.In other structure, other parts in controller 200 or excavator 10 and module are by one or more batteries or battery pack, or other does not rely on power supply (such as generator, the solar panels etc.) power supply of electrical network.

Subscriber interface module 210 is used for controlling or monitoring power digger 10.For example, subscriber interface module 210 is operationally connected to controller 200, to control the position of scraper bowl 70, the position of cantilever 35, position, the gear unit 100 etc. of scraper bowl bar 85.Subscriber interface module 210 comprises realizes the combination of excavator 10 being carried out the control of aspiration level and monitor required Digital and analog inputing or outputing device.For example, subscriber interface module 210 comprises display (such as basic display unit, second display etc.) and input unit, such as touch-screen display, multiple knob, dial plate, switch, button etc.Display is for example liquid crystal display (" LCD "), light emitting diode (" LED ") display, organic LED (" OLED ") display, electroluminescent display (" ELD "), surface conductive electron emission volumetric display (" SED "), field-emitter display (" FED "), thin film transistor (TFT) (" TFT ") LCD etc.Subscriber interface module 210 can also be configured in real time or roughly demonstration is associated with power digger 10 in real time state or data.For example, subscriber interface module 210 is configured to show the electrical feature of measured power digger 10, the situation of power digger 10, position, the position of scraper bowl bar 85 etc. of scraper bowl 70.In some embodiments, jointly control subscriber interface module 210 and one or more indicator 205(such as LEDs, loudspeaker etc.), so that the state of power digger 10 or the vision of situation or audible indication to be provided.

Information and the data that are associated with above-mentioned excavator 10 can also be stored, record, process and analyzed, to implement control method described herein and flow process, or monitor at any time operation and the performance of excavator 10.For example, Fig. 3 illustrates data record and the monitoring system 300 for excavator 10.This system comprises data acquisition (" DAQ ") module 305, for example controller 200 of control device 310(), data logger or recorder 315, drive unit 320, first user interface 325, network 290, such as relational database of the 330(of data center), remote computer or server 335, the second user interface 340 and report database 345.For example, DAQ module 305 is configured to for example, receive analog signal from one or more load pin (suspension bracket load pin 350), converts this analog signal to data signal, and sends this data signal to control device 310 and process.Control device 310 also receives signal from drive unit 320.Drive unit is in the embodiment shown motor and such as lift motor of motor drive 320(and/or drive unit, flexible motor and/or drive unit, rotary motor and/or drive unit etc.), the information that wherein relates to motor RPM, motor current, motor voltage, motor power etc. is offered control device 310 by described motor and motor drive.In certain embodiments, drive unit 320 is the one or more operator's control members (for example control stick) in operator's driver's cabin of excavator 10.Control device 310 is configured to use the information that provided by DAQ module 305 and drive unit 320 and other sensor being associated with the operation of excavator 10 and monitoring device and data to determine the material tonnage of the such as overturning moment of excavator 10 (for example forward or backward), CG skew (being the translation distance of CG), power consumption (such as tonnage/kilowatt-hour), movement per hour, cycle time, activity coefficient, actual load, scraper bowl bar angle, position of bucket etc.In certain embodiments, be used for the industrial machinery monitoring of information that collection, processing, analysis and record be associated with excavator 10 and data and control system such as the state of Wisconsin, the P & H mining equipment corporation production and selling of Milwaukee system.

First user interface 325 can be used in information and the data that Real-Time Monitoring is received by control device 310, or access is stored in the information in data logger or recorder 315.Gather, calculate and/or definite information is provided to data logger or recorder 315 subsequently by control device 310.In illustrated embodiment, data logger or recorder 315, control device 310, drive unit 320 and DAQ module are comprised in excavator 10.In other embodiments, one or more devices of these devices can be positioned at away from excavator 10 places.For example, during implementing control method as herein described and flow process (controlling dredge operation), the material tonnage of the overturning moment (for example forward or backward) of the excavator 10 of being determined by control device 310, CG skew (being the translation distance of CG), power consumption (such as tonnage/kilowatt-hour), movement per hour, cycle time, activity coefficient etc. can also use by controlled device 310.

Data logger or recorder 315 are configured to store the information of self-control device 310 and stored information is offered to remote data center 330 further store and process.For example, data logger or recorder 315 offer data center 330 by network 290 by stored information.With reference to Fig. 2, network 290 is described above.In other embodiments, can use one or more portable memory devices (such as USB [" USB "] flash disk, safe digital [" SD "] card etc. from the data of data logger or recorder 315.) be manually sent to data center.Data center 330 stores the information and the data that receive from data logger or recorder 315 by network 290.The information and the data that are stored in data center 330 can be accessed by remote computer or server 335, for the treatment of and analyze.For example, remote computer or server 335 can be configured to by carry out with such as the instruction of numerical computations environment facies association process and analyze stored information and data.The information of processing and analyzed and data can be compiled and be output to report database 345 and store.For example, report database 345 can store from data center 330 based on hour, information and the data report of material of period, day, week, the moon, year, operation, position, parts, work period, excavation cycle, operator, exploitation, environment on coalface (such as hard-edge angle), actual load etc.Be stored in effect that report in report database 345 can be used to determine specific shovel operation on excavator 10, monitoring excavator 10 operation lifetime and infringement, determine productivity trend etc.The second user interface 340 can be used to access and be stored in information and data in data center 330, comes process information and data with numerical computations environment, or accesses one or more reports that are stored in report database 345.

