CN104164900A - Load release height control system for excavators - Google Patents
Load release height control system for excavators Download PDFInfo
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- CN104164900A CN104164900A CN201410206610.7A CN201410206610A CN104164900A CN 104164900 A CN104164900 A CN 104164900A CN 201410206610 A CN201410206610 A CN 201410206610A CN 104164900 A CN104164900 A CN 104164900A
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- scraper bowl
- control module
- bucket
- height
- bucket assembly
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- 238000005065 mining Methods 0.000 claims description 50
- 230000004044 response Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 description 15
- 238000012544 monitoring process Methods 0.000 description 7
- 238000007599 discharging Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/308—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working outwardly
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/407—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with ejecting or other unloading device
- E02F3/4075—Dump doors; Control thereof
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
An excavator includes a dipper assembly configured to receive a dipper load, the dipper assembly having an actuated position for emptying the dipper load, a sensor assembly configured to monitor one or more operating conditions of the excavator, and a control module. The control module is configured to receive signals from the sensor assembly, determine a height of the dipper assembly relative to a surface, and inhibit movement of the dipper assembly to the actuated position.
Description
Technical field
The present invention relates to have the excavator of scraper bowl or bucket, and be specifically related to for controlling the control system of the movement of scraper bowl or bucket.The present invention relates more specifically to discharge from scraper bowl for controlling excavator the control system of height of the heap plot point top of its load.
Background technology
The invention that this part is intended to narrating in claim provides background or context.Description herein can comprise the concept that can be carried out, but needs not to be over the concept of expecting or carrying out.Therefore, unless in literary composition, refer else, the content of describing in this section is not the prior art of manual and claims of the application, and not owing to comprising and being recognized as prior art in this section.
Excavator such as mining shovel generally includes for taking power shovel scraper bowl or the bucket of earth and other material.Power shovel scraper bowl can be formed with the rear portion that is arranged in the tooth at its leading edge place and seals scraper bowl and with maintenance, by the action of mining shovel, be loaded into the scraper bowl door of the material of scraper bowl.Load under the state that scraper bowl door is just being loaded at scraper bowl and in scraper bowl is for example turned back to, under the state of piling plot point (, haul truck, rubbish loading-unloading vehicle etc.) and conventionally keeps closing.In this heap plot point, scraper bowl door opens to allow scraper bowl to pour out its inclusion.
Conventionally, power shovel operating personnel control the movement of scraper bowl, once scraper bowl just " is toppled over " (that is, discharging) scraper bowl door higher than heap plot point, thereby allow the inclusion (that is, " scraper bowl load ") of scraper bowl to pour out in heap plot point or on it.In some cases, the impact from the scraper bowl load of falling may cause damage heap plot point.For example, if scraper bowl load is poured out to load haulage vehicle (" haul truck ") from excessive height, scraper bowl load can be transmitted excessive power when impacting, thereby causes damaging one or more members of haul truck, such as compartment, vehicle suspension system etc.The height that can pour out safely scraper bowl load depends on many factors, comprises type, the heap type of plot point, the weight of scraper bowl load of excavator and the material type that comprises scraper bowl load.Most mining machine determines that by being necessary for each scraper bowl load the operating personnel of applicable release altitude manually control, and this can be because operating personnel's mistake or erroneous judgement cause the damage to heap plot point, excavator or other surrounding devices.
Some excavators can comprise for retraining the revolution automation of the motion of scraper bowl or bucket.The example of this revolution automation can find in disclosed U.S. Patent bulletin in " Swing Automation for Rope Shovel ", on October 18th, 2012 being entitled as, this patent gazette discloses a kind of controller, this controller monitors lifting and the pushing position of scraper bowl, and prevents that the motion of scraper bowl from " crossing the border limit of ideal path ".Yet disclosed controller stops the movement of scraper bowl beyond desirable rotary path, this can carry out some necessary or useful operation by limited digging machine effectively.Disclosed controller also only comprises the single ideal path for scraper bowl, and the weight of not considering scraper bowl load is, the height of heap plot point or any other factors relevant with the operation of excavator or the position of condition or haul truck etc.
Summary of the invention
One embodiment of the present of invention relate to a kind of excavator.This excavator comprises: be configured to receive the bucket assembly of scraper bowl load, this bucket assembly has for pouring out the position that activated of scraper bowl load; Sensor cluster, this sensor cluster is configured to monitor one or more operating conditions of excavator; And control module.This control module is configured to receive signal from sensor cluster, determines that bucket assembly is with respect to surperficial height, and suppresses bucket assembly and move to and activated position.
