CN106193168A - Large-sized mining dredger and crane arm control protective unit, control method - Google Patents
Large-sized mining dredger and crane arm control protective unit, control method Download PDFInfo
- Publication number
- CN106193168A CN106193168A CN201610529930.5A CN201610529930A CN106193168A CN 106193168 A CN106193168 A CN 106193168A CN 201610529930 A CN201610529930 A CN 201610529930A CN 106193168 A CN106193168 A CN 106193168A
- Authority
- CN
- China
- Prior art keywords
- crane arm
- control
- sensor
- movable plate
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
-
- 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
- E02F9/24—Safety devices, e.g. for preventing overload
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a kind of large-sized mining dredger and crane arm control protective unit, control method; described crane arm control protective unit includes attachment means, actuating device, induction installation, movable plate and control device, and attachment means is connected for fixing with crane arm；Actuating device one end is connected to attachment means；Movable plate is connected to the other end of actuating device；Induction installation is included at least two sensor that in the movable plate direction of motion, diverse location is arranged, and described at least two sensor includes first sensor and the second sensor；Control device and be connected at least two sensor, when first sensor senses movable plate mobile, control the pushing speed of mine excavator with the control strategy of pre-limit angle；When the second sensor senses movable plate mobile, control described pushing speed with the control strategy of extreme angles.The present invention can effectively prevent crane arm by excessive jack-up, reduces equipment impact, eliminates safe hidden trouble.
Description
Technical field
The present invention relates to mining machinery, particularly relate to a kind of crane arm for large-sized mining dredger and control protection dress
Put, the control method of described crane arm control protective unit and have this crane arm control protective unit large-scale mine excavate
Machine.
Background technology
Large-scale mine monobucket face shovel excavator has a wide range of applications in glory-hole, but due to each opencut
Blasting condition is different, and driver operation level is the most different；Excavate material time due to ground, local harder, driver operation is not advised
Model, crane arm is often occurred by the phenomenon of jack-up, owing to producing the biggest to whole equipment when crane arm is transferred by excessive jack-up
How impact, avoid this phenomenon to directly affect reliability and the service life of equipment.
The mine excavator of prior art, due to not can solve crane arm can not by the problem of transition jack-up, because of
This shortcoming that there is the following aspects:
1. transferring suddenly due to the excessive jack-up of crane arm causes guy wire to withstand shocks power, and the life-span is greatly reduced；
2. the excessive jack-up of crane arm is transferred suddenly and is caused equipment to produce huge vibrations, affects plant machinery mechanism and is electrically
The reliability of system and service life；
3. the excessive jack-up of crane arm is transferred suddenly and guy wire may be caused to rupture suddenly, causes huge potential safety hazard and property
Loss.
Accordingly, it would be desirable to develop a kind of relevant apparatus for large-sized mining dredger that can solve the problem that above-mentioned technical problem.
Be only used for strengthening the understanding to the background of the present invention in information above-mentioned disclosed in described background section, therefore it
Can include not constituting the information to prior art known to persons of ordinary skill in the art.
Summary of the invention
One main purpose of the present invention is to overcome at least one defect of above-mentioned prior art, it is provided that a kind of for big
The crane arm control protective unit of type mine excavator, effectively to prevent crane arm by excessive jack-up, reduces equipment impact, disappears
Except potential safety hazard, improve reliability and the service life of equipment.
Second main purpose of the present invention is to overcome at least one defect of above-mentioned prior art, it is provided that a kind of this
The control method of weighing arm control protective unit from tomorrow, effectively to prevent crane arm by excessive jack-up, reduces equipment impact, eliminates
Potential safety hazard, improves reliability and the service life of equipment.
3rd main purpose of the present invention is to overcome at least one defect of above-mentioned prior art, it is provided that one has
The large-sized mining dredger of crane arm control protective unit of the present invention, effectively to prevent crane arm from being set by excessive jack-up, reduction
Standby impact, eliminates safe hidden trouble, and improves reliability and the service life of equipment.
