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WO2000004240A1 - Chain and bucket excavator - Google Patents

Chain and bucket excavator Download PDF

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Publication number
WO2000004240A1
WO2000004240A1 PCT/DE1999/002068 DE9902068W WO0004240A1 WO 2000004240 A1 WO2000004240 A1 WO 2000004240A1 DE 9902068 W DE9902068 W DE 9902068W WO 0004240 A1 WO0004240 A1 WO 0004240A1
Authority
WO
WIPO (PCT)
Prior art keywords
chain
bucket
speed
excavator
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/DE1999/002068
Other languages
German (de)
French (fr)
Inventor
Karl Hartmann
Werner Daus
Helmut Newi
Peter Scholze
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Priority to HU0102701A priority Critical patent/HU225659B1/en
Publication of WO2000004240A1 publication Critical patent/WO2000004240A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/08—Dredgers; Soil-shifting machines mechanically-driven with digging elements on an endless chain
    • E02F3/12—Component parts, e.g. bucket troughs
    • E02F3/14—Buckets; Chains; Guides for buckets or chains; Drives for chains
    • E02F3/141—Buckets; Chains; Guides for buckets or chains; Drives for chains buckets
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/08—Dredgers; Soil-shifting machines mechanically-driven with digging elements on an endless chain
    • E02F3/12—Component parts, e.g. bucket troughs
    • E02F3/16—Safety or control devices

Definitions

  • the invention relates to a bucket chain excavator with buckets guided on a chain for use in open-cast mining systems, the chain being drivable by means of a drive assigned to the bucket chain excavator, and to a method for regulating the drive of the bucket chain excavator.
  • the aim of the invention is therefore to provide a bucket ladder excavator with less wear and thus less downtime than is the case with known bucket ladder excavators. It is also a goal to provide a bucket ladder excavator operating method that reduces wear.
  • the object is achieved according to the invention by a bucket ladder excavator for use in opencast mining systems according to claim 1 and a method according to claim 5.
  • the bucket chain excavator has buckets guided on a chain, the chain being driven or being drivable by means of a drive assigned to the bucket chain excavator.
  • the speed of the chain is measured without contact.
  • it is provided in particular to regulate this drive as a function of measured values obtained by the contactless speed measurement. In this way, it is possible to largely regulate the acceleration forces that arise during the ongoing and even constant operation of the bucket chain. This significantly reduces wear on the chain and leads to a significant reduction in downtimes of the bucket chain excavator.
  • the derivation of the speed of the chain is determined, in particular by means of a differentiator. It is special The advantage of regulating the derivation of the speed of the chain to a predetermined setpoint. In this way, the wear on the chain can be significantly reduced compared to a pure speed control.
  • reference numeral 1 denotes a bucket ladder excavator which has a grave member 9 guided on ropes 10, 11, 12, 13.
  • a boom 7 with a counterweight 8 is provided for weight compensation.
  • buckets 2 guided on a chain 3 are guided to break down material to be mined.
  • the chain is driven by means of a drive 5 arranged in a so-called machine house 6.
  • a non-contact speed measuring device 4 is arranged above the drive 5 and measures the speed of the chain 3 without contact.
  • the speed measuring device works according to the microwave Doppler radar principle and delivers e.g. continuously a speed proportional frequency of approx. 62 Hz / m / s. This speed-dependent frequency is fed to a frequency / analog converter, which generates a speed-proportional standard signal 0 ... 10 V or 4 ... 20 mA.
  • Other non-contact speed measuring devices such as ultrasound devices, can also be used as speed measuring devices.
  • the non-contact measured speed signal is differentiated and the drive is regulated by means of a controller in such a way that the derivation of the speed of the chain corresponds to a predetermined setpoint.
  • a setpoint for the derivation of the speed of 0 is specified.
  • PI or PID controllers and more complex controllers can be used as controllers.
  • the speedometer is attached to the roof of the machine house 6 of the bucket chain excavator 1 above the chute 15 with the direction of the bucket ladder tip. The running chain is measured. The reflection of the high-frequency radiation emitted by the radar, which is necessary for determining the speed, advantageously takes place through the largest irradiated area of the bucket back.
  • the particularly advantageous arrangement of the speed measuring device in the area of the drive means that runtime effects of the power transmission on the elongated element chain do not falsify the measurement result, ie the direct relationship between the Turas shape and the chain speed is recorded.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Conveyors (AREA)

Abstract

A chain and bucket excavator (1) with buckets (2) that are guided on a chain (3) for use in surface installations, whereby the chain (3) is driven by means of a drive mechanism (5) associated with the chain and bucket excavator (1). The chain and bucket excavator (1) has a speed measurement device (4) that operates in a contactless manner and is used to measure the speed of the chain (3). The drive mechanism (5) is regulated according to the output from the speed measurement device that operates in a contactless manner.

