SU1544898A1 - Device for controlling the advance of dragline bucket - Google Patents

Abstract

The invention relates to the mining industry and is intended to control the working equipment of dragline excavators. The goal is to increase reliability by reducing the dynamic loads of the working equipment during the transportation of the bucket. The device contains blocks 8 and 9 for adjusting the speed of the lifting drives (PP) and the drive cable (PT), connected respectively to the engines 6 and 7 of the winches 4 and 5 of the lifting rope 2 and the connecting rope (TC) 3. The input of the block 8 is fed the signal from the unit 10 of the PP speed, and to the input of the block 9 a signal from the block 11 of the control signal of the PT, the inputs of which receive signals from the setpoint 12 of the PT speed and the adder 13. The latter summarizes the signals from the sensor 14 of the length of the TC 3 and from the block 15 of calculation of a given length of TC 3. The latter is calculated based on the signal fishing from the sensor 16 of the length of the hoisting ropes and the setter of the trajectory of the bucket. The block 11 is a block of selection of the largest signal and connects to the input of block 9 an output signal of the adder, which provides stabilization of a given length of TC 3, which is necessary for moving the bucket to rise or lower along a given tract. In this case, the speed of PP will be minimal. 2 Il.

Description

31544898

The invention relates to the mining industry and can be used to control the working equipment of dragline excavators. with

The purpose of the invention is to increase reliability by reducing the dynamic loads of the working equipment during the transportation of the bucket.

FIG. 1 is a block diagram of a control unit of a drachline bucket transport process control unit; Fig. 2 shows the trajectory of the bucket.

The device contains a bucket 1 with 2 lifting and traction 3 ropes, 15 (lifting 4 and pulling 5 winches with engines 6 and 7 of lifting drives and connecting rods connected to blocks 8 and 9 of lifting speed drives and pulling. To the input The lifting speed control unit 8 receives a signal from the lift speed setting device 10. The drive speed control unit 9 receives a signal from the drive control unit 11 for driving the drive signal, the first input of which receives a signal from setpoint 12 drive speed ti gi, and watts swarm him

L, Ln - lengths of boom and hoisting ropes;

 - the angle between the axis of the boom and the lifting ropes (self-unloading angle of the bucket).

At constant values, the bucket movement paths will be straight lines passing through the boom head blocks. Therefore, it is possible to automatically control the transportation of the bucket along any right-angle trajectories belonging to the area of the working trajectories of the movement of the bucket, by forming a predetermined length of the tow ropes in accordance with formula (1). These trajectories are selected based on the mining passport.

To raise the laden bucket, the marine painter sets on the setter 1 of the position of the bucket's trajectory a signal corresponding to a given angle of self-unloading, which determines the desired trajectory of the bucket. If the mining passport permits, the trajectory may

input - from the adder 13 To the first BXO - JQ to be selected near the line to the self-accumulator of the adder 13, a sensor 1-4 of the rope lengths is connected, and to the second input is the output of the set 15 unit for calculating the set value of the length of the rope, the inputs of which are connected to the sensor 16 the length of the hoisting ropes and the setting device 17 of the position of the trajectory of the movement of the bucket.

The device works as follows.

It is known that the optimal trajectory by the criterion of minimum energy consumption is a straight line passing close to the self-discharge line. In the plane of the boom between the lines formed by the boom, the pulling and lifting ropes, a triangle can be selected (Fig. 2). With known boom lengths L and drag lines Ln of the dragline, by setting the values, we calculate the lengths of the pull ropes in accordance with the cosine theorem

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loads to satisfy the energy criterion of optimality for minimum energy consumption. Since the input of the calculating unit 15, which performs the calculation using formula (1), also receives a signal from the sensor 16 of the length of the lifting cables, corresponding to their length at the end of the digging operation, a signal of the specified length of the connecting cables will be generated at its output LT to move the bucket along a predetermined path. After the bucket is detached from the surface, the driver sets the driving signal on the lifting wheel speed setting device 10, the signal corresponding to the rated drive speed for lifting the bucket, and the driving cable speed on the dial driving speed sensor 12, corresponding to the nominal speed of driving cable. which has a negative polarity with respect to the potential of the operational land.

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L, Ln - lengths of boom and hoisting ropes;

 - the angle between the axis of the boom and the lifting ropes (self-unloading angle of the bucket).

