Control system for mining machine
First Claim
1. A mining machine comprising:
- a digging assembly including a boom extending generally upwardly between a lower end and an upper end;
a dipper assembly including a dipper arm and a dipper disposed at a first end of the dipper arm, the dipper assembly slidably supported by the boom,a crowd system for slidably moving the dipper assembly with respect to the boom in a crowd direction and in a retraction direction, the crowd system includinga crowd motor, anda crowd actuator operatively associated with the crowd motor and arranged to slide the dipper arm with respect to the boom; and
an electronic controller operatively associated with the crowd system and in electronic communication with the crowd motor, the electronic controller configured to calculate a calculated crowd force and to detect an impact event where the dipper assembly impacts a surface at a mining site based on the calculated crowd force;
wherein the electronic controller receives a crowd speed associated with the dipper assembly sliding with respect to the boom and calculates the calculated crowd force based in part on the crowd speed;
wherein the electronic controller is configured to reduce the crowd speed based on a crowd motor speed limit if the impact event is detected; and
wherein the electronic controller receives a crowd motor force range and a crowd motor speed range and interpolates the crowd motor speed limit corresponding to the calculated crowd force from the crowd motor force range and the crowd motor speed range.
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Accused Products
Abstract
A mining machine such as a mining shovel includes a digging assembly having an upward extending boom and a dipper assembly generally horizontally supported by the boom and configured to crowd toward and retract from a vertical bank at a mine site. To determine if the dipper assembly strikes the bank, an electronic controller can calculate a calculated crowd force based in part on a crowd motor torque associated with a crowd motor, a crowd speed of the dipper assembly, and an inertia parameter. If the calculated crowd force exceeds a predetermined first crowd threshold, the electronic controller can register an impact event. In further aspects, the electronic controller can execute a force modification function to modify the crowding forces and a speed reduction function to reduce the crowd speed.
23 Citations
13 Claims
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1. A mining machine comprising:
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a digging assembly including a boom extending generally upwardly between a lower end and an upper end; a dipper assembly including a dipper arm and a dipper disposed at a first end of the dipper arm, the dipper assembly slidably supported by the boom, a crowd system for slidably moving the dipper assembly with respect to the boom in a crowd direction and in a retraction direction, the crowd system including a crowd motor, and a crowd actuator operatively associated with the crowd motor and arranged to slide the dipper arm with respect to the boom; and an electronic controller operatively associated with the crowd system and in electronic communication with the crowd motor, the electronic controller configured to calculate a calculated crowd force and to detect an impact event where the dipper assembly impacts a surface at a mining site based on the calculated crowd force; wherein the electronic controller receives a crowd speed associated with the dipper assembly sliding with respect to the boom and calculates the calculated crowd force based in part on the crowd speed; wherein the electronic controller is configured to reduce the crowd speed based on a crowd motor speed limit if the impact event is detected; and wherein the electronic controller receives a crowd motor force range and a crowd motor speed range and interpolates the crowd motor speed limit corresponding to the calculated crowd force from the crowd motor force range and the crowd motor speed range. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of operating a mining machine comprising:
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crowding a dipper assembly supported by a boom arranged in an upward orientation on the mining machine toward a surface of a mining site; monitoring a crowd motor torque output from a crowd motor operatively associated with the dipper assembly; monitoring a crowd speed associated with the dipper assembly; receiving an inertia parameter associated with the dipper assembly; calculating a calculated crowd force based in part on the crowd motor torque, the crowd speed, and the inertia parameter; registering an impact event where the dipper assembly strikes the surface if the calculated crowd force exceeds a first crowd threshold; and reducing the crowd speed based on the a crowd motor speed limit if the impact event is detected;
wherein reducing the crowd speed includes;receiving a crowd motor force range and crowd motor speed range; and interpolating the crowd motor speed limit corresponding to the calculated crowd force from the crowd motor force range and the crowd motor speed range. - View Dependent Claims (12, 13)
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Specification