Description

Beschreibungdescription

EimerkettenbaggerBucket chain excavator

Die Erfindung betrifft einen Eimerkettenbagger mit an einer Kette geführten Eimern zum Einsatz in Tagebauanlagen, wobei die Kette mittels eines dem Eimerkettenbagger zugeordneten Antriebs antreibbar ist, sowie ein Verfahren zur Regelung des Antriebs des Eimerkettenbaggers .The invention relates to a bucket chain excavator with buckets guided on a chain for use in open-cast mining systems, the chain being drivable by means of a drive assigned to the bucket chain excavator, and to a method for regulating the drive of the bucket chain excavator.

Aufgrund der äußerst hohen Investitionskosten für Eimerkettenbagger sind deren Ausfallzeiten eine besonders kritische Größe. Ziel der Erfindung ist es daher, einen Eimerkettenbagger mit geringerem Verschleiß und damit geringeren Ausfall- Zeiten anzugeben als dies von bekannten Eimerkettenbaggern der Fall ist. Ferner ist es ''Ziel, ein Betriebsverfahren eines Eimerkettenbaggers anzugeben, das den Verschleiß vermindert.Due to the extremely high investment costs for bucket chain excavators, their downtimes are a particularly critical factor. The aim of the invention is therefore to provide a bucket ladder excavator with less wear and thus less downtime than is the case with known bucket ladder excavators. It is also a goal to provide a bucket ladder excavator operating method that reduces wear.

Die Aufgabe wird erfindungsgemäß durch einen Eimerkettenbag- ger zum Einsatz in Tagebauanlagen gemäß Anspruch 1 sowie ein Verfahren gemäß Anspruch 5 gelöst. Dabei weist der Eimerkettenbagger an einer Kette geführte Eimer auf, wobei die Kette mittels eines dem Eimerkettenbagger zugeordneten Antriebs angetrieben wird bzw. antreibbar ist. Die Geschwindigkeit der Kette wird berührungslos gemessen. Ferner ist es insbesondere vorgesehen, diesen Antrieb in Abhängigkeit von Meßwerten, die durch die berührungslose Geschwindigkeitsmessung erhalten werden, zu regeln. Auf diese Weise ist es möglich, die Beschleunigungskräfte, die sich im laufenden und selbst kon- stanten Betrieb der Eimerkette ergeben, weitestgehend auszu- regeln. Dies verringert den Verschleiß an der Kette erheblich und führt zu einer deutlichen Verringerung der Stillstandszeiten des Eimerkettenbaggers.The object is achieved according to the invention by a bucket ladder excavator for use in opencast mining systems according to claim 1 and a method according to claim 5. The bucket chain excavator has buckets guided on a chain, the chain being driven or being drivable by means of a drive assigned to the bucket chain excavator. The speed of the chain is measured without contact. Furthermore, it is provided in particular to regulate this drive as a function of measured values obtained by the contactless speed measurement. In this way, it is possible to largely regulate the acceleration forces that arise during the ongoing and even constant operation of the bucket chain. This significantly reduces wear on the chain and leads to a significant reduction in downtimes of the bucket chain excavator.

In vorteilhafter Ausgestaltung der Erfindung wird die Ableitung der Geschwindigkeit der Kette, insbesondere mittels eines Differenzierers, bestimmt. Dabei ist es von besonderem Vorteil, die Ableitung der Geschwindigkeit der Kette auf einen vorgegebenen Sollwert zu regeln. Auf diese Weise läßt sich der Verschleiß an der Kette gegenüber einer reinen Geschwindigkeitsregelung weiterhin deutlich verringern.In an advantageous embodiment of the invention, the derivation of the speed of the chain is determined, in particular by means of a differentiator. It is special The advantage of regulating the derivation of the speed of the chain to a predetermined setpoint. In this way, the wear on the chain can be significantly reduced compared to a pure speed control.

