CN109826259A - Mine excavator opens bucket mechanism controls device and control method - Google Patents
Mine excavator opens bucket mechanism controls device and control method Download PDFInfo
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- CN109826259A CN109826259A CN201811568809.9A CN201811568809A CN109826259A CN 109826259 A CN109826259 A CN 109826259A CN 201811568809 A CN201811568809 A CN 201811568809A CN 109826259 A CN109826259 A CN 109826259A
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Abstract
The invention discloses a kind of mine excavators to open bucket mechanism controls device and control method.The control device includes the first measurement module, the second measurement module, third measurement module and control module；First measurement module is mounted on the pushing speed reducer of mine excavator, second measurement module is mounted on the lifting speed reducer of mine excavator, third measurement module is mounted on opening for mine excavator and struggles against on motor, control module is separately connected the first measurement module, the second measurement module, third measurement module and opens bucket motor, and control module controls to adjust the revolving speed and output torque for opening bucket motor.Mine excavator of the invention, which opens bucket mechanism controls device and control method, can ensure open that the amount of deflection of bucket wirerope is moderate, and bucket wirerope is avoided out to shake interference；Meanwhile in dipper close to when opening bucket position, control opens bucket motor and enables high-torque output mode, can effectively reduce open the bucket time, and bucket efficiency is opened in raising, reduces cycle period.
Description
Technical field
The present invention relates to mine excavator technical field more particularly to a kind of mine excavator open bucket mechanism controls device and
Control method.
Background technique
Mine excavator in mining process, scraper bowl under the synergy of hoisting rope and dipper crowding gear, carry out from lower and
On positive motion, the bucket lip of scraper bowl cuts one layer of material to be slipped in scraper bowl during cutting material, from
And it completes material and excavates loading.
Fig. 1 is a kind of structural schematic diagram of the mine excavator for prior art that example provides.As shown in Figure 1, mining digging
Pick machine includes workbench, A type frame, crane arm, dipper, scraper bowl, dipper crowding gear, hoisting mechanism, guy wire, boom hoist cable and opens
The mechanism that struggles against etc., dipper crowding gear include pushing motor, pushing speed reducer, push axis and pushing gear, and hoisting mechanism includes promoting electricity
Machine, lifting speed reducer and hoisting drum.Wherein, A type frame is fixedly mounted on workbench, and it is flat that lifting arm roots are hinged on work
The guy wire of the top front end of platform, regular length connects on the head of crane arm with the A type frame on platform, by tilting crane arm
It holds, dipper crowding gear is mounted on crane arm, and dipper is connected on crane arm by dipper crowding gear, and scraper bowl is mounted on the head of dipper
Portion, crane arm head are equipped with pulley, the hoisting mechanism on one end connection workbench of boom hoist cable, and the other end is across cunning
Wheel connection scraper bowl.Excavator is in operation, the thrust of scraper bowl pushing gear in the lifting force and dipper crowding gear of boom hoist cable
Digging to material is completed under collective effect, fill the scraper bowl of material together with entire machine top slewing equipment work
With lower revolution certain angle, when scraper bowl is located at the top of haulage vehicle, Kai Dou mechanism opens the bottom of scraper bowl with will be in scraper bowl
Material unload, then the top of entire machine go back to again come, dipper withdraw, boom hoist cable decentralization, be ready for next
The operation of circulation.
The Kai Dou mechanism of mine excavator includes opening bucket motor, cable drum, opening bucket wirerope, pulley blocks, lever, open
Bucket chain item and open bucket lever.Wherein, it opens bucket motor to be fixedly mounted in A type frame, opens bucket motor connecting steel wire ropes reel, wirerope
Bucket wirerope is opened in winding on reel, and pulley blocks are mounted on dipper crowding gear, and lever is mounted on dipper head, is opened bucket lever and is mounted on
Scraper bowl bottom, lever connects with bucket lever is opened by opening bucket chain item, are opened and are struggled against wirerope one ends wound on cable drum, another
End connection lever.When excavator works, connection of the scraper bowl in dipper, crane arm, dipper crowding gear, boom hoist cable and other mechanisms
Cooperation carries out digging operation under.Currently, opening the rotor series resistor of bucket motor, the adjusting of bucket motor torque is opened by changing string
The size of the rotor resistance connect realizes that excavator in normal state, opens the fixed output torque of bucket motor setting, when opening bucket steel
When the tensile force of cord is less than fixed end taken about the point of fixation, bucket motor rotation is opened with rope closing；It is greater than fixed end taken about the point of fixation when opening bucket steel wire tensioning power
When, it opens bucket motor and passively puts rope.When needing out bucket, need to increase the output torque for opening bucket motor, usually by changing rotor
There is maximum moment opening bucket moment in the resistance motor that makes out to struggle against, so that the rope traction pulling that makes out to struggle against is opened bucket lever and realized out
Bucket.