Fig. 4 signal is for the more detailed control system 400 of power digger 10.For example, power digger 10 comprises master controller 405, the network switch 410, control cabinet 415, auxiliary control cabinet 420, operator's driver's cabin 425, the first lifting driver module 430, the second lifting driver module 435, telescopic drive module 440, revolution driver module 445, lifting field module 450, flexible field module 455 and revolution field module 460.The all parts of control system 400 connects and communicates by letter by this optical fiber telecommunications system, described optical fiber telecommunications system such as Process FieldbusROFIBUS (" PROFIBUS "), Ethernet, control net, foundation fieldbus, INTERBUS, controller local area network (" CAN ") bus etc. by the optical fiber telecommunications system that for example uses the one or more procotols that are used for industrial automation.Control system 400 can comprise above with reference to the parts described in Fig. 2 and module.For example, one or more lift motors and/or drive unit 215 are corresponding to the first and second lifting driver modules 430 and 435, one or more flexible motors and/or drive unit 220 be corresponding to telescopic drive module 440, and one or more rotary motor and/or drive unit 225 are corresponding to revolution driver module 445.User interface 210 and indicator 205 can be included in operator's driver's cabin 425 etc.Load pin strain meter, clinometer 110 and suspension bracket pin can be provided to the signal of telecommunication master controller 405, control cabinet 415, auxiliary control cabinet 420 etc.

The first lifting driver module 430, the second lifting driver module 435, telescopic drive module 440 and revolution driver module 445 can be configured to from for example master controller reception control signal, to control the lifting of excavator 10, flexible and revolution operation.Described control signal joins with the lifting for excavator 10, driving signal correction flexible and rotary motor 215,220 and 225.In the time driving signal to be applied to motor 215,220 and 225, the output (for example, electric and mechanical output) of motor is monitored and be for example fed back to master controller 405(, via field module 450-460).The output of motor comprises such as motor speed, motor torque, motor power, motor current etc.These and other signal (for example, from the signal of clinometer 110) based on being associated with excavator 10, master controller 405 is configured to determine or calculate one or more modes of operation or the position of excavator 10 or its parts.In certain embodiments, master controller 405 is determined position of bucket, scraper bowl bar angle or position, halliard cornerite, lift motor rotation per minute (" RPM "), flexible motor RPM, scraper bowl speed, scraper bowl acceleration etc.

The controller 200 of above-mentioned excavator 10 and control system 400 are used to implement the intelligent excavating control (" IDC ") of excavator 10.IDC is used to dynamically control applying of lifting and contractility, with during dredge operation, increase excavator 10 productivity ratio, minimize excavator 10 center of gravity (" CG ") skew, reduce forward and the backward overturning moment of excavator, and reduce such as, structural fatigue on all parts (mobile foundation 15, turntable 25, machinery deck 30, lower end 40 etc.) of excavator 10.

For example, IDC is configured to position based on wherein scraper bowl 70 or scraper bowl bar 85 and current or current lifting and discharges tension level and dynamically change maximum and allow flexible moment of torsion, with the forward and/or backward overturning moment of limited digging machine 10.In addition, IDC is configured in the time that scraper bowl 70 clashes into work plane, definite acceleration based on for example scraper bowl 70 dynamically changes allows flexible retraction moment of torsion (i.e. deceleration torque in flexible direction, negative flexible moment of torsion or regenerative torque), to reduce flexible motor speed.

IDC can be divided into two control operations that are called balance extension and contraction control (" BCC ") herein and clash into extension and contraction control (" ICC ").BCC and ICC can carry out in tandem or individually by the master controller 405 of for example controller 200 or excavator 10.BCC is formed at lifting and discharges pulling force and limit contractility when low, to reduce the static overturning moment of excavator 10.When scraper bowl 70 is in the time starting before dredge operation in winding position, it is normally low that lifting discharges pulling force, and in the time that scraper bowl 70 clashes into and penetrates work plane, increase subsequently.Contractility increases conventionally in the time that scraper bowl bar 85 stretches to maintain or increases work plane and penetrate.Such time point place in the excavation cycle, excavator 10 is easy to be subject to the impact of the cantilever jacking (jacking) being caused by the excessively flexible reaction force spreading backward by scraper bowl bar 85.Cantilever jacking can cause tension force in cantilever lifting rope 50 to reduce, and can increase and overturning moment is associated from front to back or backward CG skew.Together with BCC is configured to ICC or individually, implement, be offset and reduce or eliminate cantilever jacking and reduce the load capacity removing from lifting rope 50 to reduce during dredge operation or to minimize CG backward.By reducing or eliminating cantilever jacking and keeping the tension force in lifting rope 50, CG skew (skew of for example along continuous straight runs) from front to back or is backward reduced or minimizes.

Be used for the embodiment of the IDC of excavator 10 with reference to flow process 500 signals of Fig. 5-9.In the embodiment of the present utility model providing in Fig. 5-8, IDC comprises BCC and ICC.Although describe in combination BCC and ICC with reference to flow process 500, BCC and ICC are each all can be implemented individually in excavator 10 or other industrial machinery.In certain embodiments, for example, compared with cycle time of ICC (10ms cycle time), use and carry out BCC slower cycle time (for example 100ms cycle time).In certain embodiments, during carrying out flow process 500, can dynamically change or change cycle time.

Lifting and contractility that flow process 500 applies with dredge operation with during dredge operation are associated, and the lifting applying about dredge operation with during dredge operation in this article and contractility are described flow process 500.Flow process 500 illustrates the embodiment of IDC, and this flow process 500 can be carried out by controller 200 or master controller 405.About flow process 500 each step described here can be side by side, concurrently or with shown in being different from continuously the order of executive mode carry out.Can also carry out flow process 500 by the step still less shown in the embodiment than illustrated.For example, one or more functions, formula or algorithm can be used to discharge tension level based on lifting and carry out the flexible torque limit of calculation expectation, but not use multiple threshold value comparisons.In addition, in certain embodiments, there is fixed value or storing value and needn't set such as the value of ramp rate (referring to step 620) and the threshold retraction factor (" TRF ") (referring to step 575).In such circumstances, can leave out from flow process 500 for the setting step of such value.Use one or more sensor 240(such as one or more clinometers, one or more rotary transformer, one or more driver module, one or more field module, one or more tachometers etc.) carry out for example relating to of realization flow 500 and determine scraper bowl bar angle, determine flexible moment of torsion, determine that lifting discharges pulling force, determines the step of stretching speed etc., can use the instruction of being carried out by controller 200 to process and analyze described sensor 240, to determine the value of feature of excavator 10.As mentioned above, can use such as the system of system completes such step.