Weitere Vorteile und Einzelheiten ergeben sich aus der nachfolgenden Beschreibung eines Ausführungsbeispiels. Bei diesem in der FIG dargestellten Ausführungsbeispiel bezeichnet Bezugszeichen 1 einen Eimerkettenbagger, der ein an Seilen 10, 11, 12, 13 geführtes Graborgan 9 aufweist. Zum Gewichtsausgleich ist ein Ausleger 7 mit einem Ausgleichsgewicht 8 vorgesehen. Mittels des Graborgans 9 werden an einer Kette 3 geführte Eimer 2 zum Abbau von abzubauendem Material geführt. Die Kette wird mittels eines in einem sogenannten Maschinen- haus 6 angeordneten Antriebs 5 angetrieben. Über dem Antrieb 5 ist ein berührungslos arbeitendes Geschwindigkeitsmeßgerät 4 angeordnet, das die Geschwindigkeit der Kette 3 berührungslos mißt.Further advantages and details emerge from the following description of an exemplary embodiment. In this exemplary embodiment shown in the FIG, reference numeral 1 denotes a bucket ladder excavator which has a grave member 9 guided on ropes 10, 11, 12, 13. A boom 7 with a counterweight 8 is provided for weight compensation. By means of the digging element 9, buckets 2 guided on a chain 3 are guided to break down material to be mined. The chain is driven by means of a drive 5 arranged in a so-called machine house 6. A non-contact speed measuring device 4 is arranged above the drive 5 and measures the speed of the chain 3 without contact.

Das Geschwindigkeitsmeßgerät arbeitet in beispielhafter Ausgestaltung nach dem Mikrowellendopplerradarprinzip und liefert z.B. kontinuierlich eine geschwindigkeitsproportionale Frequenz von ca. 62 Hz/m/s. Diese geschwindigkeitsabhängige Frequenz wird einem Frequenz/Analogwandler zugeführt, der ein geschwindigkeitsproportionales Einheitssignal 0 ... 10 V bzw. 4 ... 20 mA erzeugt. Als Geschwindigkeitsmeßgeräte kommen aber auch andere berührungslos arbeitende Geschwindigkeitsmeßgeräte in Frage, wie etwa Ultraschallgeräte.In an exemplary embodiment, the speed measuring device works according to the microwave Doppler radar principle and delivers e.g. continuously a speed proportional frequency of approx. 62 Hz / m / s. This speed-dependent frequency is fed to a frequency / analog converter, which generates a speed-proportional standard signal 0 ... 10 V or 4 ... 20 mA. Other non-contact speed measuring devices, such as ultrasound devices, can also be used as speed measuring devices.

In ganz besonders vorteilhafter Weise wird das berührungslos gemessene Geschwindigkeitssignal differenziert und der Antrieb mittels eines Reglers derart geregelt, daß die Ableitung der Geschwindigkeit der Kette einem vorgegebenen Sollwert entspricht. Im konstanten Betrieb wird dabei ein Soll- wert für die Ableitung der Geschwindigkeit von 0 vorgegeben. Als Regler kommen z.B. PI- oder PID-Regler sowie komplexere Regler in Frage. Das Geschwindigkeitsmeßgerät ist am Dach des Maschinenhauses 6 des Eimerkettenbaggers 1 über dem Schüttschacht 15 mit Strahlrichtung Eimerleiterspitze angebracht. Es erfolgt die Messung der ablaufenden Kette. Die zur Geschwindigkeitsbe- Stimmung notwendige Reflexion der durch das Radar ausgesandten hochfrequenten Strahlung erfolgt vorteilhafterweise durch die jeweils größte bestrahlte Fläche der Eimerrücken. Zur Justierung der Geschwindigkeitsmeßeinrichtung wird diese schwenk- und neigbar angebracht. Durch die besonders vorteil- hafte Anordnung des Geschwindigkeitsmeßgerätes im Bereich des Antriebs wird erreicht, daß Laufzeiteffekte der Kraftübertragung auf dem langgestreckten Element Kette das Meßergebnis nicht verfälschen, d.h. der unmittelbare Zusammenhang zwischen Turasform und Kettengeschwindigkeit erfaßt wird.In a very particularly advantageous manner, the non-contact measured speed signal is differentiated and the drive is regulated by means of a controller in such a way that the derivation of the speed of the chain corresponds to a predetermined setpoint. In constant operation, a setpoint for the derivation of the speed of 0 is specified. PI or PID controllers and more complex controllers can be used as controllers. The speedometer is attached to the roof of the machine house 6 of the bucket chain excavator 1 above the chute 15 with the direction of the bucket ladder tip. The running chain is measured. The reflection of the high-frequency radiation emitted by the radar, which is necessary for determining the speed, advantageously takes place through the largest irradiated area of the bucket back. To adjust the speed measuring device, it is attached so that it can be pivoted and tilted. The particularly advantageous arrangement of the speed measuring device in the area of the drive means that runtime effects of the power transmission on the elongated element chain do not falsify the measurement result, ie the direct relationship between the Turas shape and the chain speed is recorded.