Another embodiment of the present invention relates to a kind of mining shovel.This mining shovel comprises: be configured to receive the scraper bowl of scraper bowl load, this scraper bowl has the scraper bowl bottom of opening; Be connected to the scraper bowl door of scraper bowl, this scraper bowl door have for cover opening scraper bowl bottom primary importance and for pouring out the second place of scraper bowl load; Sensor cluster, this sensor cluster is configured to monitor that scraper bowl is with respect to surperficial height; And control module, this control module is configured to receive signal from sensor cluster, and controls the movement of scraper bowl door between primary importance and the second place.
Another embodiment of the present invention relates to a kind of control system for bucket assembly, and described bucket assembly has for pouring out the bucket assembly of scraper bowl load.This control system comprises: sensor, and this sensor cluster is configured to monitor between scraper bowl with respect to surperficial height and monitors the weight of scraper bowl load; And control module, this control module is configured to receive signal from sensor cluster, based on the described calculated signals bucket height limit, and at bucket assembly, suppresses bucket assembly during higher than the bucket height limit and moves to and activated position.
Accompanying drawing explanation
According to the detailed description of carrying out below in conjunction with accompanying drawing, present invention will become more fully understood, and in accompanying drawing, same Reference numeral represents same element, wherein:
Fig. 1 is according to the lateral view of the mining shovel of the present invention of exemplary embodiment.
Fig. 2 is according to the phantom drawing of the bucket assembly of the mining shovel for Fig. 1 of exemplary embodiment.
Fig. 3 is according to the lateral view of the bucket assembly for mining shovel of the top that is positioned at haul truck of exemplary embodiment.
Fig. 4 is schematically showing according to the load release altitude control system of the present invention of exemplary embodiment.
Fig. 5 is according to the flowcharting of the load release altitude control system of the present invention of exemplary embodiment.
The specific embodiment
Before forwarding the accompanying drawing that is shown specifically exemplary embodiment to, it should be understood that the application is not limited to set forth or details illustrated in the accompanying drawings or method in manual.Should also be understood that term just should be regarded as for purposes of illustration and not restrictive.
With reference to Fig. 1 and 2, show the mining shovel with scraper bowl 12 10 according to exemplary embodiment.In this embodiment, mining shovel 10 comprises the dipper-arm 20 that is connected to scraper bowl 12 and is supported by dipper assembly 22.Scraper bowl 12 comprises the tooth of the leading edge 14 that is formed for taking earth and other material (for example, rock, sand etc.) and has bottom the scraper bowl of the opening being covered by scraper bowl door 16 18.Scraper bowl 12 can form bucket assembly together with scraper bowl door 16.In further embodiments, bucket assembly can comprise other parts or the member of the application-specific and/or the load release altitude control system of the present invention that are suitable for mining shovel 10.Material is loaded onto in scraper bowl 12 by the action of mining shovel 10, and pour out in advance to prevent material (that is, scraper bowl load) the scraper bowl bottom 18 that scraper bowl door 16 is configured to cover opening.In the exemplary embodiment, scraper bowl door 16 can for cover opening scraper bowl bottom 18 fastening position (shown in Fig. 1 and 2) with for pouring out between the open position (that is, activateding position) of the inclusion of scraper bowl 12, move.When scraper bowl 12 is just being loaded and when scraper bowl load returns back to the heap plot point such as haul truck 28 (shown in Figure 3), scraper bowl door 16 is maintained at fastening position.Then scraper bowl door 16 is discharged into open position, thereby certain altitude place pours out scraper bowl load above heap plot point.In the embodiment shown in Fig. 1-3, mining shovel 10 comprises being connected to scraper bowl door 16 and being configured to discharge toppling over of scraper bowl door 16 restricts 32, thereby allows 16 revolutions of scraper bowl door or move to open position.In this embodiment, toppling over rope 32 can be controlled by the operating personnel of mining shovel 10, so that operating personnel can " topple over " (, discharging) scraper bowl door 16 is (, by handling control panel or otherwise), thus allow 16 revolutions of scraper bowl door or move to open position and pour out the inclusion of scraper bowl 12.
Although illustrate by way of example and described the present invention with reference to mining shovel 10, but the present invention is also applicable to sacrificial vessel and (is for example useful on the scraper bowl that takes and pour out material load, scraper bowl 12 etc.) or any excavation machine of bucket as uses such as excavator, wheel loaders, all these should be located within the scope of the invention.
