Dipper drop detection and mitigation in an industrial machine

• US 9,562,341 B2
• Filed: 04/24/2015
• Issued: 02/07/2017
• Est. Priority Date: 04/24/2015
• Status: Active Grant

• Current Assignee: Joy Global Surface Mining Inc. (Komatsu Ltd.)
• Original Assignee: Harnischfeger Technologies Inc. (Komatsu Ltd.)
• Inventors: Voelz, Nicholas R.
• Primary Examiner(s): ANTONUCCI, ANNE MARIE
• Application Number:
  US14/695,294
• Publication Number:
  US 20160312435A1
• Time in Patent Office: 655 Days
• Field of Search: 701/50
• US Class Current: 1/1
• CPC Class Codes: E02F 3/308 working outwardly
• 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 3/439 Automatic repositioning of the implement, e.g. automatic dumping, auto-return E02F3/438 takes precedence
• 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 9/2004 Control mechanisms, e.g. control levers control levers per se G05G
• CPC Class Codes: E02F 9/2041 Automatic repositioning of implements, i.e. memorising determined positions of the implement for dipper-arms or bucket-arms E02F3/434, E02F3/437, E02F3/438, E02F3/439 take precedence

Abstract

An industrial machine that includes a dipper, a user interface, a sensor, a hoist actuator, and a controller. The user interface is operable to generate a first signal related to a requested characteristic of the industrial machine. The sensor is operable to generate a second signal related to an actual characteristic of the industrial machine. The hoist actuator has at least one operating parameter. The controller is configured to receive the first signal related to the actual characteristic, receive the second signal related to the requested characteristic, compare the requested characteristic to the actual characteristic to detect a dipper drop condition, and modify a setting of the at least one operating parameter of the hoist actuator after the dipper drop condition is detected. The dipper drop condition is detected after the requested characteristic does not match the actual characteristic

Claims

1. An industrial machine comprising:

a dipper;

a user interface operable to generate a first signal related to a requested direction of dipper movement based on an operator input;

a sensor operable to generate a second signal related to an actual direction of dipper movement;

a hoist actuator having a hoist force operating parameter; and

a controller including a processor and executable instructions stored in a non-transitory computer readable medium, the controller operable to retrieve from the memory and execute the instructions to

receive the first signal related to the requested direction of dipper hoist movement,

receive the second signal related to the actual direction of dipper hoist movement,

compare the requested direction of dipper hoist movement to the actual direction of dipper hoist movement to detect a dipper drop condition, the dipper drop condition being detected after the requested direction of dipper hoist movement is opposite the actual direction of dipper hoist movement, and

modify a setting of the hoist force operating parameter of the hoist actuator after the dipper drop condition is detected.

2. The industrial machine of claim 1, wherein the hoist actuator is a hoist motor.

3. The industrial machine of claim 2, wherein the hoist force operating parameter of the hoist motor is a hoist torque.

4. The industrial machine of claim 1, wherein the controller is further configured to start a first timer after detecting the dipper drop condition.

5. The industrial machine of claim 4, wherein the modifying the setting of the hoist force operating parameter of the hoist actuator occurs after the first timer has reached a first time limit.

6. The industrial machine of claim 5, wherein the controller is further configured to start a second timer after the modifying the setting of the hoist force operating parameter of the hoist actuator.

7. The industrial machine of claim 6, wherein the controller is further configured to apply hoist brakes after the second timer has reached a second time limit.

8. A method of controlling an industrial machine including a dipper, the method comprising:

receiving, at a processor, a first signal related to an actual direction of dipper hoist movement from a sensor;

receiving, at the processor, a second signal related to a requested direction of dipper hoist movement based on an operator input to a user interface;

comparing, using the processor, the requested direction of dipper hoist movement to the actual direction of dipper hoist movement to detect a dipper drop condition, the dipper drop condition being detected after the requested direction of dipper hoist movement is opposite the actual direction of dipper hoist movement; and

modifying, using the processor, a setting of a hoist force operating parameter of a hoist actuator after the dipper drop condition is detected.

9. The method of claim 8, wherein the hoist actuator is a hoist motor.

10. The method of claim 9, wherein the hoist force operating parameter of the hoist motor is a hoist torque.

11. The method of claim 8, further comprising starting a first timer after detecting the dipper drop condition.

12. The method of claim 11, wherein the modifying the setting of the hoist force operating parameter of the hoist actuator occurs after the first timer has reached a first time limit.

13. The method of claim 12, further comprising starting a second timer after the setting of the hoist force operating parameter of the hoist actuator.

14. The method of claim 13, further comprising applying hoist brakes after the second timer has reached a second time limit.

15. An industrial machine comprising:

a component;

a user interface operable to generate a first signal related to a requested direction of component hoist movement based on an operator input;

a sensor operable to generate a second signal related to an actual direction of component hoist movement;

an actuator having hoist force operating parameter; and

a controller including a processor and executable instructions stored in a non-transitory computer readable medium, the controller operable to retrieve from the memory and execute the instructions to

receive the first signal related to the requested direction of component hoist movement,

receive the second signal related to the actual direction of component hoist movement,

compare the requested direction of component hoist movement to the actual direction of component hoist movement to detect a component drop condition, the component drop condition being detected after the requested direction of component hoist movement is opposite the actual direction of component hoist movement, and

modify a setting of the hoist force operating parameter of the actuator after the component drop condition is detected.

16. The industrial machine of claim 15, wherein the component is a dipper.

17. The industrial machine of claim 15, wherein the actuator is a hoist actuator.

18. The industrial machine of claim 17, wherein the hoist force operating parameter of the hoist actuator is a hoist force.

19. The industrial machine of claim 15, wherein the controller is further configured to start a first timer after detecting the component drop condition.

20. The industrial machine of claim 19, wherein the modifying the setting of the hoist force operating parameter of the actuator occurs after the first timer has reached a first time limit.

21. The industrial machine of claim 20, wherein the controller is further configured to start a second timer after the modifying the setting of the hoist force operating parameter of the actuator.

22. The industrial machine of claim 21, wherein the controller is further configured to apply brakes after the second timer has reached a second time limit.