Damit werden obengenannte Be'schleunigungskräfte als verschleißintensivierende Faktoren des Graborgans reduziert bzw. treten nicht mehr auf. Es kommt zu längeren Betriebszeiten der Eimerketten und damit zu einer erheblichen Reduzierung der Instandhaltungsaufwendungen. The above-mentioned acceleration forces as wear-intensifying factors of the digging organ are thus reduced or no longer occur. There are longer operating times for the bucket chains and thus a considerable reduction in maintenance costs.

Claims

Patentansprüche claims 1. Eimerkettenbagger (1) mit an einer Kette (3) geführten Eimern (2) zum Einsatz in Tagebauanlagen, wobei die Kette (3) mittels eines dem Eimerkettenbagger (1) zugeordneten Antriebs antreibbar ist, d a d u r c h g e k e n n z e i c h n e t, daß der Eimerkettenbagger (1) ein berührungslos arbeitendes Geschwindigkeitsmeßgerät (4) zur Messung der Geschwindigkeit der Kette (3) aufweist.1. bucket chain excavator (1) with a chain (3) guided buckets (2) for use in opencast mining systems, the chain (3) being drivable by means of a bucket chain excavator (1) associated drive, characterized in that the bucket chain excavator (1) Has non-contact speed measuring device (4) for measuring the speed of the chain (3). 2. Eimerkettenbagger (1) nach Anspruch 1, d a d u r c h g e k e n n z e i c h n e t, daß er einen Differenzierer zur Bildung der Ableitung eines vom Geschwindigkeitsmeßgerät (4) ermittelten Geschwindigkeitswertes aufweist. '2. bucket ladder excavator (1) according to claim 1, d a d u r c h g e k e n n z e i c h n e t that it has a differentiator to form the derivative of a speed value determined by the speed measuring device (4). ' 3. Eimerkettenbager (1) nach Anspruch 2, d a d u r c h g e k e n n z e i c h n e t, daß er einen Regler zur derartigen Regelung des Antriebs aufweist, daß die Ableitung des vom Geschwindigkeitsmeßgerät (4) gemessenen Geschwindigkeitswertes einem vorgegebenen Sollwert entspricht.3. bucket chain storage (1) according to claim 2, d a d u r c h g e k e n n z e i c h n e t that it has a controller for controlling the drive such that the derivative of the speed value measured by the speed measuring device (4) corresponds to a predetermined target value. 4. Eimerkettenbagger (1) nach Anspruch 1, 2 oder 3, d a d u r c h g e k e n n z e i c h n e t, daß der Antrieb (5) als Direktantrieb ausgebildet ist.4. bucket ladder excavator (1) according to claim 1, 2 or 3, d a d u r c h g e k e n n z e i c h n e t that the drive (5) is designed as a direct drive. 5. Verfahren zur Regelung des Antriebs (5) eines Eimerketten- baggers (1) nach einem der vorhergehenden Ansprüche, wobei der Eimerkettenbagger (1) an einer Kette (3) geführte Eimer5. A method of controlling the drive (5) of a bucket chain excavator (1) according to one of the preceding claims, wherein the bucket chain excavator (1) on a chain (3) guided bucket (2) aufweist, d a d u r c h g e k e n n z e i c h n e t, daß die Geschwindigkeit der Kette (3) berührungslos gemessen wird. (2), characterized in that the speed of the chain (3) is measured without contact. 6. Verfahren nach Anspruch 5, d a d u r c h g e k e n n z e i c h n e t, daß die Ableitung der Geschwindigkeit der Kette (3) bestimmt wird.6. The method of claim 5, d a d u r c h g e k e n n z e i c h n e t that the derivative of the speed of the chain (3) is determined. 7. Verfahren nach Anspruch 6, d a d u r c h g e k e n n z e i c h n e t, daß die Ableitung der Geschwindigkeit der Kette (3) auf einen vorgegebenen Sollwert geregelt wird. 7. The method according to claim 6, d a d u r c h g e k e n n z e i c h n e t that the derivative of the speed of the chain (3) is regulated to a predetermined target value.
PCT/DE1999/002068 1998-07-16 1999-07-05 Chain and bucket excavator Ceased WO2000004240A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
HU0102701A HU225659B1 (en) 1998-07-16 1999-07-05 Chain and bucket excavator and method of its driving control