Referring now to Fig. 3, show the bucket assembly of top that is illustrated as the heap plot point of haul truck 28 according to being positioned at of exemplary embodiment.In this embodiment, haul truck 28 comprises for receiving the container 30 of scraper bowl load.Mining shovel 10 be configured to take material in scraper bowl 12 with by scraper bowl 12 filling scraper bowl loads, make scraper bowl 12 be turned back to the height of container 30 tops, and then make scraper bowl 12 be rotated into towards container 30 (scraper bowl bottom 18 is oriented, according to Fig. 3, the scraper bowl door 16 of closing is positioned on the bottom of scraper bowl 12).Once scraper bowl 12 is suitably oriented in the surperficial top of container 30, just can discharge scraper bowl door 16 to open the scraper bowl bottom 18 of opening and scraper bowl load is poured out in container 30.
With reference to Fig. 4, in the exemplary embodiment, mining shovel 10 comprises that control system (, load release altitude control system), this control system is particularly useful for preventing or otherwise suppresses pouring out scraper bowl load under mining shovel 10 may apply to haul truck 28 (or another heap plot point) excessive loading force state in the impact of scraper bowl load except other controlling feature.For example, when when discharging scraper bowl inclusion with respect to heap plot point or with respect to the top of the surperficial certain altitude (hereinafter referred to as " the bucket height limit ") of heap plot point, may apply excessive loading force to the heap plot point such as haul truck 28.Can or determine the bucket height limit based on a plurality of factors calculating, (for example comprise the weight of scraper bowl load, the material type that comprises scraper bowl load, heap plot point, haul truck 28 etc.) and/or factor or the condition of the surperficial type of the special characteristic of excavator (for example, mining shovel 10 etc.), heap plot point and/or excavator below or any other quantity relevant to dredge operation.In the embodiment shown in the figures, for the control system of mining shovel 10, be configured to prevent pour out scraper bowl inclusion when scraper bowl 12 is above scraper bowl 12 is positioned at the bucket height limit, thereby prevent from damaging haul truck 28.Should be noted that, although illustrate by way of example and discuss in full haul truck 28 in Fig. 3, but the present invention is also suitable for and uses for receiving any other heap plot point of scraper bowl load, comprise dump truck, rubbish loading-unloading vehicle, conveyer belt etc., all these should be located within the scope of the invention.
In the exemplary embodiment, control system comprises for monitoring the sensor cluster 36 of the one or more factors relevant with the operation of mining shovel 10 or condition (that is, operating condition).The operating condition of mining shovel 10 (that is, excavator) can comprise determines required or useful any factor or the condition of the bucket height limit, comprises any condition relevant with mining airport 10, heap plot point and/or surrounding environment.For example, sensor cluster 36 can be configured to monitor scraper bowl 12 or bucket assembly with respect to the height of surface (that is, heap plot point) with judge scraper bowl 12 be higher than or lower than the bucket height limit.Sensor cluster 36 also can be configured to monitor weather condition, mining shovel 10 and/or the ground of heap plot point below or condition or required or useful any other factors or the condition of definite bucket height limit on surface in the weight of scraper bowl load, the shape of piling plot point or another relevant machine or member or position, mining shovel 10 region around.
Sensor cluster 36 can be configured to according to the adaptability of the concrete application of control system is monitored to scraper bowl 12 is with respect to the height of heap plot point in one or more modes.For example, sensor cluster 36 can be configured to by by one or more installation of sensors on scraper bowl 12 and the direction that makes sensor point to heap plot point directly measure scraper bowl 12 with respect to the height of heap plot point.In further embodiments, sensor cluster 36 can be configured to monitor that scraper bowl 12 is with respect to the chassis 40 of mining shovel 10, with respect to dipper assembly 22, with respect to another member of mining shovel 10 or with respect to the height on ground, to calculate or to estimate the distance between scraper bowl 12 and heap plot point.In other embodiment, sensor cluster 36 is configured to monitor or measures another mark in scraper bowl 12 and peripheral region or the distance between point, makes to calculate or to estimate scraper bowl 12 with respect to the height of piling plot point.