The inventor finds that the existing technology has at least the following problems:
It opens bucket motor to export using fixed end taken about the point of fixation, can cause the amount of deflection for holding bucket wirerope larger because of gravity factor, so that
Excavator opens the problem of bucket wirerope will appear shaking interference in operation process；When opening bucket, open corresponding to bucket wirerope
Position and length can not determine, and open bucket motor and adjust control using external, it is understood that there may be the opportunity that adjusts can not entirely accurate
Problem, to influence to open bucket.
Summary of the invention
To solve above-mentioned the technical problems existing in the prior art, the present invention provides a kind of control of mine excavator Kai Dou mechanism
Device processed and control method.
The invention discloses a kind of mine excavators to open bucket mechanism controls device thus.The control device includes the first measurement
Module, the second measurement module, third measurement module and control module；
First measurement module is mounted on the pushing speed reducer of mine excavator, for measuring the pushing speed reducer
The revolving speed and rotational angle of the pushing axis of connection；
Second measurement module is mounted on the lifting speed reducer of the mine excavator, is subtracted for measuring the promotion
The revolving speed and rotational angle of the hoisting drum of fast machine connection；
The third measurement module is mounted on the opening on bucket motor of the mine excavator, described opens bucket motor for measuring
Revolving speed and rotational angle；
The control module is separately connected first measurement module, second measurement module, third measurement mould
Block and it is described open bucket motor, the control module control to adjust described in open the revolving speed and output torque of bucket motor.
Further, it is opened in bucket mechanism controls device in the mine excavator, first measurement module, described second
Measurement module and the third measurement module are rotary encoder.
Further, it is opened in bucket mechanism controls device in the mine excavator, the control module includes PLC control
Device, the PLC controller be separately connected first measurement module, second measurement module, the third measurement module and
It is described to open bucket motor.
In addition, the invention also discloses it is a kind of using above-mentioned mine excavator open bucket mechanism controls device implement open bucket
Mechanism control method, which comprises
First measurement module measures the revolving speed and rotational angle for pushing axis；
Second measurement module measures the revolving speed and rotational angle of the hoisting drum；
The control module receives the measurement data of first measurement module and second measurement module, and according to institute
State pushing stroke, lift stroke and angle that measurement data calculates the dipper of the mine excavator；
The control module calculates the mine excavator according to the pushing stroke of the dipper and the goniometer
Open bucket wirerope required length；
The control module sends instruction control according to the required length data and the current length for opening bucket wirerope
The revolving speed and output torque of bucket motor are opened described in system adjusting；
Open the actual speed and rotational angle of bucket motor described in third measurement module measurement, and by the actual speed
And rotational angle data are sent to the control module；
The control module sends instruction according to the actual speed and rotational angle data received and controls to adjust institute
State out the revolving speed of bucket motor.
The major advantage of technical solution of the present invention is as follows:
Mine excavator provided by the invention open bucket mechanism controls device and control method by motion information to dipper,
Position and angle carry out real-time monitoring, the required length for opening bucket wirerope are calculated according to the position of dipper and goniometer, then root
According to the difference for the physical length and required length for opening bucket wirerope and the motion information of dipper, split bucket motor carries out real-time
It controls to adjust, it can be ensured that the amount of deflection for opening bucket wirerope is moderate, and bucket wirerope is avoided out to shake interference；Meanwhile it is close in dipper
When opening bucket position, control opens bucket motor and enables high-torque output mode, can effectively reduce open the bucket time, and bucket effect is opened in raising
Rate reduces cycle period.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes of the invention one
Point, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, does not constitute improper limitations of the present invention.Attached
In figure:
Fig. 1 is a kind of structural schematic diagram of the mine excavator for prior art that example provides；
Fig. 2 is the schematic diagram that mine excavator provided by one embodiment of the present invention opens bucket mechanism controls device；
Fig. 3 is the working principle diagram that mine excavator provided by one embodiment of the present invention opens bucket mechanism controls device.
Description of symbols:
The first measurement module of 1-, the second measurement module of 2-, 3- third measurement module, 4- control module, G1-, which are pushed, to slow down
Machine, G2- push axis, G3- lifting speed reducer, G4- hoisting drum, G5- dipper, X1- and open bucket motor, X2- cable drum, X3-
Open bucket wirerope, X4- pulley blocks, X5- lever, X6 opens bucket chain item, X7- opens bucket lever.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the specific embodiment of the invention and
Technical solution of the present invention is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only of the invention
A part of the embodiment, instead of all the embodiments.Based on the embodiment of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
Below in conjunction with attached drawing, the technical solution of embodiment that the present invention will be described in detail offer.