Flow process 500 is from BCC.Wherein, BCC can about hard-edge angle (hard toes) increase shovel mining ability, increase scraper bowl fill factor, curve factor, prevent scraper bowl flick from hard-edge angle, in excavation cycle early stage maintenance work face penetration power, reduce the possibility of stall work plane and make the overall operation of excavator steady.For example, in the situation that there is no BCC, in the time of the corner of excacation face can with the lifting applying that can promote scraper bowl 70 and cancel a part against ground of the amount of flexible moment of torsion discharge pulling force or stop lifting completely.In addition, by the early stage ability that increases the validity of excavator 10 and penetrate work plane in hard-edge square ring border of excavation cycle, operator can set up platform for excavator 10.When excavator 10 is during from platform operations, excavator 10 does not upwards excavate, and can be at the momentum that directly maximizes scraper bowl 70 in the direction of work plane.

Fig. 5 and 6 signals are for the BCC part of the flow process 500 of IDC.In step 505, determine flexible torque ratio.Flexible torque ratio represents the ratio of the moment of torsion that the standard operation value of flexible moment of torsion operated or limit one or more flexible motors 220, as described below.For example, flexible torque ratio can represent with the fractional value between 0-1.Alternately, flexible torque ratio can be expressed as for example, percentage corresponding to concrete fractional value (0.5) (for example 50%).Then determine the angle (step 510) of scraper bowl bar 85.If in step 515, the angle of scraper bowl bar 85 is between the first angle limit value (" ANGLE1 ") and the second angle limit value (" ANGLE2 "), flow process 500 proceeds to step 520.If the angle of scraper bowl bar 85 is not between ANGLE1 and ANGLE2, flow process 500 turns back to step 510, again determines the angle of scraper bowl bar 85 in step 510.ANGLE1 and ANGLE2 can adopt for example, for example, about horizontal axis or be parallel to plane (, the horizontal level of the scraper bowl bar 85) value between about 20 ° and about 90 ° that extend on surface that excavator 10 is located thereon.In other embodiments, can use the value for ANGLE1 and ANGLE2 that is less than or greater than respectively 20 ° or is less than or greater than 90 °.For example, ANGLE1 can have the value of about 10 °, and ANGLE2 can have the value of about 90 °.ANGLE1 and ANGLE2 are used for limiting the wherein effective opereating specification of IDC.In certain embodiments, ANGLE1 and ANGLE2 about the horizontal plane of scraper bowl bar 85 or horizontal level in the scope of about 0 ° and about 90 °.In certain embodiments, determine and be relatively optional in the scraper bowl bar angle at step 515 place in the scraper bowl bar angle at step 510 place, and not included in flow process 500.

In step 520, determine the flexible moment of torsion of one or more flexible motors 220.Flexible moment of torsion away from excavator 10(is for example pushed at scraper bowl bar 85, towards work plane) time have on the occasion of and at scraper bowl bar by towards excavator 10(for example, away from work plane) there is negative value while pulling.For example, the positive and negative direction of rotation that is independent of one or more flexible motors 220 of flexible torque value.For example, the rotation of one or more flexible motor 220 that causes scraper bowl bar 85 to be released towards work plane is considered to positive rotation speed, and causes the rotation of the one or more flexible motor 220 that scraper bowl bar 85 retracts towards excavator 10 to be considered to negative rotation rotary speed.If the rotary speed of one or more flexible motors 220 is positive (being greater than 0), scraper bowl bar 85 is just released towards work plane.If the rotary speed of one or more flexible motors 220 is (being less than 0) of bearing, scraper bowl bar 85 is retracted towards excavator 10.But the flexible moment of torsion of one or more flexible motors 220 can be born in the time stretching scraper bowl bar 85, and can be positive in the time of retraction scraper bowl bar 85.If in step 525, flexible moment of torsion is born, this flow process turns back to step 510, again determines the angle of scraper bowl bar 85 in step 510.If in step 525, stretching speed is positive, flow process proceeds to step 530.In other embodiments, the different feature of excavator 10 (for example flexible motor current) can be used to determine that for example scraper bowl bar 85 is release or retract towards excavator 10 towards work plane, as mentioned above.Additionally or alternatively, the action of scraper bowl 70 can be confirmed as or towards excavator 10 or away from excavator 10, one or more Operator's Control Units in operator's driver's cabin of excavator 10 can be used to determine the action of scraper bowl bar 85, and the one or more sensors that are associated with saddle piece 90 can be used to determine the action of scraper bowl bar 85 etc.

After work plane is released, determine that lifting discharges the level (step 530) of pulling force at definite scraper bowl bar 85.The for example one or more features based on one or more lift motors 215 determine that lifting discharges the level of pulling force.The feature of one or more lift motors 215 can comprise motor speed, motor voltage, motor current, motor power, motor power factor etc.After definite lifting discharges pulling force, flow process 500 proceeds to part B shown in Figure 6 and that describe with reference to Fig. 6.

Step 535 in Fig. 6, discharges pulling force by definite lifting and the first lifting discharges tension level or limit value (" HL1 ") compares.Be less than or approximate greatly HL1 if definite lifting discharges pulling force, being configured to equal the first flexible torque limited value (" CL1 ") (step 540) for the flexible flexible torque limit that stretches operation.Mark " Q1 " is operating for flexible stretching, extension herein, with the operator scheme of mark excavator 10, in described operator scheme, the moment of torsion of one or more flexible motors 220 is that positive (for example scraper bowl 70 is pushed away from excavator 10) and one or more speed that pushes away motor 220 are positive (scraper bowl 70 are moved away from excavator 10).At flexible torque limit, after step 540 is set, flow process 500 proceeds to part C shown in Figure 7 and that describe with reference to Fig. 7.If discharging pulling force in step 535 lifting is not be less than or approximate greatly HL1, lifting is discharged to pulling force and the second lifting and discharge tension level or relatively (step 545) of limit value (" HL2 "), to determine that lifting discharges pulling force whether between HL1 and HL2.Be less than or approximate greatly HL2 and be greater than HL1 if determined lifting discharges pulling force, the torque limit Ql that will stretch sets for and equals the second flexible torque limited value (" CL2 ") (step 550).At flexible torque limit, after step 550 is set, flow process 500 proceeds to the part C in Fig. 7.If discharging pulling force in step 545 lifting is not be less than or approximate greatly HL2, lifting is discharged to pulling force and the 3rd lifting and discharge tension level or relatively (step 555) of limit value (" HL3 "), to determine that lifting discharges pulling force whether between HL2 and HL3.Be less than or approximate greatly HL3 and be greater than HL2 if determined lifting discharges pulling force, the torque limit Ql that will stretch sets for and equals the 3rd flexible torque limited value (" CL3 ") (step 560).At flexible torque limit, after step 560 is set, flow process 500 proceeds to the part C in Fig. 7.If discharging pulling force in step 555 lifting is not be less than or approximate greatly HL3, the torque limit Ql that will stretch sets for and equals the 4th flexible torque limited value (" CL4 ") (step 565).At flexible torque limit, after step 565 is set, flow process 500 turns back to part A(Fig. 5) in step 510, again determine scraper bowl bar angle in step 510.