For achieving the above object, the present invention adopts the following technical scheme that
According to an aspect of the invention, it is provided a kind of crane arm control protective unit:
A kind of crane arm control protective unit, for large-sized mining dredger, it is characterised in that described crane arm controls to protect
Protection unit includes attachment means, actuating device, induction installation, movable plate and control device, and attachment means is used for and described lifting
Arm is fixing to be connected；Actuating device one end is connected to described attachment means；Movable plate is connected to the other end of described actuating device；Sense
Answering device to be included at least two sensor that in the described movable plate direction of motion, diverse location is arranged, described at least two senses
Device includes first sensor and the second sensor；Control device and be connected to described at least two sensor, when described first senses
When device senses described movable plate mobile, control the pushing speed of described mine excavator with the control strategy of pre-limit angle；
When described second sensor senses described movable plate mobile, control described to push speed with the control strategy of extreme angles
Degree.
The control method of crane arm control protective unit of the present invention, including: judge the angle of described crane arm；Described lifting
When the angle of arm is pre-limit angle, perform to limit rate-determining steps in advance；When the angle of described crane arm is extreme angles, perform limit control
Step processed.
According to a further aspect in the invention, it is provided that a kind of large-scale mine with crane arm control protective unit of the present invention
Excavator.
As shown from the above technical solution, advantages of the present invention and have the active effect that the crane arm by installing the present invention additional
Control protective unit, it is possible to effectively prevent crane arm by excessive jack-up, reduce the vibration equipment caused by crane arm jack-up, eliminate
Potential safety hazard.Ensure that crane arm is transferred after being pushed up lentamente, it is achieved while crane arm " Soft landing ", by pushing speed
Control, it is achieved that the maximization of production efficiency.
Accompanying drawing explanation
By being considered in conjunction with the accompanying following the following detailed description of the embodiment of the present invention, the various targets of the present invention,
Feature and advantage will become apparent from.Accompanying drawing is only the exemplary diagram of the present invention, is not necessarily drawn to scale.
In the accompanying drawings, same reference represents same or similar parts all the time.
Fig. 1 is the schematic front view of the crane arm control protective unit of the embodiment of the present invention.
Fig. 2 is the schematic top plan view of the crane arm control protective unit of the embodiment of the present invention.
Fig. 3 is the left view schematic diagram of the crane arm control protective unit of the embodiment of the present invention.
Fig. 4 is the B direction view of Fig. 2.
Fig. 5 is I portion enlarged drawing in Fig. 2.
Fig. 6 is the A direction view of Fig. 1.
Fig. 7 is the C-C sectional view in Fig. 3.
Fig. 8 is the control strategy block diagram local of the crane arm control protective unit of the embodiment of the present invention.
Fig. 9 is the control strategy block diagram local of the crane arm control protective unit of the embodiment of the present invention.
Wherein, description of reference numerals is as follows:
1 cargo boom mounting bracket
16 links
17 contact plates
2 bracing frames
3 limit switch covers
4 rollers
5 plungers
51 plunger cases
6 springs
7 switch carriage
71 base plates
72 side plates
8 movable plates
80 guide rails
81 left bodies
82 right bodies
83 elongated holes
9 sensors
91 first sensors
92 second sensors
10 adjust angle steel
101 channel-section steels
11 crane arms
12 canopy antethecas
Detailed description of the invention
It is described more fully with example embodiment referring now to accompanying drawing.But, example embodiment can be with multiple shape
Formula is implemented, and is not understood as limited to embodiment set forth herein；On the contrary, it is provided that these embodiments make the present invention incite somebody to action
Fully and completely, and by the design of example embodiment those skilled in the art is conveyed to all sidedly.Accompanying drawing identical in figure
Labelling represents same or similar structure, thus will omit their detailed description.
When the element of the present invention or the preferred embodiment of the present invention is described, word " ", " one ", " being somebody's turn to do " and " described " meaning
It is intended to refer to there is one or more element.Term " includes ", " comprising " and " having " etc. is intended to opening and refers to
Be in addition to listed element outside also can there is other element.
The crane arm control protective unit of the embodiment of the present invention, for the large-sized mining dredger of the embodiment of the present invention.This
The large-sized mining dredger of inventive embodiments, has the crane arm control protective unit of the embodiment of the present invention.The embodiment of the present invention
Large-sized mining dredger and crane arm control protective unit, utilize the control method of the embodiment of the present invention to enter pushing speed
Row controls.