At constant values, the trajectory of the bucket will be straight lines passing through the boom head blocks. Therefore, it is possible to automatically control the transportation of the bucket along any straight line trajectories belonging to the area of the working trajectories of the bucket movement, to form a predetermined length of the tow ropes in accordance with formula (1). These trajectories are selected based on the mining passport.

To raise the loaded bucket, the marine painter sets on the setter 17 of the position of the bucket's movement path a signal corresponding to a predetermined angle of self-unloading, which determines the desired trajectory of the bucket movement. If the mining passport permits, the trajectory may

be selected near the zamorae line

loads to satisfy the energy criterion of optimality for minimum energy consumption. Since the input of the calculator 15 performing the calculation by formula (1) also receives a signal from the sensor 16 of the length of the hoisting ropes corresponding to their length at the end point of the digging operation, a signal of a predetermined length of the cable ropes LT for bucket movement along a predetermined path. After the bucket is detached from the surface, the driver sets a signal at the drive unit 10 of the drive speed that corresponds to the rated drive speed for lifting the bucket, and at the drive unit 12, the drive speed is a signal corresponding to the drive speed of the drive for ejection of traction ropes polarity with respect to the potential of operating land.

t goal

 4 L

„- 2LLn cos.d)

Where

T. 3d A

- set value of the KanaTOBj trademark length

When the loaded bucket is raised, the output signal of the adder 13 has a negative polarity (i.e., it is aimed at etching traction

ropes), but it is larger in magnitude than the output signal of the knob 12 of the drive speed of the thrust rod. This is due to the fact that in order to maintain a given length of haul rope, the speed of the haul winch must be less than the nominal one.

Of the two negative algebraic quantities, the one with less modulus is greater. The output signal of the adder 13, which sets the speed of the traction winch, which is less nominal, is less modulo, and its algebraic value is greater than the output signal of the drive speed setting unit 12 of the drive train. The drive control signal extracting unit 11, which is the unit for extracting the largest signal, connects the output of the drive speed control unit 9 to the output signal of the adder 13, which provides stabilization of a given length of haul cables needed to move the bucket to a lift along a predetermined path, at the same time the drive speed of the lift is equal to the nominal.

To unload the bucket, the driver sets a signal corresponding to the self-unloading zone of the bucket on the setpoint adjuster 17. The rope is loosened and the bucket is unloaded.

To lower the bucket, the driver sets a signal at the output of the setpoint adjuster 17 of the trajectory signal corresponding to the lowering trajectory, and at the output of the lifting drive speed setting knob 10 a signal corresponding to etching the hoisting ropes at a nominal speed. When the bucket is lowered, the output signal of the adder 13 has a positive polarity (i.e., it is aimed at winding the pull ropes) and is larger than the output signal of the driving speed setting device 12, i.e. and, uh uf2. A signal corresponding to bucket etching is set at the setting drive 12 of the drive speed.

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0

at nominal speed and, therefore, this signal has a negative polarity. The drive control signal extraction unit 11 gi connects to the input of the drive speed control unit 9, the output signal of the adder 13, which ensures the movement of the bucket to the descent along Q of a predetermined trajectory. The drive speed of the lift is equal to the nominal.

Claims (1)

Invention Formula A dragline bucket transportation process control unit containing a rope length sensor, a rope length sensor, the output of which is connected to the first input of the adder, a hoist drive speed setting device, a hoist drive speed control unit connected to the lifting head motor, a drive speed setting device a cable connected to the first input of the drive control signal extraction unit, the output of which is connected through the speed control unit 0 to drive a gang winch motor, characterized in that, in order to increase reliability by reducing the dynamic loads of the working equipment during the transportation of the bucket, it is equipped with a setter of the position of the bucket's trajectory and a unit for calculating the specified value of the length of the rope, and the output the length sensor of the hoisting ropes is connected to the first input of the unit for calculating the specified value of the length of the traction ropes, to the second input of which is connected the positioner of the trajectory of the movement of the bucket or bucket, and its output connected to the second input of the adder; the output of which is connected to the second input of the block I of the drive drive control signal, and the output of the speed limiter The lift drive Q is connected to a lifting speed control unit. five 0 Phie.e Ґлс. The zone samorelgruy ki