阅读说明：本技术 采掘机 (Mining machine ) 是由 肯尼斯·J·丹尼尔 乔斯·托雷斯 马克·埃默森 于 2013-01-18 设计创作，主要内容包括：本申请涉及采掘机。一种采掘机,具有操作该采掘机的控制系统,该控制系统具有振动监控器。该采掘机包括：感测该采掘机组件振动的传感器和振动模块。该振动模块确定采掘机何时在预定周期运动,基于确定该采掘机在预定周期运动获取来自传感器的振动传感器数据,处理该振动传感器数据以生成处理的振动数据,并输出该处理的振动数据。(The present application relates to mining machines. A mining machine has a control system for operating the mining machine, the control system having a vibration monitor. The mining machine includes: a sensor to sense vibration of the mining machine assembly and a vibration module. The vibration module determines when the mining machine is moving at a predetermined period, acquires vibration sensor data from a sensor based on determining that the mining machine is moving at the predetermined period, processes the vibration sensor data to generate processed vibration data, and outputs the processed vibration data.)

1. A system including a mining machine, the system comprising:

a sensor for sensing vibration of the mining machine assembly; and

a vibration module configured to determine when the mining machine is moving at a predetermined period,

triggering acquisition of vibration sensor data from the sensor in response to determining that the mining machine is moving at the predetermined period,

processing the vibration sensor data to generate a vibration data spectrum corresponding to sensed vibrations of the miner assembly,

determining a potential impending failure of the miner component based on the vibration data spectrum, and

outputting an alert corresponding to the potential impending failure of the miner assembly.

2. The mining machine of claim 1, wherein the sensor is an accelerometer.

3. The mining machine of claim 1, further comprising a tachometer that monitors a speed of the mining machine while operating for the predetermined period.

4. The mining machine of claim 3, wherein the tachometer is an analog tachometer including a voltage monitor.

5. The mining machine of claim 1, wherein the mining machine further comprises a vibration module.

6. The mining machine of claim 1, wherein the vibration module is remote from the mining machine.

7. The mining machine of claim 1, further comprising a network for communicating at least one selected from the group consisting of the vibration data, the vibration spectrum, and the output.

8. The mining machine of claim 1, wherein the vibration module monitors a speed of the mining machine component and acquires the vibration sensor data further based on determining that the component is moving at a constant speed within a predetermined speed range.

9. The mining machine of claim 1, wherein the vibration module monitors a torque of the mining machine component and acquires the vibration sensor data further based on determining that the component has a constant torque within a predetermined range.

10. A method of monitoring mining equipment, the method comprising:

monitoring operation of the mining machine;

determining that the mining machine assembly is moving in a predetermined cycle;

triggering acquisition of vibration sensor data from a sensor in response to determining that the mining machine assembly is moving during the predetermined period;

processing, via an electronic processor, the vibration sensor data to generate a vibration spectrum corresponding to the miner component, wherein the vibration spectrum includes one or more peaks;

determining, via the electronic processor, a potential impending failure of the miner assembly based on the one or more peaks; and is

Outputting an alert corresponding to the potential impending failure of the miner assembly.

11. The method of claim 10, further comprising determining that the mining machine assembly is moving with a constant torque.

12. The method of claim 11, wherein the mining machine assembly moves with a constant torque within a predetermined range.

13. The method of claim 10, wherein the mining machine assembly moves at a constant speed within a predetermined range.

14. A mining machine having a control system for operating the mining machine, the control system having a vibration monitor, the mining machine comprising:

a user interface providing instructions to operate components of the mining machine in a predetermined mode;

a sensor that senses vibration of the mining machine assembly when operating in the predetermined mode, the sensor outputting vibration sensor data; and

a processing module for processing the received data,

receiving the vibration sensor data from the sensor,

processing the vibration sensor data to generate a vibration spectrum comprising one or more peaks,

based on the one or more peaks, a potential impending failure of the miner assembly is determined, and

outputting an alert corresponding to the potential impending failure.

15. A mining machine having a control system for operating the mining machine, the mining machine comprising:

a user interface providing instructions to operate components of the mining machine in a predetermined mode;

the mining machine operating in the predetermined mode;

a sensor that senses a parameter of the mining machine when operating in the predetermined mode, the sensor outputting sensor data representing the sensed parameter; and

a processing module for processing the received data,

receiving the sensed parameter from the sensor,

processing the sensed parameter to generate a vibration spectrum comprising one or more peaks,

based on the one or more peaks, a potential impending failure of the miner assembly is determined, and

outputting an alert corresponding to the potential impending failure.