Type that can be based on such as industrial machinery, type or the model etc. of shovel set, formulate or pre-determine first and second and three liftings discharge tension level HL1, HL2 and HL3.As illustrative example, the first lifting discharges about 10% the value that tension level HL1 has standard lifting (for example standard of one or more lift motors 220 or nominal operation power or moment of torsion about 10%), the second lifting discharges tension level HL2 and has about 22% value of standard lifting, and the 3rd lifting discharges tension level HL3 and have about 50% value of standard lifting.In other embodiments, HLl, HL2 and HL3 can have different value (for example, HLl ≈ 20%, HL2 ≈ 40%, HL3 ≈ 60%).But independently, the relation between the relative value of limit value keeps identical (being HLl< ≈ HL2< ≈ HL3) to the actual value presenting with HL1, HL2 and HL3.In embodiment more of the present utility model, two or discharge tension level more than three liftings and be used to set flexible torque limit (for example four, five, six etc.).The level of the control accuracy based on expecting is set the number of lifting release tension level.For example, increasing gradually of flexible torque setting can be realized by the number that increases actual lifting release pulling force and its lifting release tension level relatively.In certain embodiments, set lifting based on flexible torque limit and discharge tension level, to guarantee that enough liftings discharge pulling force and are applied to scraper bowl 70, to offset the loss of the lifting rope tension force being caused by flexible moment of torsion.For example, lifting discharges tension level and flexible torque limit is balanced, and makes not lack during dredge operation the lifting rope tension force that exceedes about 30%.In certain embodiments, too high if flexible moment of torsion discharges pulling force with respect to lifting, lifting release pulling force can clash with flexible moment of torsion, and reduces the productivity ratio of excavator 10.

Flexible torque limit CL1, CL2, CL3 and CL4 can also have various values.As illustrative example, CL1, CL2, CL3 and CL4 discharge pulling force with lifting and are increased to the flexible moment of torsion (for example, the standard operation power based on one or more flexible motors 220 or the percentage of moment of torsion) of the standard of being increased to more.In one embodiment, CL1 ≈ 18%, CL2 ≈ 54%, CL3 ≈ 100% and CL4 ≈ 100%.In other embodiments, CL1, CL2, CL3 and CL4 can adopt different values.But independently, it (is CLl< ≈ CL2< ≈ CHL3< ≈ CHL4 that the relation between the relative value of limit value keeps identical to the value adopting with CL1, CL2, CL3 and CL4.In addition, about as described in lifting release tension level, can use flexible torque limit other or still less as above.The number of the flexible torque limit for example, using depends on that the lifting for controlling excavator 10 discharges the number of tension level (for example number of flexible torque limit=lifting discharges number+1 of tension level).In certain embodiments, flexible torque limit is set to lifting and discharges percentage or the ratio of tension level, or is set to the function of lifting release tension level.

After torque limit as flexible in above-mentioned setting, flow process 500 enters ICC part, wherein, the acceleration (negative acceleration or deceleration) of monitoring scraper bowl 70 or scraper bowl bar 85, the dynamic overturning moment of clashing into the impact of work plane (for example, in hard-edge square ring border) and reducing excavator 10 to alleviate scraper bowl.For example, if scraper bowl 70 for example, is stopped fast by work plane (hard-edge angle) in flexible direction, kinetic energy and the rotatory inertia that must dissipate in one or more flexible motors 220 and flexible transmission device.In conventional excavator, this kinetic energy, by cantilever jacking is dissipated, makes cantilever jacking cause overturning moment backward and the CG skew of excavator 10.In order to prevent or to alleviate overturning moment backward, the kinetic energy of one or more flexible motors 220 that dissipate in another way.Particularly, ICC is configured to monitor the such as acceleration of scraper bowl 70, scraper bowl bar 85 etc.For example, in the time reaching the acceleration (negative acceleration or deceleration) that exceedes threshold acceleration value or the retraction factor (describing below), set reference velocity (for example equaling 0), and the maximum that increases one or more flexible motors 220 is allowed retraction moment of torsion.Although the direction of action of scraper bowl bar 85 can not be reversed, the retraction moment of torsion that is applied to one or more flexible motors 220 kinetic energy forward of one or more flexible motors 220 and flexible transmission device that can dissipate.By the kinetic energy of one or more flexible motors 220 that dissipate, reduce or eliminate the backward overturning moment of scraper bowl 10 in the time clashing into work plane.

