Controlling a crowd parameter of an industrial machine

• US 9,689,141 B2
• Filed: 01/04/2016
• Issued: 06/27/2017
• Est. Priority Date: 01/21/2014
• Status: Active Grant

• Current Assignee: Joy Global Surface Mining Inc. (Komatsu Ltd.)
• Original Assignee: Harnischfeger Technologies Inc. (Komatsu Ltd.)
• Inventors: Lee, Mooyoung
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US14/987,548
• Publication Number:
  US 20160115670A1
• Time in Patent Office: 540 Days
• 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;

a dipper handle;

a boom;

a crowd motor;

a hoist motor;

a swing motor;

a first sensor operable to generate a first signal related to a dipper handle angle;

a second sensor operable to generate a second signal related to a hoist rope angle; and

a controller configured to

receive the first signal related to the dipper handle angle and the second signal related to the hoist rope angle,

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

compare the retract torque value to a retract torque threshold value, and

responsive to determining the retract torque value is greater or equal to the retract torque threshold value, set a retract torque of the crowd motor to a maximum value.

2. The industrial machine of claim 1, wherein the industrial machine is a hydraulic machine.

3. An industrial machine comprising:

a dipper;

a dipper handle;

a boom;

a crowd motor;

a hoist motor;

a swing motor;

a first sensor operable to generate a first signal related to a dipper handle angle;

a second sensor operable to generate a second signal related to a hoist rope angle; and

a controller configured to

receive the first signal related to the dipper handle angle and the second signal related to the hoist rope angle,

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

compare the retract torque value to a retract torque threshold value, and

responsive to determining the retract torque value is less than the retract torque threshold value, set a retract torque of the crowd motor to a default value.

4. The industrial machine of claim 3, wherein the industrial machine is a hydraulic machine.

5. An industrial machine comprising:

a dipper;

a dipper handle;

a boom;

a crowd motor;

a hoist motor;

a swing motor;

a first sensor operable to generate a first signal related to a dipper handle angle;

a second sensor operable to generate a second signal related to a hoist rope angle; and

a controller configured to

receive the first signal related to the dipper handle angle and the second signal related to the hoist rope angle,

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

compare the retract torque value to a retract torque threshold value, and

responsive to determining the retract torque value is less than the retract torque threshold value, set a retract torque of the crowd motor to a value that is determined as a function of a parameter of the industrial machine.

6. The industrial machine of claim 5, wherein the parameter of the industrial machine includes the dipper handle angle and the hoist rope angle.

7. The industrial machine of claim 5, 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.

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

9. The industrial machine of claim 8, wherein the retract torque early in the digging cycle has a greater value than the retract torque late in the digging cycle.

10. The industrial machine of claim 5, wherein the parameter of the industrial machine includes a tipping moment of the industrial machine.

11. The industrial machine of claim 5, wherein the parameter of the industrial machine is a position of a component of the industrial machine.

12. The industrial machine of claim 11, wherein the component of the industrial machine is a dipper.

13. The industrial machine of claim 5, wherein the industrial machine is a hydraulic machine.