16. The mining machine of claim 15, wherein the sensed parameter is vibration, torque, or speed.

17. The mining machine of claim 15, wherein the sensor is an accelerometer that senses vibration.

18. The mining machine of claim 15, further comprising a tachometer that monitors a speed of the mining machine while operating in the predetermined mode.

19. The mining machine of claim 18, wherein the tachometer is an analog tachometer including a voltage monitor.

20. The mining machine of claim 15, wherein the predetermined pattern is at least one of an upward and downward lifting motion, an inward and outward pushing motion, and a side-to-side swing handle.

21. The mining machine of claim 15, wherein the parameter is vibration, and wherein processing the sensor data includes fourier transforming the sensor data.

22. The mining machine of claim 15, wherein the user interface is further indicative of at least one of an amount of the sensor data collected and processed sensor data output by the processing module.

23. The mining machine of claim 15, wherein the mining machine moves in the predetermined pattern until an amount of sensor data collected exceeds a threshold.

24. The mining machine of claim 15, further comprising a network for communicating the sensed parameter output by the processing module.

25. The mining machine of claim 24, wherein the sensed parameter is displayed at a remote location.

Technical Field

The invention relates to vibration monitoring of an electric mining shovel.

Disclosure of Invention

Vibration monitoring ensures the monitoring of all bearings and shaft safety of the electric mining shovel.

In one embodiment, the invention provides a mining machine having a control system for operating the mining machine, the control system having a vibration monitor. The mining machine includes: a sensor to sense vibration of the mining machine assembly and a vibration module. The vibration module determines when the mining machine is moving at a predetermined period, obtains vibration sensor data from the sensor based on determining that the mining machine is moving at the predetermined period, processes the vibration sensor data to produce processed vibration data and outputs the processed vibration data.

In another embodiment, the invention provides a method of testing mining equipment. The method comprises monitoring operation of the mining machine; determining that the mining machine assembly is moving in a predetermined cycle; determining that the mining machine assembly is moving at a constant speed within a predetermined speed range; obtaining vibration data of the mining machine based on determining that the mining machine assembly is in a predetermined cycle and in a constant speed of motion within a predetermined speed range; processing the vibration data to produce processed vibration data; and outputs the processed vibration data.

In some embodiments, the present invention includes a mining machine including an analog tachometer and a vibration monitoring module. The analog tachometer may include a voltage monitor, or a voltage monitor and a voltage to pulse converter, for determining a speed of the mining machine assembly to generate a sensed speed, which is output to the vibration module. Based on the sensed speed, the vibration module senses vibration of the mining machine assembly and generates vibration data. The vibration module then processes the vibration data to generate a spectral waveform. In collecting vibration data, the processing may include a Fourier transform and adjust for changes in the speed of the assembly based in part on the sensed speed. The component may be one of a lift motor, a push motor, a slew motor, a lift gearbox, a push gearbox, and a slew gearbox.

Other aspects of the invention will become apparent by reference to this summary and the accompanying drawings.

Drawings

Fig. 1 shows an electric mining shovel.

Fig. 2 shows a block diagram of the control system of the mining shovel of fig. 1.

Fig. 3 shows a block diagram of a vibration data collection system for a mining shovel.

Fig. 4 shows a vibration spectrum analysis.

Fig. 5a-5d show user interfaces of the control system.

Fig. 6 shows a program for collecting vibration data.

Fig. 7 shows a simulated tachometer for a mining shovel.

Detailed Description

Before any embodiments of the invention are explained in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings.

The invention is capable of other embodiments and of being practiced or of being carried out in various ways. It is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of "including," "comprising," or "having" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. The terms "mounted," "connected," and "coupled" are used broadly and encompass both direct and indirect mounting, connecting, and coupling. Further, "connected" and "coupled" are not restricted to physical or mechanical connections or couplings, and may include electrical connections or couplings, whether direct or indirect. Further, electronic communication and notification may be performed by any known method, including direct connection, wireless connection, and the like.

