Swivel Control Part Slip Prevention Mode
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Solution Overview
Problem
The existing electrical swivel working machines experience slipping issues when the friction force between the crawler and the ground is small, particularly in icy conditions or when heavy attachments are used, leading to unintended swivel operations due to increased centrifugal forces.
Innovation Solution
The implementation of a slip prevention mode in the electrical swivel working machine, which uses sensors to detect slipping conditions and adjusts the swivel motor's speed command to limit acceleration and deceleration, reducing the reactive force on the lower-part traveling body to prevent slipping, by employing a controller that generates a speed command based on detection signals from gyro sensors, acceleration sensors, and a resolver, and switches between ordinary and slip prevention modes manually or automatically.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the swivel mechanism accelerates or decelerates the upper-part swivelling body, then the swivel operation responsiveness is improved, but the reactive force on the lower-part traveling body increases causing the crawler to slip
Solution Approach 1:
The patent applies dynamics by making the swivel control adaptable to operating conditions. The control system dynamically adjusts the swivel acceleration and deceleration rates based on detected slip conditions, transitioning between normal control mode and slip prevention mode. This dynamic adjustment resolves the contradiction by allowing high swivel speeds when conditions permit while preventing slips when friction is insufficient.
Solution Approach 2:
The patent changes the control parameters (acceleration and deceleration rates) of the swivel mechanism based on operating conditions. When slip is detected or anticipated, the control system reduces the magnitude of acceleration and deceleration parameters to keep reactive forces within the available friction limit, thus preventing crawler slip while still enabling functional swivel operation.
2Adaptability or versatility
If heavy attachments like lifting magnets or grapples are mounted on the upper-part swivelling body, then the working capability is improved, but the centrifugal force increases causing the crawler to slip
Solution Approach 1:
The patent employs feedback control by continuously monitoring the operating conditions and detecting slip or potential slip conditions. The control system uses this feedback information to adjust the swivel acceleration and deceleration in real-time, ensuring that the reactive forces do not exceed the available friction between the crawler and ground, even when heavy attachments are present.
Solution Approach 2:
The patent applies preliminary anti-action by proactively preventing slip before it occurs. The control system detects conditions that may lead to slip (such as frozen ground or iron plate surfaces) and preemptively reduces swivel acceleration and deceleration rates to counteract the increased centrifugal forces from heavy attachments, thereby maintaining crawler stability.
3Adaptability or versatility
If the ground is frozen or the working machine operates on an iron plate, then the working environment adaptability is improved, but the friction force becomes extremely small causing the crawler to slip
Solution Approach 1:
The control system dynamically adapts to different ground conditions by adjusting the swivel acceleration and deceleration parameters. When operating on surfaces with low friction (frozen ground or iron plates), the system automatically reduces these parameters to match the available friction force, preventing slip while maintaining operational capability across diverse environments.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution effectively prevents slipping of the lower-part traveling body relative to the ground during swivel operations, ensuring stable operation even in slippery conditions by reducing the swiveling reactive force, thus maintaining intended swivel performance.
Implementation Method 1
when the end attachment becomes heavy thereby increasing the centrifugal force
Implementation Method 2
a friction force between the crawler and the ground is extremely small
Data Source
Figure 1
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AI summary
An electrical swivel working machine (100) includes a lower-part traveling body (1); an upper-part swivelling body (3) mounted on the lower-part traveling body so as to be rotatable relative to the lower-part traveling body; a swivel mechanism (2) supporting the upper-part swivelling body so that the upper-part swivelling body is rotatable relative to the lower-part traveling body; a motor (21) for swiveling the upper-part swivelling body relative to the lower-part traveling body as a drive source of the swivel mechanism; and a swivel control part (32) generating a drive command for driving the motor, wherein the swivel control part performs a slip prevention mode where a swivel operation of the upper-part swivelling body (3) is mild relative to an ordinary swivel mode.