In certain embodiments, sensor cluster 36 is medially located, thereby has sensor cluster 36 location and/or be arranged on single region wherein.For example, the single member that sensor cluster 36 can be connected to mining shovel 10 (for example, scraper bowl 12, dipper assembly 22, dipper-arm 20 etc.), or be positioned at another positions of the relative altitude and/or one or more other conditions relevant with mining shovel 10 that are suitable for monitoring scraper bowl 12.In further embodiments, sensor cluster 36 comprises a plurality of elements with more than one position.For example, in one embodiment, sensor cluster 36 comprise be connected to scraper bowl 12 (as shown in Figure 1) one or more elements, be connected to such as one or more elements of haul truck 28 and be positioned at one or more elements of another position that is suitable for monitoring the one or more conditions relevant to mining shovel 10.
In certain embodiments, sensor cluster 36 comprises one or more laser sensors (for example, laser range finder, range finder using laser etc.) of the height that is configured to monitor scraper bowl 12.Laser sensor can be arranged on scraper bowl 12 and be configured to measure the distance with respect to scraper bowl 12.In an exemplary embodiment, laser sensor is configured to send one or more laser pulses to measure the distance between scraper bowl 12 and haul truck 28 along the direction of haul truck 28, and therefore determines the relative altitude of scraper bowl 12.In such an embodiment, by the surface of haul truck 28, the direction along laser sensor reflects laser pulse.Laser sensor is configured to from container 30 reflection spent time of return laser light sensor, determine the distance (that is, the relative altitude of scraper bowl 12) between scraper bowl 12 and haul truck 28 based on pulse.Laser sensor can on scraper bowl 12, be located so that at scraper bowl 12 when dumping or pour out position (, scraper bowl door 16 be oriented in the bottom of scraper bowl 12 and during towards container 30) laser pulse sends along the direction of container 30.Once determine the relative altitude of scraper bowl 12, laser sensor (for example, sensor cluster 36) is just configured to represent the time that reflection laser pulse is spent and/or to represent that one or more signals of the relative altitude of scraper bowl 12 send to control module 26.
Sensor cluster 36 also can comprise for monitoring one or more laser scanners in scraper bowl 12 region around.Laser scanner is configured to launch one or more laser beams to set up the three-dimensional surface map (that is, three-dimensional map) of peripheral region.Laser scanner is rotatable, be configured to transmitting during one or more laser beam around a single point rotation 360 degree nearly, or laser scanner can be fix and comprise and being configured to around the fixing laser scanner rotation rotating laser bundles of 360 degree nearly.In the exemplary embodiment, laser scanner is arranged on scraper bowl 12.In this embodiment, laser scanner is launched one or more laser beams along scraper bowl 12 all directions around, and from surface around, (for example, other member of ground, haul truck 38, mining shovel 10 etc.) reflects back into laser scanner to these bundles.Laser scanner can be configured to reflect and get back to the spent time of laser scanner and determine the distance between scraper bowl 12 and one or more circumferential surface from circumferential surface based on laser beam.In one embodiment, the distance that sensor cluster 36 use record by laser beam is set up the three-dimensional surface map in scraper bowl 12 region around, thereby the one or more signals that represent three-dimensional surface map are sent to control module 26.In another embodiment, sensor cluster 36 sends to control module 26 by one or more signals of the distance that represents to record by laser beam, and control module 26 is configured to utilize these signals to set up scraper bowl 12 three-dimensional surface map around.Laser scanner can be configured to continuous emission excimer laser bundle, so that three-dimensional surface map is continuously updated.Control module 26 can be determined the distance between relative altitude, scraper bowl 12 and the circumferential surface of scraper bowl 12 or another distance or the height that by laser scanner, record with this three-dimensional surface map.
Sensor cluster 36 also can comprise one or more infrared ray sensors of the relative altitude that is configured to monitor scraper bowl 12.Infrared ray sensor can locate or be connected to another member of scraper bowl 12 or mining shovel 10 and be configured to point to heap plot point or another surperficial direction to measure scraper bowl 12 and the distance (that is, the relative altitude of scraper bowl 12) of piling between plot point.Then infrared ray sensor can send to control module 26 by the one or more signals that represent the relative altitude of scraper bowl 12, and control module 26 can utilize these signals to calculate or definite bucket height limit.