It should also be noted that a plurality of hardware and software based devices, as well as a plurality of different structural components may be used to implement the present invention. In addition, it should be understood that embodiments of the invention may include hardware, software, and electronic components or modules that, for purposes of discussion, may be illustrated and described as if the majority of the components were implemented solely in hardware. However, those skilled in the art, upon reading the detailed description, will recognize that, in at least one embodiment, the electronic-based aspects of the invention can be implemented in software (e.g., stored on non-transitory computer-readable media) executable by one or more processors. Thus, it should be noted that a plurality of hardware and software based devices, as well as a plurality of different structural components may be utilized to implement the present invention. Furthermore, as described in the following paragraphs, the specific mechanical configurations illustrated in the drawings are intended to exemplify embodiments of the invention and that other alternative mechanical configurations are possible. For example, a "controller" described in the specification can include standard processing components, such as one or more processors, one or more computer-readable media modules, one or more input/output interfaces, and connections for various connection components (e.g., a system bus).

Fig. 1 shows an electric mining shovel 100. The embodiment shown in fig. 1 shows the electric mining shovel 100 as a rope shovel (rope shovel), however in other embodiments the electric mining shovel 100 may be a different type of mining machine, such as a hybrid mining shovel, a dragline, etc. The mining shovel 100 includes tracks 105 for propelling the rope shovel 100 forward and backward, and for rotating the rope shovel 100 (i.e., by changing the speed and/or direction of the left and right tracks relative to each other). The track 105 supports a base 110 that contains a cab 115. The base 110 can swivel or rotate about a swivel axis 125, for example, from a digging position to a dumping position. The movement of the track 105 is not necessary for the swiveling movement. The rope shovel further includes a dipper shaft 130 that supports a pivotable dipper handle 135 (handle 135) and a dipper 140. The bucket 140 includes a door 145 for dumping the load in the bucket 140 to a dumping position such as a hopper car or dump truck.

The rope shovel 100 further includes a tensioned hoist rope 150 coupled between the base 110 and the bucket shaft 130 for supporting the bucket shaft 130; hoist cable 155 is attached to a winch (not shown) within base 110 for winding cable 155 to hoist bucket 140; and a dipper door cable 160 attached to another winch (not shown) for opening the door 145 of the dipper 140. In some cases, the rope shovel 100 is

4100 series shovel consisting of&H mining equipment company, however, the electric mining shovel 100 may be other types or models of electric mining equipment.

When the tracks 105 of the mining shovel 100 are stationary, the dipper 140 is operably moved based on three control motions, raise, lower, and swing. The hoist control raises and lowers the bucket 140 by winding and unwinding the hoist rope 155. This pushing controls the position of the extension and retraction handle 135 and the bucket 140. In one embodiment, the handle 135 and bucket 140 are pushed using a rack and pinion system. In another embodiment, the handle 135 and bucket 140 are urged using a hydraulic drive system. The swing control rotates the handle 135 relative to the swing axis 125. Before dumping the load, the bucket 140 is maneuvered to the appropriate lift, push, and swing positions to 1) ensure that the load does not miss the dumping position; 2) when released, the door 145 does not hit the dump position; and 3) the bucket 140 is not too high so that the released load does not damage the dumping position.

As shown in fig. 2, the mining shovel 100 includes a control system 200. The control system 200 includes a controller 205, an operator control 210, a bucket control 215, sensors 220, a user interface 225, and an input/output 230. The controller 205 includes a processor 235 and a memory 240. The memory 240 stores instructions executable by the processor 235 and various inputs/outputs for, for example, allowing communication between the controller 205 and an operator or between the controller 205 and the sensor 220. In some cases, the controller 205 includes one or more microprocessors, Digital Signal Processors (DSPs), Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), and the like.

The controller 205 receives input from the operator controls 210. The operator controls 210 include a push control 245, a swing control 250, a lift control 255, and a door control 260. The racking control 245, swing control 250, lift control 255, and gate control 260 include, for example, operator controlled input devices such as joysticks, levers, foot pedals, and other actuators. The operator controls 210 receive operator inputs via input devices and output digital motion commands to the controller 205. The movement commands include, for example, up, down, push extend, push retract, clockwise swing, counterclockwise swing, dipper door release, left track forward, left track reverse, right track forward, and right track reverse.

Upon receiving the move command, the controller 205 controls the bucket control 215, typically as commanded by the operator. The dipper control 215 includes one or more push motors 265, one or more swing motors 270, and one or more lift motors 275. For example, if the operator instructs the handle 135 to be rotated counterclockwise via the swing control 250, the controller 305 will typically control the swing motor 270 to rotate the handle 135 counterclockwise. However, in some embodiments of the present invention, the controller 205 may be operable to limit operator movement commands and generate movement commands independent of operator input.