Fig. 7-9 signal is for the ICC part of the flow process 500 of IDC.In step 570, determine the threshold retraction factor (" TRF ").TRF can be for example such as, obtain, calculates, manually set from memory (memory 255) etc.TRF can have for example value between about-300 and approximately-25.In certain embodiments, the value of different range can be used in TRF(for example between about 0 and approximately-500).Negative TRF represents the acceleration along negative direction (for example, towards excavator 10) of scraper bowl 70 or the deceleration of scraper bowl 70.TFR can be used for determining whether scraper bowl 70 has clashed into work plane and whether should initialize the kinetic energy of ICC with dissipate one or more flexible motors 220 and flexible transmission device.In certain embodiments, TRF is the threshold acceleration value being associated with the acceleration of scraper bowl 70, scraper bowl bar 85 etc.Amendment TRF controls the susceptibility of ICC and one or more flexible motors 220 is forced to the frequency of zero velocity reference value in the time that scraper bowl 70 clashes into work plane.Because ICC is more easily triggered under the situation of lower acceleration, so setting is more responsive, one or more flexible motors 220 are just forced into zero velocity reference value more continually.Set TRF and can also comprise time value or the period T that setting speed reference value is applied in.In certain embodiments, time value T can be configured to the value between 0.1 and 1.0 second.In other embodiments, time value T can be configured to be greater than the value (for example, between 1.0 and 2.0 seconds) of 1.0 seconds.Time value T is for example, duration estimation or expection based on (, after the shock of scraper bowl 70 and work plane) dynamic event.The tolerance of the disappearance that in certain embodiments, time value T controls produced operator based on one or more operators.After TRF is set, again determine the angle (step 575) of scraper bowl bar 85.Then the angle of scraper bowl bar 85 and the first scraper bowl bar angle threshold (" ANGLE1 ") and the second scraper bowl bar angle threshold (" ANGLE2 ") are compared to (step 580).The first scraper bowl bar angle threshold ANGLE1 and the second scraper bowl bar angle threshold ANGLE2 can have any various value.For example, in one embodiment, ANGLE1 has for example, value about about 40 ° of horizontal plane (the parallel plane in ground, being located thereon with excavator 10), and ANGLE2 for example has, about the value of about 90 ° of described horizontal plane (, scraper bowl bar is vertical with respect to ground).In certain embodiments, ANGLE1 and ANGLE2 have about horizontal plane about 0 ° and about horizontal plane the different value within the scope of about 90 °.In certain embodiments, determine and be relatively optional in the scraper bowl bar angle at step 580 place in the scraper bowl bar angle at step 575 place, and not included in flow process 500.

If the angle of scraper bowl bar 85 is greater than or is approximately equal to ANGLE1 and is less than or is approximately equal to ANGLE2, flow process 500 proceeds to step 585.If the angle of scraper bowl bar 85 is not be greater than or be approximately equal to ANGLE1 and be less than or be approximately equal to ANGLE2, flow process 500 turns back to part D and step 575, wherein again determines the angle of scraper bowl bar.In step 585, controller 200 or master controller 405 determines that flexible moment of torsion is whether for just.As mentioned above, with the direction of action of scraper bowl bar 85 independently, flexible moment of torsion can be positive or negative.For example, when scraper bowl bar 85 is in the time that work plane is released, scraper bowl is because gravity is pulled away from excavator 10.In such circumstances, stretching speed is that positive (moving away from excavator 10) and flexible moment of torsion are (the making to slow down because gravity pulls away from the scraper bowl of excavator 10) born.But, in the time that scraper bowl 70 initially clashes into work plane, scraper bowl bar 85 may continue to move forward (being that stretching speed is positive), but present and work plane clashes into the power producing is just causing scraper bowl bar 85 towards the advance of the face, to resist this reaction force and to keep positive stretching speed (flexible moment of torsion is positive).If flexible moment of torsion is born, flow process 500 turns back to part D and step 575.If flexible moment of torsion is positive, flow process 500 proceeds to step 590, and wherein will stretch moment of torsion and flexible torque threshold compare.

Flexible torque threshold can be set to about 30% of for example flexible moment of torsion of standard.In certain embodiments, about 30%(that flexible torque threshold is greater than the flexible moment of torsion of standard for example, the flexible moment of torsion of standard about 30% and about 100% between).In other embodiments, about 30%(that flexible torque threshold is less than the flexible moment of torsion of standard for example, the flexible moment of torsion of standard about 0% and about 30% between).Flexible torque threshold is configured to enough values, for example to limit the number of wherein implementing the situation of ICC in the CG skew that still reduces excavator 10.If determine that at step 590 place controller 200 flexible moment of torsion is not be greater than or be approximately equal to flexible torque threshold, flow process 500 turns back to part D and step 575.If flexible moment of torsion is greater than or is approximately equal to flexible torque threshold, flow process 500 proceeds to step 595.In step 595, controller determines that whether stretching speed is for example, for just (moving away from excavator 10).If stretching speed is not positive, flow process 500 turns back to part D and step 575.

If stretching speed is positive, flow process 500 proceeds to the part E ' ' ' describing shown in E ' ', Fig. 8 D describing shown in E ', Fig. 8 C describing shown in part E, Fig. 8 B describing shown in Fig. 8 A and with reference to Fig. 8 A and with reference to Fig. 8 B and with reference to Fig. 8 C and with reference to Fig. 8 D, or shown in Fig. 8 E and with reference to a part in the part E ' ' ' ' of Fig. 8 E description.Each part in E, E ', E ' ', E ' ' ' and E ' ' ' ' all determines whether to occur the technology of crash (for example, scraper bowl crash) corresponding to the various features based on industrial machinery 10 or parameter.Crash for example comprises the crash that can cause potential overturning moment on industrial machinery 10.

With reference to figure 8A, determine the acceleration (for example negative acceleration or deceleration) (step 600) of excavator 10.The acceleration of excavator 10 is for example acceleration, the acceleration of scraper bowl bar 85 etc. of scraper bowl 70.Acceleration is to use for example from for example one or more rotary transformers of one or more sensor 240() signal determine, controller 200 can calculate with described signal the speed of position, scraper bowl 70 or scraper bowl bar 85 and the acceleration of scraper bowl 70 or scraper bowl bar 85 of scraper bowl 70 or scraper bowl bar 85.In certain embodiments, determined acceleration can be filtered, to prevent that any acceleration spike or measure error from affecting the operation of ICC.