Sensor cluster 36 also can comprise one or more vision sensors (for example, camera, video camera, photoreceptor etc.) of the relative altitude that is configured to monitor scraper bowl 12.In the exemplary embodiment, vision sensor is connected to another member of scraper bowl 12 or mining shovel 10.The image that vision sensor is configured to catch heap plot point is to monitor the distance between scraper bowl 12 and heap plot point.Vision sensor can be configured to represent that one or more distances that record send to control module 26.Vision sensor also can be configured to determine the distance between scraper bowl 12 and one or more member and/or surface.Sensor cluster 36 also can comprise one or more GPS sensors.GPS sensor can be connected to the member of mining shovel 10, the member or be positioned at that is connected to heap plot point is suitable for monitoring scraper bowl 12 and the another location of piling the distance between plot point.GPS sensor can be configured to measure the distance between scraper bowl 12 and one or more member or surface, and the one or more signals that represent this relative distance are sent to control module 26.
In one exemplary embodiment, sensor cluster 36 can comprise one or more position sensors (for example, proximity transducer etc.) of the relative altitude that is configured to monitor scraper bowl 12.For example, position sensor can be connected to dipper-arm 20 or dipper assembly 22 to monitor the relative position of dipper-arm 20 or dipper assembly 22, and is configured to the one or more signals that represent dipper-arm 20, dipper assembly 22 and/or scraper bowl 12 to send to control module 26.In the exemplary embodiment, mining shovel 10 comprises for pushing the hydraulic cylinder (not shown) of scraper bowl 12.In this embodiment, position sensor can be connected to hydraulic cylinder (that is, pushing cylinder) and be configured to monitor the relative position of hydraulic cylinder.In certain embodiments, position sensor (is for example monitored member by expression, dipper-arm 20, dipper assembly 22, hydraulic cylinder etc.) relative position send to control module 26, and control module 26 is configured to the relative altitude by these calculated signals scraper bowls 12.In further embodiments, position sensor can calculate or determine the relative altitude of scraper bowl by the relative position based on being monitored member, and the one or more signals that represent the relative altitude of scraper bowl 12 are sent to control module 26.
In certain embodiments, control module 26 be configured to calculate in the situation that not using sensor 36 or definite scraper bowl 12 with respect to the height of heap plot point.The position of another member that for example, control module 26 can be based on dipper assembly 22, dipper-arm 20, hawser 24 and/or mining shovel 10 and determine that scraper bowl is with respect to the height of heap plot point.Control module 26 also can be configured to information based on for example for example, receiving from operating personnel by operating personnel interface 34 (, radio communication device, control panel etc.) or signal and determine that scraper bowl 12 is with respect to the height of heap plot point.In further embodiments, the another way that control module 26 is configured to be suitable for the application-specific of load release altitude control system is calculated or determines that scraper bowl 12 is with respect to the height of heap plot point.
In certain embodiments, sensor cluster 36 can comprise for monitoring the weight sensor of the weight of scraper bowl load.Weight sensor can be configured to monitor the weight of scraper bowl load, and the one or more signals that represent the weight of scraper bowl load are sent to control module 26.Control module 26 can be configured to utilize from the signal of weight sensor and with other correlated condition (for example, the types of the material type in scraper bowl load, heap plot point etc.) relevant signal or information is calculated the bucket height limit, and the scraper bowl load of more than the bucket height limit pouring out at this can apply excessive power to heap plot point.Weight sensor can be connected to scraper bowl 12, be connected to dipper-arm 20 or install or be positioned at the another location of the weight that is suitable for monitoring scraper bowl load on mining shovel 10.In one embodiment, weight sensor is connected to the hawser 24 that hangs dipper-arm 20 and scraper bowl 12.In this embodiment, weight sensor is configured to measure and in hawser 24, keeps dipper-arm 20 and scraper bowl 12 required pulling force in place.Weight sensor can be configured to pulling force in the hawser 24 based on recording and determine the weight of scraper bowl load.Weight sensor also can be configured to the one or more signals that represent the pulling force in hawser 24 to send to control module 26, and control module 26 can be configured to the weight by these calculated signals scraper bowl loads.
In the exemplary embodiment, control module 26 is configured to receive one or more signals from sensor cluster 36, one or more conditions (that is, operating condition) of this signal indication mining shovel 10 and/or heap plot point.Control module 26 also can be configured to the 34 reception operating personnel inputs from operating personnel interface.Control module 26 can be configured to utilize this signal and/or operating personnel to input to calculate or definite bucket height limit.For example, weight that can be based on scraper bowl load, scraper bowl 12 with respect to the ground of type, mining shovel 10 and/or the heap plot point below of the height of heap plot point, material in scraper bowl 12, from operating personnel interface 34 inputs that receive or any other correlative factor being recorded by sensor cluster 36 and/or control module 26 or condition some combinations and calculate the bucket height limit.In certain embodiments, can pass through operating personnel interface 34 by the manual input control module 26 of the predetermined bucket height limit by operating personnel.Control module 26 also can be configured to the conditioned disjunction factor relevant to mining shovel 10 of the one or more manual inputs of 34 reception from operating personnel interface, and calculates or definite bucket height limit based on these manual conditions of inputting.