The controller 205 also communicates with a number of sensors 220 to monitor the position and status of the dipper 140. For example, the controller 205 is in communication with one or more push sensors 280, one or more gyroscopic sensors 285, and one or more lift sensors 290. The push sensor 280 indicates to the controller 205 the degree to which the dipper 140 is extended or retracted. The gyration sensor 285 indicates to the controller 205 the gyration angle of the handle 135. The hoist sensor 290 indicates to the controller 205 the height of the dipper 140 based on the position of the hoist rope 155. In other embodiments, the door latch sensor indicates, among other things, whether the dipper door 145 is open or closed and measures the weight of the load contained within the dipper 140.

A user interface 225, such as an operator user interface, provides information to the operator regarding the status of the mining shovel 100 and other systems in communication with the mining shovel 100. The user interface 225 includes one or more of the following: a display (e.g., a Liquid Crystal Display (LCD)); one or more Light Emitting Diodes (LEDs) or other illumination devices; an overhead display (e.g., projected onto a window of the cab 115); a speaker for audible feedback (e.g., beep, voice message, etc.); a tactile feedback device, such as a vibration device, that causes vibration of the operator seat or operator control 210; or other feedback means.

Fig. 3 shows a block diagram of a vibration data collection system 300 of the mining shovel 100. The vibration data collection system 300 includes one or more accelerometer sensors 305, one or more tachometers 307, a vibration spectrum analysis processor 310, and a server 315. The data collection system 300 is further electrically coupled to the controller 205.

The accelerometer sensors 305 collect vibration data of the mining shovel 100 as the mining shovel 100 is operated. The accelerometer sensor 305 measures the vibration of the structure. The vibration induced force creates a force on the piezoelectric material within the accelerometer sensor 305. The piezoelectric material generates an electrical charge that is proportional to the force applied thereto. The accelerometer sensor 305 may be a radial accelerometer sensor or an axial accelerometer sensor. The radial accelerometer sensors measure the acceleration on the bearings of the mining shovel 100. The axial accelerometer sensor measures acceleration on the axis of the mining shovel 100. The accelerometer sensors 305 are located at various locations on the mining shovel 100 including one or more push motors 265, one or more swing motors 270, one or more lift motors 275, a lift gearbox, a push gearbox, and a swing gearbox, among other locations.

A tachometer 307 measures the rotational speed of each motor of the mining shovel 100. Each tachometer 307 may be a physical tachometer or an analog tachometer. A physical tachometer is an instrument that physically measures the rotational speed of a motor, for example, using optical or magnetic sensors. The analog tachometer will be described in more detail below.

The vibration spectrum analysis processor 310 processes vibration data of the accelerometer sensor 305 and outputs the processed vibration data. In some embodiments, the vibration spectrum analysis processor 310 outputs raw vibration data along with the processed vibration data. The vibration spectrum analysis processor 310 includes a processor and a memory. The processor executes instructions stored in the memory to analyze and process data received from the accelerometer sensor 305. In some cases, the vibration spectrum analysis processor 310 is a microprocessor, Digital Signal Processor (DSP), Field Programmable Gate Array (FPGA), Application Specific Integrated Circuit (ASIC), or the like. In some embodiments, the vibration spectrum analysis processor 310 processes the vibration data by creating a sound file of the vibration data. The vibration spectrum analysis processor 310 then performs a fourier transform on the created sound file to generate a vibration spectrum. In other embodiments, other spectral analysis algorithms are used to generate different variations of the spectrum or analyze the data in another manner.

Fig. 4 shows an exemplary vibration spectrum 320 created by the vibration spectrum analysis processor 310. The single vibration spectrum 320 corresponds to a portion of the mining shovel 100 being monitored, such as a cooling fan, a gearbox, a transmission, or a motor (e.g., the lift motor 275). Thus, the vibration spectrum analysis processor 310 generates a plurality of vibration spectra 320 for each monitored portion of the mining shovel 100. The spectrum 320 includes several peaks 325. The peaks 325 of the vibration spectrum 320 having abnormally high amplitudes indicate the likelihood of a mechanical failure or the likelihood of an impending failure on the corresponding portion of the mining shovel 100 (e.g., the exhaust fan, or one of the hoist motors 275). Vibration data may be acquired and periodically processed (e.g., one week) to generate a plurality of frequency spectra 320 for each monitored portion of the mining shovel 100. When the peak 325 for a particular frequency shows a positive increase over time (e.g., over a few periodically created spectra 320), a fault is indicated or is imminent.