As shown in Figure 1 and Figure 2, mine excavator includes workbench, A type frame, crane arm, dipper G5, scraper bowl, pushes away
Press mechanism, hoisting mechanism, guy wire, boom hoist cable and Kai Dou mechanism；Dipper crowding gear include push motor, push speed reducer G1,
Axis G2 and pushing gear are pushed, hoisting mechanism includes promoting motor, lifting speed reducer G3 and hoisting drum G4, Kai Dou mechanism to include
Bucket motor X1, cable drum X2 are opened, bucket wirerope X3 is opened, pulley blocks X4, lever X5, opens bucket chain X6 and open bucket lever X7.
Wherein, A type frame is fixedly mounted on workbench, and lifting arm roots are hinged on the top front end of workbench, regular length
Guy wire connects on the head of crane arm with the A type frame on platform, and tilting crane arm is held, and dipper crowding gear is mounted on lifting
On arm, dipper G5 is connected on crane arm by dipper crowding gear, and scraper bowl is mounted on the head of dipper G5, and crane arm head is equipped with
Pulley, one end of boom hoist cable connect the hoisting mechanism on workbench, and the other end connects scraper bowl across pulley；Open bucket motor
X1 is fixedly mounted in A type frame, is opened winding on bucket motor X1 connecting steel wire ropes reel X2, cable drum X2 and is opened bucket wirerope
X3, pulley blocks X4 are mounted on dipper crowding gear, and lever X5 is mounted on the head dipper G5, are opened bucket lever X7 and are mounted on scraper bowl bottom,
Lever X5 connect with bucket lever X7 is opened by opening bucket chain X6, is opened and is struggled against wirerope X3 one ends wound on cable drum X2, separately
One end connects lever X5.Excavator is in operation, scraper bowl pushing gear in the lifting force and dipper crowding gear of boom hoist cable
Digging to material is completed under thrust collective effect, fills the scraper bowl of material together with the top of entire machine in slewing equipment
Under the action of turn round certain angle, when scraper bowl is located at the top of haulage vehicle, Kai Dou mechanism opens the bottom of scraper bowl will shovel
Material in bucket unloads, and then the top of entire machine is gone back to again comes, and dipper G5 is withdrawn, and boom hoist cable decentralization is ready for
The operation of next circulation.
In a first aspect, as shown in the picture, the embodiment of the invention provides a kind of mine excavators to open bucket mechanism controls device,
The control device includes the first measurement module 1, the second measurement module 2, third measurement module 3 and control module 4；First measurement mould
Block 1 is mounted on the pushing speed reducer G1 of mine excavator, for measuring the revolving speed for pushing the pushing axis G2 of speed reducer G1 connection
And rotational angle；Second measurement module 2 is mounted on the lifting speed reducer G3 of mine excavator, for measuring lifting speed reducer G3
The revolving speed and rotational angle of the hoisting drum G4 of connection；Third measurement module 3 is mounted on opening for mine excavator and struggles against on motor X1,
For measuring the revolving speed and rotational angle of opening bucket motor X1；Control module 4 is separately connected the first measurement module 1, second measurement mould
Block 2, third measurement module 3 and open bucket motor X1, control module 4 control to adjust open bucket motor X1 revolving speed and output torque.
Provided in an embodiment of the present invention to open bucket mechanism controls device in specific application, the measurement of the first measurement module 1 pushes
The revolving speed and rotational angle of axis G2, the revolving speed and rotational angle of the second measurement module 2 measurement hoisting drum G4, control module 4
The hoisting drum G4's that the rotational angle and the second measurement module 2 of the pushing axis G2 measured according to the first measurement module 1 measures
Rotational angle calculates the pushing stroke and lift stroke of corresponding dipper G5, and according to dipper crowding gear, dipper G5 and scraper bowl
Structure size, calculate the present position dipper G5 and angle at this time；Then according to the present position dipper G5 and angle, open bucket machine
The structure size of structure and the amount of deflection for opening bucket wirerope X3 of setting calculate dipper G5 in current location Shi Kaidou wirerope X3
Required length, control module 4 compare out bucket wirerope X3 current length and required length, according to comparison result and push away
The revolving speed of last item G2 and hoisting drum G4 calculate revolving speed, rotational angle and the output torque for determining and opening bucket motor X1, and Xiang Kaidou
Motor X1 sends adjustment signal, realizes the folding and unfolding campaign for opening bucket wirerope X3, so as to open current length and the institute of bucket wirerope X3
Need length always consistent；Meanwhile when bucket motor X1 is opened in the control and regulation of control module 4, bucket is opened in the measurement of third measurement module 3
The actual speed and rotational angle of motor X1, and control module 4, control module are sent by actual speed and rotational angle data
4 receive actual speed and rotational angle data, and continue to adjust according to the split bucket motor X1 of data, to realize that closed loop is anti-
Feedback is adjusted.In addition, bucket motor X1 is opened in the control of control module 4 when the position of dipper G5 and angle are close to setting when opening bucket position
High-torque output module is enabled to realize that scraper bowl opens bucket.