Control module 26 can be configured to utilize the bucket height limit that calculate or predetermined to prevent the scraper bowl load damage heap plot point discharging from excessive height (that is, higher than the bucket height limit).In the exemplary embodiment, control module 26 is configured to monitor the height of scraper bowl 12.In certain embodiments, control module 26 is configured to prevent that scraper bowl door 16 from moving to open position (for example from fastening position at scraper bowl 12 during higher than the bucket height limit, by activating or apply interlock etc.), thus prevent that scraper bowl 12 from pouring out its inclusion from excessive height.
In certain embodiments, control module 26 is configured to otherwise suppress scraper bowl door 16 and from fastening position, moves to open position at scraper bowl 12 during higher than the bucket height limit.For example, in the exemplary embodiment, bucket assembly comprises and is connected to scraper bowl door 16 and snubber or the brake (not shown) of the movement of scraper bowl door 16 from fastening position to open position that be configured to slow down.In this embodiment, control module 26 can be configured to the movement of controller buffer or brake and/or activate the movement with the scraper bowl door 16 that optionally slows down, thereby reduce at any time to carry out the quantity of material since the scraper bowl load of scraper bowl 12 releases, and therefore reduce at any time to be put on by scraper bowl load the power of heap plot point.
When scraper bowl 12 is during higher than the bucket height limit, the one or more sense of hearings, vision or the indication of other sense organ or the warning (for example, sense of touch/audio feedback, alarm lamp, noise, alarm, haptic joystick etc.) that to the operating personnel of mining shovel 10, provide indication scraper bowl inclusion as being poured out, may cause damage heap plot point also can be provided control module 26.
In one exemplary embodiment, control module 26 can be configured to the signal based on receiving from sensor cluster 36 and automatically locate scraper bowl 12.For example, if scraper bowl 12 is positioned to attempt that higher than the bucket height limit and operating personnel bucket assembly is moved to and activated position (, discharge scraper bowl door 16) to pour out the inclusion of scraper bowl 12, control module 26 can be configured to automatically reduce scraper bowl 12, until scraper bowl 12 is positioned to lower than the bucket height limit.Control module 26 also can be configured to indicate operating personnel manually scraper bowl 12 to be reduced to necessary amount so that scraper bowl 12 is positioned to lower than the bucket height limit before the inclusion of pouring out scraper bowl 12.
Referring now to Fig. 5, illustrate according to the flowcharting of the load release altitude control system of exemplary embodiment.In this embodiment, control module 26 be configured to from sensor cluster 36 receive represent mining shovels 10 operating condition (for example, material type in the height of the weight of scraper bowl load, scraper bowl 12, ground condition, scraper bowl load, heap plot point condition, weather condition etc.) signal, and from operating personnel interface 34 (for example, radio communication device, control target etc.) reception operating personnel's inputs (for example, the bucket height limit, other operating condition etc.).Sensor cluster 36 can comprise laser sensor, vision sensor, weight sensor, infrared ray sensor, GPS sensor or be configured to monitor other sensor or the member of one or more operating conditions of mining shovel 10.In this embodiment, control module 26 receives signal and inputs, and judge scraper bowl 12 with respect to the height of heap plot point (that is, surface) whether higher than the bucket height limit.If not, control module 26 can allow scraper bowl 12 to activate or move to and activated position, scraper bowl load is poured out to heap plot point.If so, control module 26 can form response, for example warning to operating personnel, and inhibition scraper bowl 12 moves to and activated position, and/or automatically the height of scraper bowl 12 is reduced to lower than the bucket height limit.Control module 26 also can be programmed to signal based on from sensor cluster 36 and from the input at operating personnel interface 34 and calculate the bucket height limit.
As the structure of the load release altitude control system for excavator as shown in each exemplary embodiment with arrange just illustrative.Although describe in this manual only minority embodiment in detail, but much remodeling is possible (for example, the use of the value of the size of various elements, size, structure, shape and ratio, parameter, mounting arrangements, material, color, orientation etc.) and do not depart from substantially novel teachings and the advantage of theme described herein.Some are depicted as the element being integrally formed and can consist of a plurality of parts or element, and the position of element can be put upside down or otherwise be changed, and can revise or change character or quantity or the position of the element of dispersion.According to alternative embodiment, the order of can change or resequence any process, logical algorithm or method step or order.Also can in design, service condition and the layout of various exemplary embodiments, make other substitutes, revises, changes and omit and do not depart from the scope of the present invention.
Industrial usability
The disclosed load release altitude control system for excavator can be implemented having for the scraper bowl of excavated material or any machine of bucket.The disclosed load release altitude control system for excavator can be by preventing that excavator from applying excessive power to heap plot point and preventing to heap plot point or such as the surperficial damage of haul truck.Disclosed load release altitude control system can monitor for the scraper bowl of excavator or the height of bucket, thereby prevent that scraper bowl from pouring out its inclusion from the top of the bucket height limit, and therefore prevent that the inclusion of scraper bowl from applying excessive power and damage heap plot point.
It is evident that for a person skilled in the art, can make various modifications and changes to the disclosed load release altitude control system for excavator.According to this manual and the practice to the disclosed load release altitude control system for excavator, other embodiment for a person skilled in the art will be apparent.Should think that manual and example are only for exemplary, true scope indicates by following claim and their equivalent.
Claims (20)
1. an excavator, comprising:
Be configured to receive the bucket assembly of scraper bowl load, described bucket assembly has for pouring out the position that activated of scraper bowl load;
Sensor cluster, described sensor cluster is configured to monitor one or more operating conditions of described excavator; With
Control module, described control module is configured to:
From described sensor cluster, receive signal;
Determine that described bucket assembly is with respect to surperficial height; And
Suppress described bucket assembly and activated position described in moving to.
2. excavator according to claim 1, wherein, described control module is programmed to prevent that described bucket assembly from activateding position described in moving to when described bucket assembly is greater than the bucket height limit with respect to the height on described surface.
3. excavator according to claim 2, wherein, one or more operating conditions of described excavator comprise that described bucket assembly is with respect to the height on described surface.
4. excavator according to claim 3, wherein, described control module is programmed at least in part by the bucket height limit described in the calculated signals receiving from described sensor cluster.
5. excavator according to claim 2, wherein, described sensor cluster is configured to monitor the weight of scraper bowl load, and described control module is programmed at least in part the weight based on scraper bowl load and calculates the described bucket height limit.
6. excavator according to claim 1, wherein, described control module is programmed at least in part the signal based on receiving from described sensor cluster and calculates described bucket assembly with respect to the height on described surface.
7. excavator according to claim 2, wherein, described control module is configured to the operating personnel to described excavator when described bucket assembly is greater than the described bucket height limit with respect to the height on described surface warning is provided.
8. excavator according to claim 2, wherein, described control module is configured to control described bucket assembly, and described control module is programmed to allowing described bucket assembly automatically the height of described bucket assembly to be reduced to the position lower than the described bucket height limit before activateding position described in moving to.
9. excavator according to claim 1, wherein, described sensor cluster comprises and is configured to measure the laser sensor with respect to the distance of described bucket assembly.
10. excavator according to claim 1, wherein, described sensor cluster comprises the laser scanner of the 3-D view that is configured to set up described bucket assembly region around.
11. excavators according to claim 1, wherein, described sensor cluster comprises and is configured to measure the infrared ray sensor with respect to the distance of described bucket assembly.
12. 1 kinds of mining shovels, comprising:
Be configured to receive the scraper bowl of scraper bowl load, described scraper bowl has the scraper bowl bottom of opening;
Be connected to the scraper bowl door of described scraper bowl, described scraper bowl door have for cover described opening scraper bowl bottom primary importance and for pouring out the second place of scraper bowl load;
Be configured to monitor that described scraper bowl is with respect to the sensor cluster of surperficial height; With
Control module, described control module is configured to receive signal from described sensor cluster, and controls the movement of described scraper bowl door between described primary importance and the described second place.
13. mining shovels according to claim 12, wherein, described control module is programmed to prevent that described scraper bowl door from moving to the described second place from described primary importance when described scraper bowl is greater than the bucket height limit with respect to the height on described surface.
14. mining shovels according to claim 13, wherein, described sensor cluster is configured to monitor one or more operating conditions of described mining shovel.
15. mining shovels according to claim 14, wherein, described control module is programmed at least in part by the bucket height limit described in the calculated signals receiving from described sensor cluster.
