SU1271950A1 - Apparatus for controlling running gear of excavator - Google Patents

Abstract

The invention is intended to control the drives for moving and rotating rotary excavators of powerful bulldozers. The purpose of the invention is to increase the speed of movement of an excavator. The device contains actuators of the left and right tracks with controllers. Load sensors 5 and 8 of the left and right tracks (G) are connected via module 6 and 7 to the module for selection of the largest signal, the output of which is connected to one of the nonlinear elements (NE) 10 At the output of the NE 10, the signal is removed only with a significant load of the drives of the right and left G. Signals from sensors 11 and 14 of the speed of the left and right G through the elec

Description

The module extraction units 12, 15 are connected to the smallest signal extraction unit 13. The signal from block 13 is fed to the input of the second NE 17, at the output of which the signal exists at speeds T close to nominal. Outputs NE 10 and 17 are connected to the third NE 16, where a low load mode is detected. In the NE-16 code, a signal appears at

low load on the mechanism of travel, reducing the excitation of electric drives and thereby increasing their speed. In the absence of signals. . at the output of both or one of the 17 excitation controllers, connected to the outputs of the ne 16, sets the controllable amplifier 19 connected to it with a signal corresponding to the maximum excitation current. 1 il.

The invention relates to controlling the drive of a single-bucket excavator and can be used to control the drives of movement of rotary excavators of power bulldozers, as well as the drive-rotation of excavators and a number of other drives of mining machines and mechanisms.

The purpose of the invention is to increase; excavator moving speed.

The drawing shows a functional diagram of an apparatus for controlling an excavator stroke mechanism.

The device contains an electric drive 1 of the left track with the command device 2, an electric drive 3 of the right track with the command device 4, a load sensor 5 of the left track, the first module 6 element of the module, a high signal extraction unit 7, a sensor of the right track 8, the first non-linear module element 10, left track speed sensor 11, third module selection element 12, smallest signal extraction unit 13, right track speed sensor 14, fourth module element 15, blunt module, second 16 and third 17 non-linear el elements, excitation regulator 18 and controlled amplifier 19 for supplying motor excitation windings.

The device works as follows.

In the absence of a signal at the output of the second nonlinear element 16, having a characteristic with a dead zone and saturation, the current of the controlled amplifier 19 is maintained by means of the excitation regulator 18

2

equal to or more than the rated excitation current of the motors of the drives 1 and 3 of the left and right tracks. Speed

In this case, the driver is determined by the position of the drive command 2. left track and command 4 drive right track.

Power, engine development

stroke when moving an excavator, is determined by the displacement

F F V ,,

where F is the force developed by the engine;

V engine speed, reduced to the linear speed of the track.

For electric drives for design, electric motors with a rated power calculated from the condition of the excavator up to a slope of 7-10 are taken at design,

However, when the engine speed is close to the nominal, and with a slight resistance to the movement of the excavator, for example, when it moves downhill, the power develops

by the turn of the stroke, significantly less but foreign.

For a more complete use of the power of the engines, it is advisable to increase their speed (while reducing the allowable torque), which is carried out as follows. The signals from sensors 5 and 8 of the load of the drives of the left and right tracks follow through the right 6 and second 9 elements of the module selection to the inputs of the bls

Claims (1)

Claim A device for controlling the mechanism of the excavator, containing sensors. loads of the left and right tracks, 'speed sensors of the left and right tracks, two command devices connected separately to the inputs of the electric drives of the right and left tracks, and the field windings of the motors of these drives are connected in series to the output of the controlled amplifier, characterized in that, in order to increase the speed of movement excavator, it is equipped with a unit for extracting the largest signal, a unit for extracting the smallest signal, three non-linear elements, an excitation regulator and four elements for isolating the module, to I will give to them the load sensors of the left and right tracks and the speed sensors of the left and right tracks, respectively, and the outputs of the first and second highlighting elements of the module are connected to the inputs of the highlighting unit, and its output through the first non-linear link is connected to the first input of the second non-linear link, and the outputs of the third and fourth module selection elements are connected to the inputs of the smallest signal extraction unit, the output of which through the third non-linear link is connected to the second input of the second non-linear link the output of which is connected through an excitation regulator to the input of a controlled amplifier. VNIIIPI Order 6315/29 Circulation-641, Subscription Custom polygr. ave, city of Uzhhorod, st. Project, 4