In the embodiment of the present invention, the first measurement module 1, the second measurement module 2 and third measurement module 3 can be compiled for rotation
Code device.It specifically, can be absolute value rotary encoder.
Control module 4 include PLC controller, PLC controller be separately connected the first measurement module 1, the second measurement module 2,
Third measurement module 3 and open bucket motor X1, and control module 4 may be mounted at the workbench of mine excavator, A type frame or rise
On weighing arm.
Second aspect opens bucket mechanism controls device using above-mentioned mine excavator the embodiment of the invention also provides a kind of
That implements opens bucket mechanism control method, this method comprises:
The measurement of first measurement module 1 pushes the revolving speed and rotational angle of axis G2；
The revolving speed and rotational angle of second measurement module 2 measurement hoisting drum G4；
Control module 4 receives the measurement data of the first measurement module 1 and the second measurement module 2, and according to measurement data meter
Calculate pushing stroke, lift stroke and the angle of the dipper G5 of mine excavator；
Control module 4 goes out the institute for opening bucket wirerope X3 of mine excavator according to the pushing stroke and angle calculation of dipper G5
Need length；
Control module 4 sends instruction control and regulation with the current length for opening bucket wirerope X3 according to required length data and opens bucket
The revolving speed and output torque of motor X1；
Third measurement module 3 measures the actual speed and rotational angle for opening bucket motor X1, and by actual speed and angle of rotation
Degree evidence is sent to control module 4；
Control module 4 sends instruction control and regulation according to the actual speed and rotational angle data received and opens bucket motor X1
Revolving speed.
Specifically, the measurement of the first measurement module 1 pushes the revolving speed and rotational angle of axis G2, and the measurement of the second measurement module 2 mentions
Rise the revolving speed and rotational angle of reel G4, the rotational angle for the pushing axis G2 that control module 4 is measured according to the first measurement module 1
The rotational angle of the hoisting drum G4 measured with the second measurement module 2, calculate corresponding dipper G5 pushing stroke and
Lift stroke, and according to the structure size of dipper crowding gear, dipper G5 and scraper bowl, calculate the present position dipper G5 and angle at this time
Degree；Scratching for bucket wirerope X3 is then opened according to the present position dipper G5 and angle, the structure size of Kai Dou mechanism and setting
Degree calculates dipper G5 in the required length of current location Shi Kaidou wirerope X3, and control module 4 compares out bucket wirerope X3's
Current length and required length determine according to the revolving speed calculating of comparison result and pushing axis G2 and hoisting drum G4 and open bucket electricity
Revolving speed, rotational angle and the output torque of machine X1, and Xiang Kaidou motor X1 sends adjustment signal, realizes the receipts for opening bucket wirerope X3
Put movement so that open bucket wirerope X3 current length and required length it is always consistent；Meanwhile it being controlled in control module 4
When bucket motor X1 is opened in adjusting, third measurement module 3 measures the actual speed and rotational angle for opening bucket motor X1, and by actual speed
It is sent to control module 4 with rotational angle data, control module 4 receives actual speed and rotational angle data, and according to data
Split bucket motor X1 continues to adjust, to realize that closed loop feedback is adjusted.In addition, being set when the position of dipper G5 and angle approach
Fixed when opening bucket position, the control of control module 4 opens bucket motor X1 and enables high-torque output module to realize that scraper bowl opens bucket.
As it can be seen that mine excavator provided in an embodiment of the present invention opens bucket mechanism controls device and control method passes through to dipper
Motion information, position and the angle of G5 carries out real-time monitoring, opens bucket wirerope X3 according to the position of dipper G5 and goniometer calculating
Required length, then according to open bucket wirerope X3 physical length and required length difference and dipper G5 movement letter
Breath, split bucket motor X1 carry out real-time control adjusting, it can be ensured that the amount of deflection for opening bucket wirerope X3 is moderate, avoids out bucket wirerope
X3 shakes interference；Meanwhile in dipper G5 close to when opening bucket position, control opens bucket motor X1 and enables high-torque output mode, can
The bucket time is effectively reduced out, bucket efficiency is opened in raising, reduces cycle period.
