Controlling a crowd parameter of an industrial machine

• US 9,260,834 B2
• Filed: 01/21/2015
• Issued: 02/16/2016
• Est. Priority Date: 01/21/2014
• Status: Active Grant

• Current Assignee: Joy Global Surface Mining Inc. (Mitsui & Company Limited)
• Original Assignee: Harnischfeger Technologies Inc. (Mitsui & Company Limited)
• Inventors: Lee, Mooyoung
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US14/601,716
• Publication Number:
  US 20150204052A1
• Time in Patent Office: 391 Days
• Field of Search: 701/50, 37347-348, 373/94, 379/07, 414/680, 414/685, 414/687
• US Class Current: 1/1
• CPC Class Codes: E02F 3/30 with a dipper-arm pivoted on a cantilever beam , i.e. boom
• CPC Class Codes: E02F 3/304 with the dipper-arm slidably mounted on the boom E02F3/305 takes precedence
• CPC Class Codes: E02F 3/425 Drive systems for dipper-arms, backhoes or the like
• CPC Class Codes: E02F 3/435 for dipper-arms, backhoes or the like
• CPC Class Codes: E02F 3/46 with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor E02F3/205, E02F3/905 take precedence
• CPC Class Codes: E02F 9/2016 Winches winches per se B66D
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)

Abstract

An industrial machine that includes a dipper, a dipper handle, a boom, a crowd motor, a hoist motor, a swing motor, a first sensor, a second sensor, and a controller. The first sensor generates a first signal related to a dipper handle angle and the second sensor generates a second signal related to a hoist rope angle. The first signal and the second signal are received by the controller. The controller determines, based on the first and second signals, a retract torque value. The retract torque value is compared to a retract torque threshold values. If the retract torque value is greater or equal to the threshold value, the retract torque of the crowd motor is set to a maximum value. If the retract torque is less than the threshold value, the retract torque of the crowd motor is set to a default value.

Claims

1. An industrial machine comprising:

a dipper attached to a dipper handle;

a crowd motor having a retract torque parameter;

a hoist motor operable to apply a force to a hoist rope;

a first sensor operable to generate a first signal related to a first parameter of the industrial machine;

a second sensor operable to generate a second signal related to a second parameter of the industrial machine; and

a controller configured to

receive the first signal related to the first parameter and the second signal related to the second parameter,

determine a retract torque limit based on the first signal and the second signal,

set the retract torque parameter of the crowd motor to the retract torque limit, and

operate the industrial machine at or below the retract torque parameter.

2. The industrial machine of claim 1, wherein the retract torque limit is determined as a function of the first parameter and the second parameter.

3. The industrial machine of claim 2, wherein the function is selected from the group consisting of a linear function, a non-linear function, a quadratic function, a cubic function, an exponential function, a hyperbolic function, and a power function.

4. The industrial machine of claim 2, wherein the first parameter is an angle of the dipper handle and the second parameter is an angle of the hoist rope.

5. The industrial machine of claim 1, wherein the retract torque limit corresponds to a maximum amount of retract torque that is required for a given portion of a digging cycle.

6. The industrial machine of claim 5, wherein the retract torque limit early in the digging cycle has a greater value than the retract torque limit late in the digging cycle.

7. The industrial machine of claim 5, wherein the retract torque limit is determined as a function of a tipping moment of the industrial machine.

8. An industrial machine comprising:

a dipper attached to a dipper handle;

a crowd motor having a retract torque parameter;

a hoist motor operable to apply a force to a hoist rope;

a first sensor operable to generate a first signal related to a first parameter of the industrial machine;

a second sensor operable to generate a second signal related to a second parameter of the industrial machine; and

a controller configured to

receive the first signal related to the first parameter and the second signal related to the second parameter,

determine a value of the first parameter based on the first signal,

compare the value of the first parameter to a first threshold,

determine a value of the second parameter based on the second signal,

compare the value of the second parameter to a second threshold,

determine a retract torque limit based on the comparison of the value of the first parameter to the first threshold and the comparison of the value of the second parameter to the second threshold,

compare the retract torque limit to a third threshold,

set the retract torque parameter of the crowd motor to a first value if the retract torque limit is greater than or equal to the third threshold,

set the retract torque parameter of the crowd motor to a second value if the retract torque limit is less than the third threshold, the first value greater than the second value, and

operate the industrial machine at or below the retract torque parameter.

9. The industrial machine of claim 8, wherein the retract torque limit is determined as a function of the value of the first parameter and the value of the second parameter.

10. The industrial machine of claim 9, wherein the function is selected from the group consisting of a linear function, a non-linear function, a quadratic function, a cubic function, an exponential function, a hyperbolic function, and a power function.

11. The industrial machine of claim 8, wherein the first parameter is an angle of the dipper handle and the second parameter is an angle of the hoist rope.

12. The industrial machine of claim 8, wherein the retract torque limit corresponds to a maximum amount of retract torque that is required for a given portion of a digging cycle.

13. The industrial machine of claim 12, wherein the retract torque limit early in the digging cycle has a greater value than the retract torque limit late in the digging cycle.

14. The industrial machine of claim 12, wherein the retract torque limit is determined as a function of a tipping moment of the industrial machine.

15. The industrial machine of claim 8, wherein the first threshold is related to a predetermined range of dipper handle angle values.

16. The industrial machine of claim 8, wherein the second threshold is related to a predetermined range of hoist rope angle values.

17. A method of controlling an actuation device of an industrial machine, the method comprising:

generating, using a sensor, a signal related to a parameter of the industrial machine;

receiving, at a processor, the signal related to the parameter of the industrial machine;

determining, using the processor, a retract force limit based on the signal related to the parameter of the industrial machine;

setting, using the processor, a crowd parameter of the actuation device to the retract force limit; and

operating the industrial machine at or below the crowd parameter.

18. The method of claim 17, wherein the actuation device is a crowd motor.

19. The method of claim 17, wherein the parameter of the industrial machine is selected from the group consisting of an angle of a dipper handle, an angle of a hoist rope, and a dipper position.

20. The method of claim 17, wherein the retract force limit is determined as a function of the parameter of the industrial machine.

21. The method of claim 20, wherein the function is selected from the group consisting of a linear function, a non-linear function, a quadratic function, a cubic function, an exponential function, a hyperbolic function, and a power function.

22. The method of claim 17, wherein the retract force limit corresponds to a maximum amount of retract force that is required for a given portion of a digging cycle.

23. The method of claim 22, wherein the retract force limit early in the digging cycle has a greater value than the retract force limit late in the digging cycle.

24. The method of claim 22, wherein the retract force limit is determined as a function of a tipping moment of the industrial machine.

25. The method of claim 17, wherein the parameter of the industrial machine is a position of a component of the industrial machine.

26. The method of claim 25, wherein the component of the industrial machine is a dipper.

27. The method of claim 17, wherein the retract force limit is a retract torque limit.

28. The method of claim 17, wherein the industrial machine is a hydraulic machine.