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19831913A DE19831913C1 (en) 1998-07-16 1998-07-16 Process for reducing wear on the bucket chain of bucket chain excavators
DE19831913.4 1998-07-16

Publications (1)

Publication Number Publication Date
WO2000004240A1 true WO2000004240A1 (en) 2000-01-27

Family

ID=7874222

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1999/002068 Ceased WO2000004240A1 (en) 1998-07-16 1999-07-05 Chain and bucket excavator

Country Status (5)

Country Link
CZ (1) CZ298392B6 (en)
DE (1) DE19831913C1 (en)
HU (1) HU225659B1 (en)
RU (1) RU2217553C2 (en)
WO (1) WO2000004240A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8768579B2 (en) 2011-04-14 2014-07-01 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US9206587B2 (en) 2012-03-16 2015-12-08 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10157345C1 (en) * 2001-11-22 2003-02-20 Lausitzer Braunkohle Ag Conveyor chain drive for bucket chain excavator uses drive polygons provided with extended bearing surfaces on either side

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1658028A1 (en) * 1966-05-14 1971-04-08 Rationalisierung Braunkohle Ve Process for the automatic power control of excavators
DE19616056C1 (en) * 1996-04-23 1997-07-03 H Aug Schmidt Transportanlagen Controller for bucket-chain excavator with inverter-fed cable drives

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DE507610C (en) * 1930-09-18 Luebecker Maschb Ges Connection between bucket tube and bucket shake
RU2022894C1 (en) * 1990-09-25 1994-11-15 Филиал Новочеркасского политехнического института им.С.Орджоникидзе в г.Шахты Loading member
RU2010766C1 (en) * 1991-06-17 1994-04-15 Свердловский горный институт им.В.В.Вахрушева Mine hoist control device
DE4342040A1 (en) * 1993-12-09 1995-06-14 H Aug Schmidt Transportanlagen Bucket chain excavator with slack bucket chain
RU2109305C1 (en) * 1995-02-10 1998-04-20 Борисов Андрей Константинович Radar device for checking of speed of band conveyers and moving (rotating) assemblies of mechanisms

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1658028A1 (en) * 1966-05-14 1971-04-08 Rationalisierung Braunkohle Ve Process for the automatic power control of excavators
DE19616056C1 (en) * 1996-04-23 1997-07-03 H Aug Schmidt Transportanlagen Controller for bucket-chain excavator with inverter-fed cable drives

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8768579B2 (en) 2011-04-14 2014-07-01 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US9315967B2 (en) 2011-04-14 2016-04-19 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US9567725B2 (en) 2011-04-14 2017-02-14 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US10227754B2 (en) 2011-04-14 2019-03-12 Joy Global Surface Mining Inc Swing automation for rope shovel
US11028560B2 (en) 2011-04-14 2021-06-08 Joy Global Surface Mining Inc Swing automation for rope shovel
US12018463B2 (en) 2011-04-14 2024-06-25 Joy Global Surface Mining Inc Swing automation for rope shovel
US9206587B2 (en) 2012-03-16 2015-12-08 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel
US9745721B2 (en) 2012-03-16 2017-08-29 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel
US10655301B2 (en) 2012-03-16 2020-05-19 Joy Global Surface Mining Inc Automated control of dipper swing for a shovel

Also Published As

Publication number Publication date
CZ2001127A3 (en) 2002-02-13
HU225659B1 (en) 2007-05-29
RU2217553C2 (en) 2003-11-27
CZ298392B6 (en) 2007-09-19
DE19831913C1 (en) 2000-02-24
HUP0102701A3 (en) 2003-08-28
HUP0102701A2 (en) 2001-12-28

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