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In addition, placement shape of "front", "rear", "left", "right", "upper", the "lower" herein to be indicated in attached drawing
State is reference.
Finally, it should be noted that the above examples are only used to illustrate the technical scheme of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (4)
1. a kind of mine excavator opens bucket mechanism controls device, which is characterized in that the control device includes the first measurement module
(1), the second measurement module (2), third measurement module (3) and control module (4)；
First measurement module (1) is mounted on the pushing speed reducer (G1) of mine excavator, subtracts for measuring the pushing
The revolving speed and rotational angle of the pushing axis (G2) of fast machine (G1) connection；
Second measurement module (2) is mounted on the lifting speed reducer (G3) of the mine excavator, for measuring described mention
Rise the revolving speed and rotational angle of the hoisting drum (G4) of speed reducer (G3) connection；
The third measurement module (3) is mounted on the opening on bucket motor (X1) of the mine excavator, described opens bucket for measuring
The revolving speed and rotational angle of motor (X1)；
The control module (4) is separately connected first measurement module (1), second measurement module (2), third survey
Amount module (3) and it is described open bucket motor (X1), the control module (4) control to adjust described in open the revolving speed of motor (X1) and defeated of struggling against
Torque out.
2. mine excavator according to claim 1 opens bucket mechanism controls device, which is characterized in that the first measurement mould
Block (1), second measurement module (2) and the third measurement module (3) are rotary encoder.
3. mine excavator according to claim 1 or 2 opens bucket mechanism controls device, which is characterized in that the control mould
Block (4) includes PLC controller, and the PLC controller is separately connected first measurement module (1), second measurement module
(2), the third measurement module (3) and described open struggle against motor (X1).
4. a kind of open opening for bucket mechanism controls device implementation using mine excavator as claimed any one in claims 1 to 3
Struggle against mechanism control method, which is characterized in that the described method includes:
First measurement module (1) the measurement revolving speed and rotational angle for pushing axis (G2)；
Second measurement module (2) measures the revolving speed and rotational angle of the hoisting drum (G4)；
The control module (4) receives the measurement data of first measurement module (1) and second measurement module (2), and
Pushing stroke, lift stroke and the angle of the dipper (G5) of the mine excavator are calculated according to the measurement data；
The control module (4) calculates the mining excavation according to the pushing stroke of the dipper (G5) and the goniometer
The required length for opening bucket wirerope (X3) of machine；
The control module (4) sends instruction according to the required length data and the current length for opening bucket wirerope (X3)
The revolving speed and output torque of bucket motor (X1) are opened described in control and regulation；
Open the actual speed and rotational angle of bucket motor (X1) described in the third measurement module (3) measurement, and by the reality
Revolving speed and rotational angle data are sent to the control module (4)；
The control module (4) sends according to the actual speed and rotational angle data received and instructs described in control and regulation
Open the revolving speed of bucket motor (X1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811568809.9A CN109826259B (en) | 2018-12-21 | 2018-12-21 | Control device and control method for bucket opening mechanism of mining excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811568809.9A CN109826259B (en) | 2018-12-21 | 2018-12-21 | Control device and control method for bucket opening mechanism of mining excavator |
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| Publication Number | Publication Date |
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| CN109826259A true CN109826259A (en) | 2019-05-31 |
| CN109826259B CN109826259B (en) | 2021-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811568809.9A Active CN109826259B (en) | 2018-12-21 | 2018-12-21 | Control device and control method for bucket opening mechanism of mining excavator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115653030A (en) * | 2022-08-30 | 2023-01-31 | 太原重工股份有限公司 | Mining excavator bucket opening mechanism and excavator |
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| JPH09195306A (en) * | 1996-01-23 | 1997-07-29 | Shin Caterpillar Mitsubishi Ltd | Work part attitude control device for work machine |
| JP2008274585A (en) * | 2007-04-26 | 2008-11-13 | Toa Harbor Works Co Ltd | Dredging support system |
| CN102312450A (en) * | 2011-06-28 | 2012-01-11 | 太原重工股份有限公司 | Bucket-opening mechanism of mining excavator bucket |
| US20140039767A1 (en) * | 2012-07-31 | 2014-02-06 | Caterpillar, Inc. | Work Machine Drive Train Torque Vectoring |
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| CN109826259B (en) | 2021-04-06 |
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