As it is shown in figure 1, the crane arm control protective unit of the embodiment of the present invention, it is possible to be known as that a kind of crane arm is spacing opens
Closing device, it includes attachment means, actuating device, movable plate 8, induction installation and control device.Wherein, attachment means is lifting
Arm bracket 1, and actuating device includes roller 4, plunger 5, spring 6 and plunger case 51 etc., and induction installation includes at least two
Sensor 9, at least two sensor 9 is including at least first sensor 91 and the second sensor 92.
It addition, the crane arm control protective unit of the embodiment of the present invention may also include nernst cell, nernst cell can include supporting
Frame 2, limit switch cover 3, switch carriage 7, adjustment angle steel 10 etc., nernst cell is mainly enclosed with switch carriage 7 by limit switch cover 3
Becoming, movable plate 8 and sensor 9 etc. are arranged in nernst cell.And control device for example, PLC, may be provided at the present invention and implement
The control room of the large-sized mining dredger of example, it is possible to be arranged in nernst cell as sensor 9.
Wherein, cargo boom mounting bracket 1 can include that link 16 and contact plate 17, link 16 therein can be bolted
On crane arm 11, contact plate 17 then, for contacting with each other with roller 4, so that crane arm 11 rotated through actuating device
Pass to movable plate 8.
For nernst cell, bracing frame 2 can Site Welding on canopy antetheca 12, for supporting switch bracket 7, specifically
It it is the bottom supporting switch carriage 7 from switch carriage 7.The cross section of switch carriage 7 is L-shaped, including base plate 71 and side plate 72, as
Shown in Fig. 4 and Fig. 6.Limit switch cover 3 is for covering on switch carriage 7,3, limit switch cover by movable plate 8, sensor 9 etc.
Body is also provided in the top of switch carriage 7.The base plate 71 of switch carriage 7 is supported by bracing frame 2, and the side plate of switch carriage 7
72 are bolted on canopy antetheca 12.
For drive mechanism, shown in Fig. 3 and Fig. 5, roller 4 is a pair, is connected to one end of plunger 5 by bearing pin.Plunger 5
The other end be bolted movable plate 8.Spring 6 is arranged in plunger case 51, and plunger 5 moves compression spring 6 simultaneously.Lifting
When arm 11 is by jack-up, cargo boom mounting bracket 1 encounters roller 4, and roller 4 moves, and drives plunger 5 to move compression spring 6 simultaneously, moves
Dynamic plate 8 is connected with plunger 5 by bolt.Plunger case 51 is fixed on the side plate 72 of switch carriage 7, offers through hole on side plate 72
70, plunger case 51 is through through hole and is vertically fixed on side plate 72.
Wherein, sensor 9 can be multiple or multipair, for the various location sensing in movable plate 8 direction of advance
The movement of movable plate 8, with sense crane arm 11 by the state of jack-up.In the present embodiment, only it is provided with first sensor 91 He
Second sensor 92.The sensitive surface of first sensor 91 therein, the distance of the plane at the front end face place of distance movable plate 8
For example, S1, and the sensitive surface of the second sensor 92, the distance of the plane at the front end face place of distance movable plate 8 is for example,
S2, here S2 > S1.
When crane arm 11 is reached A ° by jack-up angle, represent that the angle of crane arm 11 has reached pre-limit angle A, this time shift
Moving the movement sensed position to sensor 91 of plate 8 correspondence, first sensor 91 senses the movement of movable plate 8, the first sensing
91 signals of device are transferred to PLC, control device and control to perform corresponding pre-the first control strategy limiting angle, control the present invention
The pushing speed of the large-sized mining dredger of embodiment.
When crane arm 11 is reached B ° by jack-up angle, represent that the angle of crane arm 11 has reached extreme angles B, this time shift
Dynamic plate 8 moves the sensed position to the second sensor 92, and the second sensor 92 signal is transferred to PLC, controls device and controls to hold
Second control strategy of the corresponding extreme angles of row, controls the pushing speed of the large-sized mining dredger of the embodiment of the present invention.
Crane arm 11 lifts A ° of angle and adjusts by adjusting angle steel 10 also dependent on being actually needed with B °；Such as Fig. 3 institute
Showing, first sensor 91 and the second sensor 92 are respectively arranged on a pair adjustment angle steel 10, this spacing to adjusting angle steel 10
Adjustable, and the position also adjustable on movable plate 8 moving direction, in order to more flexible arranges sensor 9, adapts to difference
Situation.Wherein, it is arranged on channel-section steel 101 as it is shown on figure 3, adjust angle steel 10, to the tune in the both direction adjusting angle steel 10
The whole position mainly by adjustment channel-section steel 101 realizes.