The server 315 is used to communicate processed and/or raw vibration data including one or more vibration spectra 320 from the vibration spectrum analysis processor 310 to a central unit for further analysis. The server 315 may communicate with the vibration spectrum analysis processor 310 via a local area network, a wide area network, a wireless network, the internet, etc.

In some embodiments, to collect valid vibration measurements, the vibration data collection system 300 acquires vibration data while the mining shovel 100 component under test is moving at a constant speed (i.e., the dipper is moving at a constant speed, such as swinging, pushing, lifting, etc.) over a predetermined speed range. In some embodiments, the speed is determined to be constant, while the speed may vary at 50rpm, 100rpm, 300rpm, or up to 600 rpm. When the speed changes, an algorithm is used to account for the change in speed. In some embodiments, for accurate vibration analysis, one to three seconds of vibration data are captured during constant velocity motion within a range. In some embodiments, the speed of the components of the mining shovel 100 need not be within a predetermined speed range. Constant velocity can be maintained or identified during operation by a variety of methods disclosed in detail below.

Phase testing

Phase testing is one embodiment of vibration data collection. The phase tests include movement of the mining shovel 100 in various predetermined patterns, while vibration data is collected by the data collection system 300. By moving in a predetermined pattern, vibration data is captured at a known point when the mining shovel 100 is operating at a constant speed. The predetermined pattern includes, but is not limited to: raise and lower the dipper 140 upward and downward, push the dipper 140 inward and outward, and the left and right swing handles 135. For example, when the bucket 140 is lifted upward, the bucket 140 will move at a constant speed within a predetermined speed range for about one to three seconds. Once the bucket 140 is raised all the way up, the bucket 140 stops at the top and descends. When the dipper 140 is lowered, the dipper 140 will move at a constant speed in a range of about one to three seconds until the dipper 140 is lowered. This is repeated until sufficient vibration data is collected. In some cases, such as when raising and lowering the dipper 140, the predetermined speed range is 1000rpm to 1500 rpm. The predetermined speed ranges for other components or other predetermined patterns may be different.

Fig. 5a-5d illustrate stage test operator instructions displayed on a user interface 225, such as an operator user interface, in one embodiment. Although shown on user interface 225, in other embodiments, the stage test instructions are displayed and/or audibly generated on a separate user interface.

As shown in FIG. 5a, using the user interface 225, the operator begins performing the phase test operation by selecting to begin a particular phase test. For example, the operator uses the user interface 225 to select the lift phase test 330, push phase test 335, swing phase test 340, or other various phase tests.

As shown in FIG. 5b, once the operator has selected a particular phase test, the user interface 225 notifies the operator of the steps required to begin the test. For example, as shown in FIG. 5b, the user interface 225 informs the operator to begin the test by instructing the operator to "push the bucket to full extension and then move quickly up and down.

As shown in fig. 5c, once the operator begins the test, the user interface 225 will continue to give operational instructions, such as "continue up and down". The user interface 225 further includes a progress bar 342 and a speedometer 345. The progress bar 342 informs the operator of his progress during the phase test. In other embodiments, in addition to the progress bar, a visual or audio progress indicator is used to indicate the progress of the operator during the session test. The speedometer 345 informs the operator of the speed of the moving components of the mining shovel 100. The speedometer 345 includes a target range 350 that indicates a predetermined speed range at which the operator must move the moving components of the mining shovel 100 in order to capture data. In some cases, the speed of the moving assembly does not have to be within a predetermined speed range, and the speedometer 345 is omitted from the user interface 225. As shown in fig. 5d, once the phase test is complete, the user interface 225 instructs the operator to "stop the hoist".

This vibration data is acquired by the accelerometer sensor 305 and stored in memory (e.g., of the accelerometer sensor 305 or of the vibration spectrum analysis processor 310) as the mining machine 100 operates during various phase tests. The recorded data is then processed by a vibration spectrum analysis processor 310 to produce one or more spectra 320, which correspond to the various components (processed vibration data) of the mining shovel 100. The processed data is then sent to an offsite location (e.g., server 315) for further analysis or displayed locally, such as on user interface 225. Additionally, the vibration spectrum analysis processor 310, server 315, controller 205, or other device may analyze the processed data to determine whether a component of the mining shovel 100 has failed or is about to occur. In other words, the spectral peaks 325 are analyzed to determine whether they exceed a predetermined threshold or increase over time at an excessive rate. The predetermined threshold and rate may also be specific to a particular component. Thus, the peaks 325 of one spectrum 320 corresponding to one component are acceptable, but a similar peak 325 of another spectrum 320 corresponding to another component is somewhat problematic.