Then, controller 200 determines whether the acceleration definite at step 600 place of flow process 500 is negative (step 605).If acceleration is not born, flow process 500 turns back to part F and step 530 shown in Figure 5 and that describe with reference to Fig. 5.If acceleration is born, calculate the retraction factor (factor) (" RF ") (such as the deceleration factor, negative accelerated factor, impact factor, the overturning moment factor etc.) (step 610).Retraction factor R F is used to determine whether the size of the negative acceleration (being deceleration) of scraper bowl 70 or scraper bowl bar 85 is enough to initialize ICC.In certain embodiments, retraction factor R F is calculated as the ratio of flexible motor torsional moment to determined acceleration.In other embodiments, retraction factor R F be calculated as estimation moment of torsion to actual torque or pre-measuring acceleration the ratio to actual acceleration.In certain embodiments, the average of determined acceleration can be used to calculate retraction factor R F.In certain embodiments, RF is the accekeration being associated with the acceleration of scraper bowl 70, scraper bowl bar 85 etc.With the accurate factor that is used for calculating retraction factor R F independently, retraction factor R F and threshold retraction factor TRF can be compared to (step 615).If retraction factor R F is greater than or is approximately equal to threshold retraction factor TRF and is less than zero, flow process 500 proceeds to part G and the step 665 described shown in Fig. 8 F and with reference to Fig. 8 F.If retraction factor R F is greater than or is approximately equal to threshold retraction factor TRF and is less than 0, flow process 500 turns back to part F shown in Figure 5 and that describe with reference to Fig. 5.

With reference to interchangeable part E ' and Fig. 8 B, determine contractility (step 620), and determined contractility and contractility threshold value are compared to (step 625).For example determine by other parameter of flexible motor speed value and flexible motor torsional moment value or flexible motor or feature or calculate contractility.As mentioned above, controller 200 is based on from one or more sensor 240(for example, hall effect sensor) one or more signals determine or calculate flexible motor speed value or flexible motor torsional moment value.Then controller 200 use these be worth to calculate flexible motor and apply amount or the level of the power of (for example, to scraper bowl 70).In certain embodiments, during normal excavation, can be applied to from flexible motor based on industrial machinery 10 that maximal force (for example, pound is unit) scraper bowl bar 85 calculates or the threshold value of definite contractility.

After determining maximal force, the expectation sensitiveness (sensitivity) based on system is set the threshold value that is used to the contractility that detects crash.System is more responsive, be applied to the stress (for example,, from overturning moment) of industrial machinery 10 and the corresponding strain on industrial machinery 10 to alleviate (mitigation) just larger.But normally the sensitiveness of system is larger, the productivity ratio of industrial machinery just may reduce more.In certain embodiments, the threshold value of contractility for example, corresponding to the flexible strength of the typical case than during normal dredge operation or the larger power of power (, being greater than 100% contractility of standard runtime value).For example, in certain embodiments, depend on the aspiration level of sensitiveness, the threshold value of contractility is similar between 100% and 150% standard runtime value.In other embodiments, the threshold value of contractility being similar between 100% and 200% at standard runtime value.If at step 625 place, contractility is greater than or is approximately equal to the threshold value of contractility, and flow process 500 proceeds to part G and the step 665 described shown in Fig. 8 F and with reference to Fig. 8 F.If at step 625 place, contractility is not more than or is approximately equal to the threshold value of contractility, and flow process 500 is back to part F shown in Figure 5 and that describe with reference to Fig. 5.

With reference to interchangeable part E ' ' and Fig. 8 C, receive and assess (evaluate) one or more signals from clinometer, to determine the variation (step 630) of the inclination being associated with industrial machinery 10.Then, the threshold value of the variation of the inclination of the variation of the inclination of industrial machinery and industrial machinery is compared to (step 635).In certain embodiments, clinometer is installed on cantilever 35, machinery deck 30 etc.Clinometer provides and (for example, about vertical line) signal that angle value is corresponding of the different piece of industrial machinery 10 to controller 200.Signal from clinometer is received and assesses continually or continuously by controller 200.At the normal operation period of industrial machinery 10, the tilting value of industrial machinery is normally consistent, and can not change suddenly.But for example, if there is crash (, producing the scraper bowl crash of overturning moment) or another dynamic event, the value of the inclination of industrial machinery changes rapidly.In certain embodiments, identify the value during for example certain hour section of threshold value tilt variation value (for example,, between 1 to 500 millisecond) of crash with the inclination that is greater than 0.3 ° for the variation based on tilting.In other embodiments, the threshold value tilt variation value of identifying crash for the variation based on tilting has such value, depend on the expectation sensitivity levels of the existence for identifying crash or overturning moment, this value is greater than 0.5 °, be greater than 1.0 °, be greater than 2.0 ° etc.

At normal operation period, the rapid change of the inclination between approximate 0.1 ° and 0.2 ° is general.Conventionally be configured to be greater than the value in the general of normal operation period or expection variation for identifying the threshold value tilt variation value of crash.System is more responsive, is applied to alleviating of for example, corresponding strain on stress (, from overturning moment) and the industrial machinery 10 of industrial machinery 10 just larger.But conventionally, the sensitiveness of system is larger, the productivity ratio of industrial machinery just reduces more.Be back to flow process 500, if at step 635 place, the variation of the inclination of industrial machinery is greater than or is approximately equal to threshold value tilt variation value, and flow process 500 proceeds to part G and the step 665 described shown in Fig. 8 F and with reference to Fig. 8 F.If at step 635 place, tilt variation is not more than or is approximately equal to threshold value tilt variation value, and flow process 500 is back to part F shown in Figure 5 and that describe with reference to Fig. 5.

With reference to interchangeable part E ' ' ' and Fig. 8 D, receive and assess the one or more signals from load pin, to determine the load force (step 640) being associated with industrial machinery 10.Then, the threshold value of the variation of the variation of load force and load force is compared to (step 645).In certain embodiments, load pin is for example installed on cantilever 35, suspension bracket etc.Load pin signal corresponding to the load force standing with industrial machinery 10 provides to controller 200.Signal from load pin is received and assesses continually or continuously by controller 200.At the normal operation period of industrial machinery 10, although the value of the load force that load pin detects is relatively predictable-its dispersion in large-scale value.For example, but for example, if there is crash (, producing the scraper bowl crash of overturning moment) or another dynamic event, the load force value on industrial machinery changes rapidly (, the position based on load pin on industrial machinery, increases sharply or reduce).

Conventionally be configured to the changing value of the typical maximum changing value that is greater than the load force for example, standing at normal operation period (, in the time rising fully loaded scraper bowl) for identifying the changes of threshold value of crash.System is more responsive, is applied to alleviating of corresponding strain on stress and the industrial machinery 10 of industrial machinery 10 just larger.But conventionally, the sensitiveness of system is larger, the productivity ratio of industrial machinery just reduces more.In certain embodiments, the changes of threshold value of load force for example, corresponding to (, from fully loaded scraper bowl) (some positions of depending on the position-industrial machinery 10 of load pin present power and increase during crash for the changing value of the approximate +/-50% of the power of expection, and other position presents power and reduces during crash), or the changes of threshold value of load force is corresponding to the value of the approximate +/-100% of the power of expection.In other embodiments, the changes of threshold value of load force depends on the state (for example, loading or unloaded) of scraper bowl.In certain embodiments, except changes of threshold value, can also identify crash by absolute minimum and maximum power value.Minimum and maximum power like this can be for example corresponding to the power value being associated with cantilever jacking, or the power value being associated with the structural limitations of the parts of industrial machinery.Can be independent of changes of threshold value and monitor these values.

In each embodiment, the load force of being measured by load pin can monitored a period of time (for example, between 1 millisecond to 1 second, etc.), taking the variation of determining load force whether as the result of crash.The value of the load force being detected by load pin in certain embodiments, or the variation of load force must be kept above threshold value a period of time (for example,, to reduce the wrong possibility detecting of clashing into).If at step 645 place of flow process 500, the variation of the load force on industrial machinery is greater than or is approximately equal to the changes of threshold value of load force, and flow process 500 proceeds to part G and the step 665 described shown in Fig. 8 F and with reference to Fig. 8 F.If at step 645 place, the variation of load force is not more than or is approximately equal to the changes of threshold value of load force, and flow process 500 is back to part F shown in Figure 5 and that describe with reference to Fig. 5.

With reference to interchangeable part E ' ' ' ' and Fig. 8 E, determine the acceleration (step 650) of industrial machinery 10.The acceleration of industrial machinery 10 is for example acceleration, the acceleration of scraper bowl bar 85 etc. of scraper bowl 70.For example, from one or more sensor 240(for example use, one or more rotary transformers) signal determine acceleration, controller 200 can calculate with described signal the speed of position, scraper bowl 70 or scraper bowl bar 85 and the acceleration of scraper bowl 70 or scraper bowl bar 85 etc. of scraper bowl 70 or scraper bowl bar 85.In certain embodiments, determined acceleration can be filtered, to prevent that any acceleration spike or measure error from affecting the operation of ICC.

Then controller 200 determines whether the acceleration definite at step 650 place of flow process 500 is negative (step 655).If acceleration is not born, flow process 500 turns back to part F and step 530 shown in Figure 5 and that describe with reference to Fig. 5.If acceleration is born, compare acceleration and acceleration rate threshold (step 660).Acceleration rate threshold be used to determine industrial machinery 10 the size of definite acceleration whether be enough to for example initialize ICC(, the overturning moment on instruction crash or industrial machine 10).In certain embodiments, acceleration rate threshold corresponding to the industrial machinery 10(that can not use flexible motor, lift motor etc. to realize for example, scraper bowl 70, scraper bowl bar 85 etc.) acceleration.In other embodiments, acceleration rate threshold for example, corresponding to the expection of acceleration or the accekeration of normal runtime value (, the restriction based on recording acceleration data, programming, user's setting value etc.) that are greater than industrial machinery.Acceleration rate threshold is lower, and system is just more responsive.This corresponding strain that causes being applied on stress and the industrial machinery 10 of industrial machinery 10 is alleviated more.But conventionally, the sensitiveness of system is larger, the productivity ratio of industrial machinery just reduces more.In certain embodiments, the average of determined acceleration can be used at step 660 place and compares.If acceleration is greater than or is approximately equal to acceleration rate threshold, flow process 500 proceeds to part G and the step 665 described shown in Fig. 8 F and with reference to Fig. 8 F.If acceleration is not more than or is approximately equal to acceleration rate threshold, flow process 500 is back to part F shown in Figure 5 and that describe with reference to Fig. 5.

With reference to figure 8F, set counter or another suitable timer (step 665).For example, counter is set in order to monitoring or controls the time quantum (as described below) that new flexible motor torsional moment, flexible electric torque, flexible retraction moment of torsion and/or speed reference are set or apply.In certain embodiments, the each clock cycle increment of counter to processing unit 250, for example, until it reaches value predetermined or that set up (, time value T).Setting after counter, depending on the type of the industrial machine 10 of carrying out flow process 500, flow process 500 proceeds to a part in part H and part H '.For example, if industrial machinery 10 is AC machinery (that is, comprising AC motor and drive unit), flow process 500 proceeds to part H.If industrial machinery 10 is DC machinery (that is, comprising DC motor or drive unit), flow process 500 proceeds to part H '.

Reference section H, sets flexible retraction moment of torsion at step 670 place.In the normal operation period, the flexible retraction moment of torsion of one or more flexible motors is configured to about 90% of for example standard value or normal operating limit value (100%).But during clashing into the dynamic event of work plane such as scraper bowl 70, the retraction moment of torsion that normally moves the 90-100% of limit value be conventionally not enough to the to dissipate kinetic energy of one or more flexible motors 220 and flexible transmission device, to prevent cantilever jacking.Like this, at step 630 place, flexible retraction moment of torsion is configured to exceed the standard value of one or more flexible motor 220 retraction moments of torsion or the value of normal operating limit value.In certain embodiments, retraction moment of torsion be configured to retract moment of torsion normal operating limit value about 150%.In other embodiments, retraction moment of torsion be configured to the normal operating limit value of retraction moment of torsion about 150% and about 100% between value.In another embodiment, retraction moment of torsion be configured to be greater than retraction moment of torsion normal operating limit value about 150%.In such embodiments, retraction moment of torsion is subject to the restriction (for example, some motor can allow larger retraction moment of torsion compared with other motor) of the operation characteristic of for example motor.Like this, based on the feature of one or more flexible motors 220, retraction moment of torsion can be configured to normal operating limit value about 150% and about 400% between value.In certain embodiments, retraction moment of torsion or flexible moment of torsion are to set in the direction corresponding with the direction of determined acceleration.For example, in negative direction, the acceleration of (, towards shoveling) or the deceleration of (, away from shovel) in direction of alternatively stretching cause setting flexible moment of torsion (for example negative flexible moment of torsion, deceleration torque, regenerative torque etc.) or negative motor current.

After step 670 place sets flexible retraction moment of torsion, setting speed reference value (step 675).Speed reference is the following speed of expectation (for example, 0) of the one or more flexible motor 220 of selected or definite kinetic energy with dissipate one or more flexible motors 220 and flexible transmission device.In the time that speed reference is set, the inhibition of dynamic event (for example, scraper bowl clashes into work plane) is automatically performed, with the kinetic energy of dissipate one or more flexible motors 220 and flexible transmission device.For example, for time value T setting speed reference value (, being 0), with the kinetic energy of dissipate one or more flexible motors 220 and flexible transmission device, as mentioned above.In certain embodiments, speed reference can be dynamic and during time value T, change (for example, linear change, non-linear change, index change etc.).In other embodiments, speed reference can be the difference based between for example actual speed and desired speed, estimated speed or another reference velocity.After step 675, flow process 500 proceeds to part I shown in Figure 9 and that describe with reference to Fig. 9.

Reference section H ', flexible motor torsional moment, flexible electric torque, flexible motor torsional moment limit value or flexible electric torque limit value are for example set to zero torque value (step 680).This technology is useful especially for DC industrial machinery.For example, be set as zero by the electric torque that will stretch, allow scraper bowl to stop gradually under the effect of the power of crash, and do not change the speed reference of motor.As the result of zero electric torque, even if operator requires maximal rate, motor can not provide maximal rate, and this is because motor can not produce required moment.After step 680, flow process 500 proceeds to part I shown in Figure 9 and that describe with reference to Fig. 9.

Step 685 place in Fig. 9, compares counter and time value T.If counter is not equal to time value T, counter-increments (step 690) and flow process 500 turn back to step 685.If at step 685 place, counter equals time value T, the type (for example, AC industrial machinery, DC industrial machinery etc.) that depends on the industrial machinery 10 of for example carrying out flow process 500, flow process 500 proceeds to a part in part J, part J ' and part J ' '.

Reference section J, by flexible retraction moment of torsion reset get back to standard value or in the normal operating limit value of motor (for example, flexible retraction moment of torsion < ≈ 100%) (step 695), and speed reference is set for to the speed reference (for example, based on control device such as control stick) (step 710) that equals operator.After setting speed reference value, flow process is back to part F shown in Figure 5 and that describe with reference to Fig. 5.

Reference section J ', flexible motor torsional moment or flexible electric torque (are for example reset to nonzero value, normal operation moment of torsion or another normal runtime value 100%) (step 700), and speed reference is set equal to operator's speed reference (for example, based on control device such as control stick) (step 710).Alternately, reference section J ' ', flexible electric torque for example, by gradual time nonzero value gradually (, normally move moment of torsion or another normal runtime value 100%) (step 705).When flexible electric torque by from zero flexible electric torque value upwards gradually gradual (for example, stepping, linear increase, non-linear increase etc.) time, act on stress on stepper motor and reduce (for example, when with as compared with step 700 place directly resets flexible motor torsional moment time).In certain embodiments, controller 200 can be in the scopes of approximate 100 milliseconds to approximate 2 seconds by the time quantum that gradual electric torque time normal runtime value is used.In other embodiments, controller 200 can be in the scope of approximate 1 second to approximate 10 seconds by the time quantum that gradual electric torque time normal runtime value is used.Then, speed reference is set as equal operator's Velocity Reference value (for example, based on control device such as control stick) (step 710).

In certain embodiments, controller 200 or master controller 405 can also be monitored scraper bowl bar 85 or scraper bowl 70 position with respect to work plane, and the action of slowed down before clashing into work plane scraper bowl bar 85 or scraper bowl 70, to reduce the kinetic energy being associated with one or more flexible motors 220 and flexible transmission device.

Therefore, the utility model provides system, method, device and the computer-readable medium etc. that discharge pulling force and deceleration and control one or more flexible torque limits of industrial machinery for lifting based on scraper bowl.Various Characteristics and advantages of the present utility model is set forth in claims.

Claims (10)

1. an industrial machinery, comprising:

Scraper bowl;

Flexible motor drive, described flexible motor drive is configured to provide one or more control signals to flexible motor, and described flexible motor can operate to provide power so that described scraper bowl moves towards or away from work plane to described scraper bowl; With

Controller, described controller is connected to described flexible motor drive, and described controller is configured to:

Monitor the feature of described industrial machinery,

The feature of the described industrial machinery based on monitored is identified the crash being associated with described scraper bowl, and

In the time identifying described crash, for described flexible motor drive is set flexible electric torque limit value.

2. industrial machinery according to claim 1, the described feature of wherein said industrial machinery is the acceleration being associated with described scraper bowl.

3. industrial machinery according to claim 2, the described acceleration being wherein associated with described scraper bowl is negative acceleration.

4. industrial machinery according to claim 1, the described feature of wherein said industrial machinery is the inclination of described industrial machinery.

5. industrial machinery according to claim 1, the described feature of wherein said industrial machinery is the contractility being associated with described industrial machinery.

6. industrial machinery according to claim 1, the described feature of wherein said industrial machinery is the load force being associated with described industrial machinery.

7. industrial machinery according to claim 1, wherein said industrial machinery is direct current DC industrial machinery.

8. industrial machinery according to claim 7, wherein said industrial machinery is the one in electronic rope excavator or power digger.

9. industrial machinery according to claim 1, wherein said crash produces overturning moment on described industrial machinery.

10. industrial machinery according to claim 1, wherein sets described flexible electric torque and comprises: the value of described flexible electric torque is set as to zero torque value.