As it is shown on figure 3, movable plate 8 includes interconnective left body 81 and right body 82, left body 81 and right body 83
Bottom between there is gap, be equipped with the adjustable guide rail in position 80 in gap, the bottom of guide rail 80 be fixed on described switch torr
On the base plate 71 of frame 7.Guide rail 80 can be realized by angle steel, can offer elongated hole 83 on the base plate of angle steel, in order to fixing guide rail
80 and the position of guide rail 80 is adjusted.The effect of guide rail 80 is to guide, and also can arrive to play simultaneously and move movable plate 8
Position-limiting action, prevent its transition from moving and damaging sensor 9.
When driver operation power shovel dipper is toward retraction, control device (generally being realized) by program according to different crane arms 11
Angle implements different control strategies, ensures that crane arm 11 is slowly transferred on the premise of maximal efficiency, and cargo boom mounting bracket 1 leaves
Roller 4, spring 6 restores to the original state under elastic force effect, and movable plate 8 leaves the sensed position of sensor 91, and the embodiment of the present invention
The detailed control strategy of control method see Fig. 8 and Fig. 9, wherein, Fig. 8 and Fig. 9 is connected by tri-common ground of A1, A2, A3
It it is a complete figure.
The control method of the embodiment of the present invention, first needs to judge the angle of crane arm 11, since determine respectively required for hold
The step of row, when the angle of crane arm 11 is pre-limit angle, performs to limit rate-determining steps in advance；The angle of crane arm 11 is extreme angles
Time, perform limit rate-determining steps, during above-mentioned control, the angle that also there will be crane arm 11 is between pre-limit angle and pole
Situation between limit angle, now, it is also desirable to have corresponding step to control to push speed.
First, first introduce and limit rate-determining steps in advance.
In this step, being first intended to report to the police, the purpose of warning is to cause operator to watch out for.
Then, it is controlled pushing speed, will control to push speed and reclaim the maximum C% less than normal speed,
When crane arm 11 angle is less than pre-limit angle, then controls to push speed and reach normal speed.Simultaneously for when advancing, control to push away
Pressure speed advance maximum is less than the D% of normal speed, and wherein, D < 10, to limit crane arm 11 further by jack-up.
In a word, the purpose of above-mentioned pre-limit rate-determining steps, it is simply that when preventing from pushing excessive velocities, crane arm 11 quickly lands,
By controlling pushing speed, it is ensured that crane arm 11 slowly puts down and plays a protective role, and improves again work efficiency simultaneously.
Introduce limit rate-determining steps again.
In this step, being first also intended to report to the police, the purpose of warning is still and causes operator to watch out for.At this moment warning with
Warning in pre-limit rate-determining steps can have different ranks, to allow the operator to more be alerted to the jack-up journey of crane arm 11
Degree.
Then, it is controlled pushing speed, will control to push speed and reclaim the maximum E% less than normal speed, this
In E, less than C before, when crane arm 11 angle is less than pre-limit angle, then controls to push speed and reach normal speed.With
Time, during for advancing, controlling to push speed pace is 0, to limit crane arm 11 further by jack-up.
And the angle of crane arm 11 is when pre-limit between angle and extreme angles, controls to push speed and reclaim the most very much not
Exceed the C% of normal speed.
In a word, the purpose of above-mentioned limit rate-determining steps, it is simply that when preventing from pushing excessive velocities, crane arm 11 quickly lands,
By controlling pushing speed, it is ensured that crane arm slowly puts down and plays a protective role, and improves again work efficiency simultaneously.
By implementing different rate-determining steps under above-mentioned different angles, the present invention ensure that by the crane arm 11 of jack-up
Slowly put down, namely " soft landing ", ensure that production efficiency the most to the full extent simultaneously.
Should be understood that multiple example described above can along multiple directions (as tilted, reverse, level, vertical, etc.) and
It is utilized with multiple structures, without departing from the principle of the present invention.Embodiment shown in accompanying drawing is only used as the principle of the present invention
Effectively the example of application and be shown and described, the present invention is not limited to any concrete details of these embodiments.
