Method of controlling turning of mine excavator using electrical actuation and device to this end

FIELD: mining.

SUBSTANCE: present invention pertains to equipment used in mining for excavation and earth movement, more specifically to control of mine excavators using electrical actuation. The method involves, in excavation mode, limiting of the current to the turning motor armature to a threshold value of the control signal, equal to 20-30% of the shutoff current value. The state of the excavation mode is established from readings of sensors for length of cables, stroke length of lift arms, and sensor for actuating lift and the current to the turning motor armature is automatically limited. Proposal is also given of a device for implementing this method.

EFFECT: reduction of dynamic lateral loads on the working equipment of the mining excavator, which lead to fatigue accumulation in stress concentration zones in metal and fatigue flaking.

2 cl, 2 dwg

 

The invention relates to equipment used in the mining equipment for excavation and movement of soil, more specifically to the management of electric mining shovels.

Dynamic lateral forces on the design of work equipment excavators arise for two reasons: first, when working in rocky, poorly blasted faces at the moment of slip teeth on the inclined bevel of the rock (in half of the cases) and, secondly, enabling the operator to drive the rotation mode of use of the rock mass. This leads to the accumulation of fatigue in stress concentration zones in the metal and the appearance of fatigue cracks.

In the mode of use when the bucket is submerged in the ground, in violation of operating instructions drivers sometimes include drive rotation, thereby creating significant lateral forces on metal working equipment

Known protection actuator rotation (1) in transport mode control signals, which form the static mechanical characteristics, providing the inability to obtain large moments on the shafts of the motors of the mechanism when applying reference signals. The fact that the possibility of formation of magnitude locking currents depending on the setting signals, the authors demonstrated, but the problem of protecting the working equipment is not solved.

The other and what dialogue can serve as a device (2), the principle is based on measuring the current value of the current and voltage of the motor armature. The device comprises a control device, connected in series voltage regulator, current regulator and current sensors and voltage. The device according to this invention is designed to provide smooth acceleration and deceleration of the platform (choice of kinematic joints in the mechanism of rotation) in transport mode. The value of the locking torque on the motor shaft is proportional to the magnitude of the reference signal (lever position controller drive)selected by the driver.

The specified device can be used to keep the platform from the reversal in the digging mode and transport mode, with a corresponding change of the nominal signal by the driver.

The disadvantage of this technical solution is that the regime is digging the duration of exposure of the operator to drive the rotation much longer than the time to select gaps. If it is time to increase, it will increase the time of the transport operation, and therefore, decrease the productivity of the excavator.

As a prototype, consider the way the drive control of the rotation of the excavator and device for its implementation (3)based on measuring the current value of the current and voltage of the motor armature rotation. Pre C is given threshold value of the static component of the armature current of the motor, calculates the derivative at the current value of the armature voltage and compare it with the current value of the armature current. If the resulting value of the compared values of the armature current and the derivative armature voltage is above the threshold, generate the control signal, resulting in lower maximum holding current of the drive of the rotation.

A device for implementing the method of controlling rotation contains the generator, connected in series voltage regulator and a current regulator connected to the drive of the excavator, as well as current sensors and voltage, is further provided with a summing amplifier, differential unit, a threshold element and key. One of the outputs of the current sensor is connected to a summing amplifier, the sensor output voltage is connected through a differentiating unit to the same summing amplifier, the output of the summing amplifier is connected through a threshold element and the key to the input of the current regulator. The nature of the drive operation of rotation can be set based on the determined magnitude of the static moment of resistance to rotation of the platform. If this time does not exceed 4-8% of the maximum locking certified value, then the mode of transportation. If the static moment of resistance to rotation of the platform more than 8% - digging.

Technical ass is her proposed method and device for its implementation is the reduction of dynamic lateral load on the working equipment quarry excavator, leading to the accumulation of fatigue in stress concentration zones in the metal and the appearance of fatigue cracks.

The problem is solved by limiting the armature current of the motor turning the threshold control signal in mode use. The magnitude of the armature current of the motor rotation mode bailing limit value equal to 20-30% of holding current value. The mode of use set by measuring the length of the rope, the length of the handle, the sensor of the lifting drive, sensor, actuator pressure and limit the magnitude of the armature current of the motor rotation automatically.

The device for implementing the method for controlling the drive of the rotation, allowing to limit the lateral load on the working equipment, includes drives rotation, lifting, pressure and setpoint commands in turn, is connected to the control unit. The device also contains a block signal analysis, with which is connected a gauge length of rope, sensor stroke length of the handle, the sensor of the lifting drive, and the unit of analysis of the signals connected to the control unit.

The characteristic mode of use of the rock mass is the coincidence of the following conditions:

- the handle of the bucket is located in the area bounded by the vertical position of the handle and perpendicular position to try is e;

the movement should be in the direction of extension of the handle or lifting of the bucket;

- the current value of the lifting drive (Ip) must satisfy the condition of Ip≥0,6 Iretainer.

By measuring the length of the rope and the stroke length of the handle is determined by the presence of a ladle in the area of use. Area decreased for excavators type ECG, figure 1, between the vertical (I) horizontal and (II) the position of the handle at a certain interval extension of the handle. From a mode of transportation mode of use is different, in addition to the provisions of the bucket, the presence of certain efforts in the lifting drive and the direction of its motion.