16. mining shovels according to claim 13, wherein, described control module is configured to the movement of described scraper bowl door from described primary importance to the described second place of slowing down when described scraper bowl is greater than the bucket height limit with respect to the height on described surface.
17. mining shovels according to claim 13, wherein, described control module is configured to control described scraper bowl, and described control module is programmed to automatically the height of described scraper bowl was reduced to the position lower than the bucket height limit before the described scraper bowl door of permission moves to the described second place.
18. 1 kinds of control systems for bucket assembly, described bucket assembly has for pouring out the position that activated of scraper bowl load, and described control system comprises:
Sensor cluster, described sensor cluster is configured to:
Monitor that described bucket assembly is with respect to surperficial height; And
Monitor the weight of described scraper bowl load;
Control module, described control module is configured to:
From described sensor cluster, receive signal;
Based on described signal, calculate the bucket height limit; And
At described bucket assembly, suppress described bucket assembly during higher than the described bucket height limit and activated position described in moving to.
19. control systems according to claim 18, wherein, described control module is configured to produce response when described bucket assembly is greater than the described bucket height limit with respect to the height on described surface.
20. control systems according to claim 18, wherein, described control module is configured to control described bucket assembly, and described control module is programmed to allowing described bucket assembly automatically the height of described bucket assembly to be reduced to the position lower than the described bucket height limit before activateding position described in moving to.
Applications Claiming Priority (2)
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|---|---|---|---|
| US13/896,099 | 2013-05-16 | ||
| US13/896,099 US20140338235A1 (en) | 2013-05-16 | 2013-05-16 | Load release height control system for excavators |
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| Publication Number | Publication Date |
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| CN104164900A true CN104164900A (en) | 2014-11-26 |
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| CN201410206610.7A Pending CN104164900A (en) | 2013-05-16 | 2014-05-16 | Load release height control system for excavators |
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| US (1) | US20140338235A1 (en) |
| CN (1) | CN104164900A (en) |
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| CN106988360A (en) * | 2017-04-19 | 2017-07-28 | 湖南美奕机电科技有限公司 | Mine excavator with material metage function |
| CN107179108A (en) * | 2016-03-10 | 2017-09-19 | 内蒙古大学 | Loading machine meter side and weight calculation method and device based on laser scanning and ranging technology |
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| CN112709570A (en) * | 2020-12-18 | 2021-04-27 | 华能伊敏煤电有限责任公司 | Control device for moving and fine-tuning under remote operation electric shovel |
| CN113718868A (en) * | 2020-05-25 | 2021-11-30 | 中国铁路西安局集团有限公司科学技术研究所 | Dual-purpose clear machine of digging of highway-railway |
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| CL2012000933A1 (en) * | 2011-04-14 | 2014-07-25 | Harnischfeger Tech Inc | A method and a cable shovel for the generation of an ideal path, comprises: an oscillation engine, a hoisting engine, a feed motor, a bucket for digging and emptying materials and, positioning the shovel by means of the operation of the lifting motor, feed motor and oscillation engine and; a controller that includes an ideal path generator module. |
| US9206587B2 (en) | 2012-03-16 | 2015-12-08 | Harnischfeger Technologies, Inc. | Automated control of dipper swing for a shovel |
| JP6480830B2 (en) * | 2015-08-24 | 2019-03-13 | 株式会社小松製作所 | Wheel loader control system, control method therefor, and wheel loader control method |
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| US6131062A (en) * | 1999-01-21 | 2000-10-10 | Case Corporation | Apparatus and method for preventing an automatic operation sequence in a work vehicle |
| WO2006028938A1 (en) * | 2004-09-01 | 2006-03-16 | Siemens Energy & Automation, Inc. | Autonomous loading shovel system |
| US7734397B2 (en) * | 2005-12-28 | 2010-06-08 | Wildcat Technologies, Llc | Method and system for tracking the positioning and limiting the movement of mobile machinery and its appendages |
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| CN106988360A (en) * | 2017-04-19 | 2017-07-28 | 湖南美奕机电科技有限公司 | Mine excavator with material metage function |
| CN110453740A (en) * | 2019-08-01 | 2019-11-15 | 高邮市迅达重型工程机械有限公司 | A kind of bulldozer perching knife pocket soil transport device |
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| CN117449371A (en) * | 2023-12-25 | 2024-01-26 | 山西太重数智科技股份有限公司 | Intelligent electric shovel attitude adjusting control system and method |
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Application publication date: 20141126 |