Certainly, once thinking over the above description of representative embodiment, those skilled in the art just will readily appreciate that, can
These specific embodiments are made multiple remodeling, add, substitute, delete and other change, and these change at this
In the range of bright principle.Therefore, detailed description above should be clearly understood that it is to come the most by way of illustration and example
Being given, the spirit and scope of the present invention are only limited by appended claims and equivalent thereof.
Claims (10)
1. a crane arm control protective unit, for large-sized mining dredger, it is characterised in that described crane arm controls protection
Device includes:
Attachment means, is connected for fixing with described crane arm；
Actuating device, one end is connected to described attachment means；
Movable plate, is connected to the other end of described actuating device；
Induction installation, is included at least two sensor that diverse location in the described movable plate direction of motion is arranged, described at least
Two sensors include first sensor and the second sensor；And
Control device, be connected to described at least two sensor, when described first sensor senses the movement of described movable plate
Time, the pushing speed of described mine excavator is controlled with the control strategy of pre-limit angle；When described second sensor senses institute
When stating movable plate mobile, control described pushing speed with the control strategy of extreme angles.
2. crane arm control protective unit as claimed in claim 1, it is characterised in that described attachment means is crane arm torr
Frame, described cargo boom mounting bracket includes link and contact plate, and described link is fixing with described crane arm to be connected.
3. crane arm control protective unit as claimed in claim 2, it is characterised in that described actuating device includes roller, post
Plug, spring and plunger case, described roller is connected to one end of described plunger by bearing pin, and the other end of described plunger passes through bolt
Connecting described movable plate, described spring is arranged in described plunger case, and described plunger compresses described spring, described lifting when moving
Touching described roller when arm moves drives described plunger to move in described plunger case.
4. crane arm control protective unit as claimed in claim 1, it is characterised in that described sensing device is arranged at spacing opening
Closing and cover in the nernst cell surrounded with switch carriage, the base plate of described switch carriage is supported by bracing frame, and described plunger case is solid
Side plate due to described switch carriage.
5. crane arm control protective unit as claimed in claim 4, it is characterised in that described first sensor and described second
Sensor is respectively arranged on a pair spacing and the most adjustable adjustment in the position angle steel on described movable plate moving direction, described
Movable plate includes interconnective left body and right body, has gap between the bottom of described left body and described right body,
Being equipped with the adjustable guide rail in position in described gap, the bottom of described guide rail is fixed on the base plate of described switch carriage.
6. the control method of the arbitrary described crane arm control protective unit of claim 1-5, it is characterised in that described control
Method includes:
Judge the angle of described crane arm；
When the angle of described crane arm is pre-limit angle, perform to limit rate-determining steps in advance；
When the angle of described crane arm is extreme angles, perform limit rate-determining steps.
7. control method as claimed in claim 6, it is characterised in that described pre-limit rate-determining steps includes；
Report to the police；
Control to push speed and reclaim the maximum C% less than normal speed；
Control the D% pushing speed advance maximum less than normal speed, wherein, D < 10.
8. control method as claimed in claim 6, it is characterised in that described limit rate-determining steps includes；
Report to the police；
Control to push speed and reclaim the maximum E% less than normal speed,
When described crane arm angle is between described pre-limit angle and described extreme angles, controls described pushing speed and reclaim
Big C%, C less than normal speed > E；
Controlling to push speed pace is 0.
9. control method as claimed in claim 6, it is characterised in that when described crane arm angle is less than described pre-limit angle,
Control described pushing speed and reach normal speed.