Vibration data collection during mining shovel operations

Another method of collecting vibration data includes collecting the vibration data during normal operation of the mining shovel 100 rather than during stage testing. During normal operation, the mining shovel 100 operates in certain cycles, such as digging, swinging to a dumping position, and rolling. These periods have specific speeds and torques associated with them. During each portion of the cycle in which the mining shovel 100 is operating, the mining shovel 100 will have a constant speed within a predetermined range and a constant torque within a predetermined range. A torque that remains positive or negative (i.e., does not cross the zero-torque threshold) during a particular time period is considered constant during that time period. The control system 200 uses an algorithm to identify the cycle in which the mining shovel 100 is being executed. In one embodiment, the algorithm uses speed, torque, and position to identify the period and trigger data collection. In another embodiment, the algorithm uses an increasing or decreasing rate to trigger data collection. In another embodiment, the algorithm uses only velocity and position to trigger data collection.

Fig. 6 shows a process 400 for collecting electronic data during operation of a mining shovel. The process 400 begins by monitoring the operation of the mining shovel 100 (step 405). The data collection system 300 determines if the mining shovel 100 is in the correct cycle where the speed will remain constant for one to three seconds (step 410). If the mining shovel 100 is not in the correct cycle, the data collection system 300 returns to step 405. If the mining shovel 100 is in the correct cycle, the data collection system 300 determines if the components of the mining shovel 100 are moving at a constant speed within a predetermined speed range (step 415). If the components of the mining shovel 100 are not moving at a constant speed and are not within a predetermined speed range, the data collection system 300 returns to step 405. If the components of the mining shovel 100 are constant speed, the data collection system 300 determines if the torque is constant and within a predetermined torque range (step 420). If the torque is not constant and is not within the predetermined torque range, the data collection system 300 returns to step 405. If the torque is constant and within the predetermined torque range, the data collection system 300 begins collecting vibration data (step 425). The data collection system 300 next determines whether the vibration data has been adequately collected (step 430). If the vibration data is not adequately collected, the data collection system 300 returns to step 405. The vibration data may be collected over several cycles. If vibration data has been sufficiently collected, the vibration data is processed by the vibration spectrum analysis processor 310 (step 435). Next, the data collection system 300 or the technician determines whether the processed vibration data indicates a mechanical problem (step 440). If there is no problem, the data collection system 300 returns to step 405. If there is a problem, the data collection system 300 generates an alert (step 445). Once the vibration data is processed, the processed vibration data may be sent to an offsite location, such as server 315, for further analysis. In some embodiments, step 420 is a bypass in process 400 so that data acquisition is not triggered based on torque.

Analog tachometer

As discussed above, in order for the data collection system 300 to collect effective vibration measurements, the speed of the components of the mining shovel 100 being tested should remain relatively constant and within a predetermined speed range. As such, the tachometer 307 may be used to monitor the speed of components of the mining machine 100. In some embodiments, such as where the mining shovel 100 includes a DC motor, the mining shovel 100 uses an analog tachometer as the tachometer 307 instead of a physical tachometer.

As shown in fig. 6, an analog tachometer 450 is used to determine speed. The analog tachometer 450 includes a current monitor 455, a voltage to pulse converter 465, and an analog tachometer analysis processor 460. The analog tachometer 450 may then be electrically coupled to the vibration data collection system 300.

The voltage monitor 455 monitors the motor voltage of the mining shovel 100. This monitored voltage is proportional to the speed of the motor. In some embodiments, the motor voltage of the mining shovel 100 is monitored by the control system 200 and a separate voltage monitor 455 is not required. The monitored voltage is output to tachometer analysis processor 460, which then outputs a voltage analog signal. In some embodiments, tachometer analysis processor 460 outputs the voltage analog signal to voltage-to-pulse converter 465. The voltage-to-pulse converter 465 converts the voltage analog signal (e.g., 24 volts) to a frequency (e.g., 1000 hertz). The frequency, which represents the motor speed of the mining machine 100, is then output to the vibration data collection system 300, the user interface 225, or both. In some embodiments, the voltage analog signal is output directly to the vibration data collection system 300, the user interface 225, or both, and the voltage to pulse converter 465 is not necessary. In some embodiments, the analog tachometer 450 utilizes the motor current along with the motor voltage to determine the motor speed of the mining machine 100.

As such, the present invention provides, among other things, methods and systems for vibration testing of electric mining shovels. Various features and advantages of the invention are set forth in the following claims.