公开(公告)号：US10273655B2

公开(公告)日：2019-04-30

申请号：US14799660

申请日：2015-07-15

Applicant: Harnischfeger Technologies, Inc.

Inventor： Joseph J. Colwell ,  Michael J. Linstroth ,  Nicholas R. Voelz

IPC: E02F3/30 ,  E02F3/46 ,  E02F9/20 ,  E02F9/26

Abstract: An industrial machine that includes a dipper, a crowd actuation device, a hoist actuation device, a swing actuation device, one or more sensors, and a controller. The one or more sensors generate one or more signals related to a load within the dipper. The one or more signals are received by the controller. The controller determines, based on the one or more signals, whether the industrial machine is operating in an over-loaded condition by comparing a suspended load to a suspended load threshold value. If the suspended load is greater or equal to the suspended load threshold value, the controller takes an action to control the industrial machine. The action taken by the controller can include increasing, decreasing, or otherwise modifying a speed parameter or speed limit, increasing, decreasing, or otherwise modifying a force parameter, etc.

公开(公告)号：US20170114527A1

公开(公告)日：2017-04-27

申请号：US15401620

申请日：2017-01-09

Applicant: Harnischfeger Technologies, Inc.

Inventor： Wesley P. Taylor ,  Michael J. Linstroth

IPC: E02F9/26 ,  E02F3/30 ,  E02F3/43

CPC classification number: E02F9/264 ,  E02F3/308 ,  E02F3/435 ,  E02F3/437 ,  E02F3/439 ,  E02F3/46 ,  E02F3/54 ,  E02F7/026 ,  E02F7/04 ,  E02F7/06 ,  E02F9/2033 ,  E02F9/2045

Abstract: A system and method for various levels of automation of a swing-to-hopper motion for a rope shovel. An operator controls a rope shovel during a dig operation to load a dipper with materials. A controller receives position data, either via operator input or sensor data, for the dipper and a hopper where the materials are to be dumped. The controller then calculates an ideal path for the dipper to travel to be positioned above the hopper to dump the contents of the dipper. In some embodiments, the controller outputs operator feedback to assist the operator in traveling along the ideal path to the hopper. In some embodiments, the controller restricts the dipper motion such that the operator is not able to deviate beyond certain limits of the ideal path. In some embodiments, the controller automatically controls the movement of the dipper to reach the hopper.

公开(公告)号：US10227754B2

公开(公告)日：2019-03-12

申请号：US15401620

申请日：2017-01-09

Applicant: Harnischfeger Technologies, Inc.

Inventor： Wesley P. Taylor ,  Michael J. Linstroth

IPC: E02F9/26 ,  E02F3/43 ,  E02F3/54 ,  E02F7/02 ,  E02F7/04 ,  E02F7/06 ,  E02F9/20 ,  E02F3/46 ,  E02F3/30

Abstract: A system and method for various levels of automation of a swing-to-hopper motion for a rope shovel. An operator controls a rope shovel during a dig operation to load a dipper with materials. A controller receives position data, either via operator input or sensor data, for the dipper and a hopper where the materials are to be dumped. The controller then calculates an ideal path for the dipper to travel to be positioned above the hopper to dump the contents of the dipper. In some embodiments, the controller outputs operator feedback to assist the operator in traveling along the ideal path to the hopper. In some embodiments, the controller restricts the dipper motion such that the operator is not able to deviate beyond certain limits of the ideal path. In some embodiments, the controller automatically controls the movement of the dipper to reach the hopper.

公开(公告)号：US09366004B2

公开(公告)日：2016-06-14

申请号：US14632532

申请日：2015-02-26

Applicant: Harnischfeger Technologies, Inc.

Inventor： Michael J. Linstroth ,  Joseph J. Colwell ,  Mooyoung Lee ,  Matthew I. Loew ,  Jason Knuth ,  Peter Gizewski, Jr. ,  Justin Zunker

IPC: G06F7/70 ,  E02F3/00 ,  F16B7/10 ,  E02F3/38 ,  E02F9/26 ,  E02F3/30 ,  E02F3/46 ,  E02F9/20

CPC classification number: E02F3/427 ,  E02F3/304 ,  E02F3/308 ,  E02F3/38 ,  E02F3/382 ,  E02F3/46 ,  E02F9/202 ,  E02F9/2033 ,  E02F9/265 ,  F16H19/04 ,  F16H2019/046 ,  Y10T29/49716

Abstract: An industrial machine and a method of controlling an industrial machine, the industrial machine including a dipper supported by a dipper handle. The method may include determining an operating phase of the industrial machine, in a first operating phase of the industrial machine, limiting, with at least one controller, a reach of the dipper handle, and in a second operating phase of the industrial machine, enabling, with the at least one controller, an extended reach of the dipper handle greater than the reach in the first operating phase. The industrial machine may include at least one controller configured to determine an operating phase of the industrial machine, in a first operating phase of the industrial machine, limit a reach of the dipper handle, and, in a second operating phase of the industrial machine, enable an extended reach of the dipper handle greater than the reach in the first operating phase.

公开(公告)号：US20180230673A1

公开(公告)日：2018-08-16

申请号：US15751035

申请日：2016-06-30

Applicant: Harnischfeger Technologies, Inc.

Inventor： MooYoung Lee ,  William J. Hren ,  Ethan J. Pedretti ,  Michael J. Linstroth ,  Nicholas R. Voelz

IPC: E02F3/43 ,  E02F9/26 ,  E02F9/20 ,  E02F9/24

CPC classification number: E02F3/439 ,  E02F3/301 ,  E02F3/308 ,  E02F3/427 ,  E02F9/02 ,  E02F9/2033 ,  E02F9/24 ,  E02F9/262 ,  E02F9/265

Abstract: Methods and systems for operating an industrial machine. One system includes a controller that includes an electronic processor. The electronic processor is configured to calculate an eccentricity of a center of gravity of the industrial machine with respect to a center of a bearing propelling the industrial machine and calculate a ground pressure associated with the bearing based on the eccentricity of the center of gravity. The electronic processor is also configured to set a maximum torque applied by an actuator included in the industrial machine to a value less than an available maximum torque based on the eccentricity of the center of gravity and the ground pressure.

公开(公告)号：US09567725B2

公开(公告)日：2017-02-14

申请号：US15067353

申请日：2016-03-11

Applicant: Harnischfeger Technologies, Inc.

Inventor： Wesley P. Taylor ,  Michael J. Linstroth

IPC: E02F3/00 ,  E02F3/43 ,  E02F3/54 ,  E02F7/02 ,  E02F7/04 ,  E02F7/06 ,  E02F9/20 ,  E02F3/46 ,  E02F3/30

CPC classification number: E02F9/264 ,  E02F3/308 ,  E02F3/435 ,  E02F3/437 ,  E02F3/439 ,  E02F3/46 ,  E02F3/54 ,  E02F7/026 ,  E02F7/04 ,  E02F7/06 ,  E02F9/2033 ,  E02F9/2045

Abstract: A system and method for various levels of automation of a swing-to-hopper motion for a rope shovel. An operator controls a rope shovel during a dig operation to load a dipper with materials. A controller receives position data, either via operator input or sensor data, for the dipper and a hopper where the materials are to be dumped. The controller then calculates an ideal path for the dipper to travel to be positioned above the hopper to dump the contents of the dipper. In some embodiments, the controller outputs operator feedback to assist the operator in traveling along the ideal path to the hopper. In some embodiments, the controller restricts the dipper motion such that the operator is not able to deviate beyond certain limits of the ideal path. In some embodiments, the controller automatically controls the movement of the dipper to reach the hopper.

Abstract translation: 用于钢丝绳铲的各种水平的摆动到料斗运动的系统和方法。 在挖掘操作期间，操作者控制绳铲，以装载用料的铲斗。 控制器通过操作员输入或传感器数据接收位置数据，用于铲斗和物料将要倾倒的料斗。 然后，控制器计算出一个理想的路径，以便铲斗移动到位于料斗上方以倾倒铲斗的内容物。 在一些实施例中，控制器输出操作者反馈以帮助操作者沿着理想路径行进到料斗。 在一些实施例中，控制器限制铲斗运动，使得操作者不能偏离超过理想路径的某些限制。 在一些实施例中，控制器自动控制铲斗到达料斗的运动。

公开(公告)号：US20140365082A1

公开(公告)日：2014-12-11

申请号：US14321511

申请日：2014-07-01

Applicant: HARNISCHFEGER TECHNOLOGIES, INC.

Inventor： Wesley P. Taylor ,  Michael J. Linstroth

IPC: E02F3/43 ,  E02F9/20

CPC classification number: E02F9/264 ,  E02F3/308 ,  E02F3/435 ,  E02F3/437 ,  E02F3/439 ,  E02F3/46 ,  E02F3/54 ,  E02F7/026 ,  E02F7/04 ,  E02F7/06 ,  E02F9/2033 ,  E02F9/2045

Abstract: A system and method for various levels of automation of a swing-to-hopper motion for a rope shovel. An operator controls a rope shovel during a dig operation to load a dipper with materials. A controller receives position data, either via operator input or sensor data, for the dipper and a hopper where the materials are to be dumped. The controller then calculates an ideal path for the dipper to travel to be positioned above the hopper to dump the contents of the dipper. In some embodiments, the controller outputs operator feedback to assist the operator in traveling along the ideal path to the hopper. In some embodiments, the controller restricts the dipper motion such that the operator is not able to deviate beyond certain limits of the ideal path. In some embodiments, the controller automatically controls the movement of the dipper to reach the hopper.

Abstract translation: 用于钢丝绳铲的各种水平的摆动到料斗运动的系统和方法。 在挖掘操作期间，操作者控制绳铲，以装载用料的铲斗。 控制器通过操作员输入或传感器数据接收位置数据，用于铲斗和物料将要倾倒的料斗。 然后，控制器计算出一个理想的路径，以便铲斗移动到位于料斗上方以倾倒铲斗的内容物。 在一些实施例中，控制器输出操作者反馈以帮助操作者沿着理想路径行进到料斗。 在一些实施例中，控制器限制铲斗运动，使得操作者不能偏离超过理想路径的某些限制。 在一些实施例中，控制器自动控制铲斗到达料斗的运动。

公开(公告)号：US20160194850A1

公开(公告)日：2016-07-07

申请号：US15067353

申请日：2016-03-11

Applicant: Harnischfeger Technologies, Inc.

Inventor： Wesley P. Taylor ,  Michael J. Linstroth

IPC: E02F3/43 ,  E02F3/30 ,  E02F9/20

CPC classification number: E02F9/264 ,  E02F3/308 ,  E02F3/435 ,  E02F3/437 ,  E02F3/439 ,  E02F3/46 ,  E02F3/54 ,  E02F7/026 ,  E02F7/04 ,  E02F7/06 ,  E02F9/2033 ,  E02F9/2045

Abstract: A system and method for various levels of automation of a swing-to-hopper motion for a rope shovel. An operator controls a rope shovel during a dig operation to load a dipper with materials. A controller receives position data, either via operator input or sensor data, for the dipper and a hopper where the materials are to be dumped. The controller then calculates an ideal path for the dipper to travel to be positioned above the hopper to dump the contents of the dipper. In some embodiments, the controller outputs operator feedback to assist the operator in traveling along the ideal path to the hopper. In some embodiments, the controller restricts the dipper motion such that the operator is not able to deviate beyond certain limits of the ideal path. In some embodiments, the controller automatically controls the movement of the dipper to reach the hopper.

Abstract translation: 用于钢丝绳铲的各种水平的摆动到料斗运动的系统和方法。 在挖掘操作期间，操作者控制绳铲，以装载用料的铲斗。 控制器通过操作员输入或传感器数据接收位置数据，用于铲斗和物料将要倾倒的料斗。 然后，控制器计算出一个理想的路径，以便铲斗移动到位于料斗上方以倾倒铲斗的内容物。 在一些实施例中，控制器输出操作者反馈以帮助操作者沿着理想路径行进到料斗。 在一些实施例中，控制器限制铲斗运动，使得操作者不能偏离超过理想路径的某些限制。 在一些实施例中，控制器自动控制铲斗到达料斗的运动。

公开(公告)号：US09315967B2

公开(公告)日：2016-04-19

申请号：US14321511

申请日：2014-07-01

Applicant: Harnischfeger Technologies, Inc.

Inventor： Wesley P. Taylor ,  Michael J. Linstroth

IPC: E02F3/43 ,  E02F9/20 ,  E02F3/54 ,  E02F7/02 ,  E02F7/04 ,  E02F7/06

CPC classification number: E02F9/264 ,  E02F3/308 ,  E02F3/435 ,  E02F3/437 ,  E02F3/439 ,  E02F3/46 ,  E02F3/54 ,  E02F7/026 ,  E02F7/04 ,  E02F7/06 ,  E02F9/2033 ,  E02F9/2045

Abstract: A system and method for various levels of automation of a swing-to-hopper motion for a rope shovel. An operator controls a rope shovel during a dig operation to load a dipper with materials. A controller receives position data, either via operator input or sensor data, for the dipper and a hopper where the materials are to be dumped. The controller then calculates an ideal path for the dipper to travel to be positioned above the hopper to dump the contents of the dipper. In some embodiments, the controller outputs operator feedback to assist the operator in traveling along the ideal path to the hopper. In some embodiments, the controller restricts the dipper motion such that the operator is not able to deviate beyond certain limits of the ideal path. In some embodiments, the controller automatically controls the movement of the dipper to reach the hopper.

Abstract translation: 用于钢丝绳铲的各种水平的摆动到料斗运动的系统和方法。 在挖掘操作期间，操作者控制绳铲，以装载用料的铲斗。 控制器通过操作员输入或传感器数据接收位置数据，用于铲斗和物料将要倾倒的料斗。 然后，控制器计算出一个理想的路径，以便铲斗移动到位于料斗上方以倾倒铲斗的内容物。 在一些实施例中，控制器输出操作者反馈以帮助操作者沿着理想路径行进到料斗。 在一些实施例中，控制器限制铲斗运动，使得操作者不能偏离超过理想路径的某些限制。 在一些实施例中，控制器自动控制铲斗到达料斗的运动。

公开(公告)号：US20160017573A1

公开(公告)日：2016-01-21

申请号：US14799660

申请日：2015-07-15

Applicant: Harnischfeger Technologies, Inc.

Inventor： Joseph J. Colwell ,  Michael J. Linstroth ,  Nicholas R. Voelz

IPC: E02F9/20 ,  E02F3/43 ,  E02F3/30

CPC classification number: E02F9/2029 ,  E02F3/308 ,  E02F3/46 ,  E02F9/265

Abstract: An industrial machine that includes a dipper, a crowd actuation device, a hoist actuation device, a swing actuation device, one or more sensors, and a controller. The one or more sensors generate one or more signals related to a load within the dipper. The one or more signals are received by the controller. The controller determines, based on the one or more signals, whether the industrial machine is operating in an over-loaded condition by comparing a suspended load to a suspended load threshold value. If the suspended load is greater or equal to the suspended load threshold value, the controller takes an action to control the industrial machine. The action taken by the controller can include increasing, decreasing, or otherwise modifying a speed parameter or speed limit, increasing, decreasing, or otherwise modifying a force parameter, etc.

Abstract translation: 一种包括铲斗，人群驱动装置，升降机驱动装置，摆动致动装置，一个或多个传感器和控制器的工业机器。 一个或多个传感器产生与铲斗内的载荷相关的一个或多个信号。 一个或多个信号由控制器接收。 控制器基于一个或多个信号，通过将暂停的负载与暂停的负载阈值进行比较来确定工业机器是否工作在过载状态。 如果悬挂载荷大于或等于悬挂载荷阈值，则控制器采取行动控制工业机器。 控制器采取的动作可以包括增加，减少或以其他方式修改速度参数或速度限制，增加，减少或以其他方式修改力参数等。