The unit of analysis signals of sensor rope length sensor stroke length of the handle determines the position of the bucket in space and the direction of its movement. Additionally, this unit of analysis captures the current value of the lifting drive. Thus, identifies the location of the bucket in the area decreased, i.e. anchor drive current rise exceeds 60% of the holding current when the respective sensors rope length and stroke length of the handle. The coincidence of these conditions is defined as the beginning of the mode of use.

When these conditions within the time T1 (T1 - time delay reliability characteristic mode of use) automatically limit stopper current the drive rotation to a value of 20-30% from the locking certified value, which provides the torque limiting engine rotation, despite the inclusion of engine rotation by the operator.

Disabling automatic signal limitation of actuator rotation occurs when any of the following conditions:

- the handle of the bucket is located in the space outside the area bounded by the vertical location of the handle and its perpendicular position to the boom;

movement of the bucket in the direction of retracting the handle during the time T2 (approximately 1.5±2,0);

- the value of the drive current rise when running uphill bucket meets the condition of Ip<0,6 Iretainerduring the time T3 (approximately 1.5±2,0).

Figure 2 shows the block diagram of a device enabling the method of controlling the drive of the rotation of the excavator.

The device comprises a drive rotation 1, the lifting drive 2, drive head 3, unit team on turn 4, the control unit 5, the unit of analysis of the signals 6, the gauge length of the rope 7 and the sensor stroke length of the handle 8.

The device operates as follows, figure 2:

the unit of analysis of the signals 6, using sensor signals the length of the ropes 7, sensor stroke length of the handle 8 and the current value of the lifting drive 2, determines the position of the bucket in space and the direction of its movement, that is, the operation mode excavate the and. Advanced block analysis of signals 6 captures the current value of the lifting drive 2. As soon as the unit of analysis signals 6 determines that the bucket is in the area of use (the position in the zone I-II figure 1), and anchor drive current rise 3 exceeds 60% of the retainer, the coincidence of these conditions means the beginning of the mode of use. Then with the unit of analysis signals 6 to the control unit 5 receives the reference signal to reduce the stopper drive current turn 1 and using the unit command on turn 4 is automatically limited to the value of the armature current of the drive motor rotation 1, the value of 20-30% holding current value.

In the proposed method and the device:

- determine the mode of use is made by the presence and direction of effort in raising and pressure, which makes it possible to provide the necessary precision autosomic;

- the specified limit values of the drive current rotation occurs when the coincidence stable conditions determining the mode of use and the range of auto-protection action.

Known technical solutions the drive control of the turning is carried out on the basis of the analysis of one single value - the current value of the drive's rotation and its comparison with the control value. Measured current and voltage of the drive rotation, and it is insensitive to the change of moment of inertia and the load of the actuator p is djema when drawing. Thus, the proposed method and device for its implementation has "significant differences" in comparison with the prototype.

The method of drive control of the turning career excavator and device for its implementation, will automatically enter the limit in the operator's actions during the regime of bailing with a high degree of certainty. This will lead to increase of reliability of work equipment quarry excavator (bucket, arm, boom) and increase its service life.

Sources of information

1. Gardeners E.M. Choice of rational forms of static and mechanical characteristics of the actuator rotation excavators. Proceedings of Nitemax, Sverdlovsk, 1990, vol. Increase the life and reliability of the nodes powerful excavators. P.35-39.

2. SU authorship 1461839, E02F 9/20, 15.07.86.

3. RU, patent 2107778, E02F 9/20, 1998.03.27.

1. The method of drive control of the turning career excavator mode decreased by limiting the armature current of the motor turning the threshold control signal is equal to 20-30% of holding current value, wherein the mode of use set by measuring the length of the ropes, the stroke length of the handle, the sensor drive recovery and limit the magnitude of the armature current of the motor rotation automatically.

2. Device for done by the means of the method according to claim 1, containing the actuators rotate, lift, pressure and setpoint commands in turn, is connected to the control unit, characterized in that it contains the unit of analysis of the signals, which are connected to the sensor rope length sensor stroke length of the handle, the sensor anchor drive current rise, and the unit of analysis of the signals connected to the control unit.



 

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1 dwg

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1 dwg

FIELD: mining industry.

SUBSTANCE: present invention relates to the mining industry and may be used for the control of dragline excavator implement during excavation. For this purpose, the device has lifting and pulling hoist motors controlled by speed control units of these motors, a lifting cable (LC) tension controller with the first input connected to the output of the LC tension selector, the second input connected to the output of the LC tension transducer, and the third input connected to the outputs of the main and two additional functional generators (FG) through switches. The controller output is connected to the input of the lifting hoist speed control unit. A signal from the pulling cable tension transducer is supplied to the FG inputs. The switches are controlled through a non-linear element with the inputs connected to the output of selector 1 and an excavation path transducer, and the output connected to the switch control inputs through diodes. The actuating contacts of these switches are connected into circuits switching one of the FG's to the third input of the LC tension controller.

EFFECT: increased capacity, reliability, and service life duration of dragline excavator due to adjusting lifting cable (LC) tension value in case of change of cut and soil hardness conditions.

2 dwg

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