10. a large-sized mining dredger, it is characterised in that described large-sized mining dredger has the arbitrary institute of claim 1-5
The crane arm control protective unit stated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610529930.5A CN106193168B (en) | 2016-07-06 | 2016-07-06 | Large-sized mining dredger and its crane arm control protective unit, control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610529930.5A CN106193168B (en) | 2016-07-06 | 2016-07-06 | Large-sized mining dredger and its crane arm control protective unit, control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106193168A true CN106193168A (en) | 2016-12-07 |
| CN106193168B CN106193168B (en) | 2019-01-25 |
Family
ID=57472423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610529930.5A Active CN106193168B (en) | 2016-07-06 | 2016-07-06 | Large-sized mining dredger and its crane arm control protective unit, control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106193168B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108179778A (en) * | 2018-01-26 | 2018-06-19 | 山东临工工程机械有限公司 | Loading machine is laid flat induction structure |
| CN109322338A (en) * | 2018-10-30 | 2019-02-12 | 太原重工股份有限公司 | Excavator and its pushing force control method |
| CN111636499A (en) * | 2020-05-29 | 2020-09-08 | 中联重科股份有限公司 | Rotation limiting system and excavator |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102966133A (en) * | 2011-08-30 | 2013-03-13 | 哈尼施费格尔技术公司 | Systems, methods, and devices for controlling a movement of a dipper |
| CN103147479A (en) * | 2011-11-29 | 2013-06-12 | 哈尼施费格尔技术公司 | Dynamic control of an industrial machine |
| CN103233493A (en) * | 2013-05-05 | 2013-08-07 | 吉林大学 | Digging force monitoring and automatic weighing system and method for mining excavator |
| CN203518994U (en) * | 2011-12-19 | 2014-04-02 | 哈尼施费格尔技术公司 | Permanent magnet inclinometer for industrial machinery |
| WO2015179046A1 (en) * | 2014-05-20 | 2015-11-26 | Caterpillar Inc. | System for monitoring machine components of track-type mobile machines |
-
2016
- 2016-07-06 CN CN201610529930.5A patent/CN106193168B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102966133A (en) * | 2011-08-30 | 2013-03-13 | 哈尼施费格尔技术公司 | Systems, methods, and devices for controlling a movement of a dipper |
| CN103147479A (en) * | 2011-11-29 | 2013-06-12 | 哈尼施费格尔技术公司 | Dynamic control of an industrial machine |
| CN203518994U (en) * | 2011-12-19 | 2014-04-02 | 哈尼施费格尔技术公司 | Permanent magnet inclinometer for industrial machinery |
| CN103233493A (en) * | 2013-05-05 | 2013-08-07 | 吉林大学 | Digging force monitoring and automatic weighing system and method for mining excavator |
| WO2015179046A1 (en) * | 2014-05-20 | 2015-11-26 | Caterpillar Inc. | System for monitoring machine components of track-type mobile machines |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108179778A (en) * | 2018-01-26 | 2018-06-19 | 山东临工工程机械有限公司 | Loading machine is laid flat induction structure |
| CN109322338A (en) * | 2018-10-30 | 2019-02-12 | 太原重工股份有限公司 | Excavator and its pushing force control method |
| CN111636499A (en) * | 2020-05-29 | 2020-09-08 | 中联重科股份有限公司 | Rotation limiting system and excavator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106193168B (en) | 2019-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106193168A (en) | Large-sized mining dredger and crane arm control protective unit, control method | |
| CN109162721B (en) | Unmanned tunneling system and method for coal mine tunnel | |
| CN104057927B (en) | A kind of hydraulic ram structure and movable Crushing machine | |
| CN115354703B (en) | Building engineering side slope displacement monitoring devices | |
| CN114180453B (en) | Anti-tipping mechanism of crane | |
| CN203479567U (en) | Follow-up sample collection and preparation device of rail locomotives | |
| CN202465086U (en) | Landing detector for outrigger of construction machine | |
| KR101326712B1 (en) | Tracking structures protect system | |
| CN206971859U (en) | A kind of locking, the anti-fall device of multi-storied garage lifting chain | |
| CN113309160B (en) | Overload protection structure and method for dozer blade | |
| CN211904914U (en) | Testing arrangement of excavator bucket tooth intensity | |
| CN210978368U (en) | Shock-absorbing device of excavator | |
| CN114198028A (en) | Cyclone anti-floating anchor rod machine and construction method | |
| CN202245891U (en) | Rope breaking detection device for coke dry quenching elevator | |
| CN108639933B (en) | Overturning bracket and hoisting method of shield main drive | |
| CN214934133U (en) | Bucket wheel machine interlocking action protection device | |
| CN202544888U (en) | Flexible digitalized hydraulic support | |
| CN203715098U (en) | Broken rope detection device and suspension arm | |
| CN215256320U (en) | Protective device of tunnel engineering machinery | |
| CN105128018A (en) | Modular six-axis robot and multi-station positioning control method thereof | |
| CN219061057U (en) | Compression buffer type prefabricated cabin body | |
| CN218560992U (en) | Prevent extrudeing lift platform | |
| CN218400727U (en) | Cab ceiling | |
| CN215485568U (en) | Civil air defense door convenient to open and close | |
| CN216477423U (en) | Coal mining tunneling shield structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |