CN109680738A - A kind of hydraulic crawler excavator material online weighing device and method - Google Patents
A kind of hydraulic crawler excavator material online weighing device and method Download PDFInfo
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- CN109680738A CN109680738A CN201910111981.XA CN201910111981A CN109680738A CN 109680738 A CN109680738 A CN 109680738A CN 201910111981 A CN201910111981 A CN 201910111981A CN 109680738 A CN109680738 A CN 109680738A
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- 239000000463 material Substances 0.000 title claims abstract description 58
- 238000005303 weighing Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 52
- 238000006073 displacement reaction Methods 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 230000005484 gravity Effects 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 5
- 238000013178 mathematical model Methods 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 238000005065 mining Methods 0.000 claims description 3
- 238000011017 operating method Methods 0.000 claims description 3
- 238000013500 data storage Methods 0.000 claims description 2
- 239000003921 oil Substances 0.000 description 11
- 238000004364 calculation method Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
Classifications
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- 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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
Abstract
The invention discloses a kind of hydraulic crawler excavator material online weighing device and method, material online weighing device includes sensor module, data processing module and display module；Data processing module is connected with sensor module, and the signal of sensor detection is carried out online processing；Display module is mounted in driver's cabin, and is connected with data processing module, and treated that data are shown by display module for data processing module.Sensor module includes dynamic attitude transducer, oil pressure sensor and ultrasonic displacement sensor, and dynamic attitude transducer gets on the bus for measuring excavator, the attitude angle of swing arm and dipper；Oil pressure sensor is used to measure the thrust of oil cylinder；Ultrasonic displacement sensor is mounted on bucket cylinder, for measuring the displacement of bucket cylinder.The present invention solves the problems, such as scraper bowl material online weighing, and the variation for realizing attitude of working device and vehicle attitude does not influence to weigh, and improves operation amount efficiency and measuring accuracy in excavator car loading operation.
Description
Technical field
The present invention relates to a kind of hydraulic crawler excavator material online weighing device and method, the invention be particularly suitable for crowd shovel and
Backhoe type hydraulic crawler excavator.
Background technique
For excavator as the highest single-item of the engineering machinery magnitude of value, application scenarios are extremely extensive, fast with excavating machinery
Speed development and people to quantization job task require raising, more need one kind can in real time to material carry out online weighing and
The method that statistics excavates yield, and the old excavator used has been put into and is also required to install weighing system additional, to reach fine
It is turned into the purpose of industry.
In order to calculate the weight of excavator excavated material under different digging operation operating conditions, current major part manufacturer is also
There is no preferable solution, open Correlative measurement method is reluctant due to being related to technical know-how by part manufacturer.CN104132721A
It proposes and the corner between each component is obtained by angular transducer measurement, calculate each component real time position, and then difference gauge calculates
The kinematics parameters such as the speed, acceleration of each component.This method carries out primary and secondary differential using corner respectively, in calculating
Errors Catastrophic can be introduced, secondly can not solve the problems, such as material center of gravity, it can only be according to calculated result and material density, stacking states
Material mass center is modified.CN103900669A proposes a kind of excavator bucket material dynamic weigher and its method,
This method is assembled with sensor on each component of equipment, it is necessary to know the weight of each component of equipment in advance
And position of centre of gravity, calculate the working condition of all components after sensor data measured with a complicated calculation method again, because
It is measured more, causes system global error big, and also do not account for The hydraulic oil variation in load position of centre of gravity and oil cylinder
Influence to result.
Summary of the invention
The present invention provides a kind of hydraulic crawler excavator material online weighing device and method, exists in the prior art to solve
Deficiency.
The present invention is realized by following technical scheme:
A kind of hydraulic crawler excavator material online weighing device, comprising:
Sensor module；
Data processing module is connected with the sensor module, and the signal of sensor detection is carried out online processing；
Display module is mounted in driver's cabin, and is connected with the data processing module, after data processing module processing
Data shown by display module；
Wherein, the sensor module includes:
Dynamic attitude transducer, be used to measure excavator get on the bus, the attitude angle of swing arm and dipper；
Oil pressure sensor is used to measure the thrust of oil cylinder；
Ultrasonic displacement sensor is mounted on bucket cylinder, for measuring the displacement of bucket cylinder.
Further, the dynamic attitude transducer includes:
Dipper dynamic attitude transducer, is mounted on dipper, measures the attitude angle of dipper；
Swing arm dynamic attitude transducer, is mounted on swing arm, measures the attitude angle of swing arm；
Dynamic of getting on the bus attitude transducer is mounted on excavator and gets on the bus place, the attitude angle that measurement excavator is got on the bus.
Further, it is dynamic to be connected to swing arm by t connector for the CAN signal of the dipper dynamic attitude transducer output
On state attitude transducer, the CAN signal of swing arm dynamic attitude transducer output is connected to dynamic posture of getting on the bus by t connector
On sensor, the CAN signal of dynamic of getting on the bus attitude transducer output is connected to data processing module by t connector.
Further, the oil pressure sensor includes:
Boom cylinder pressure sensor, is mounted on boom cylinder, for measuring the thrust of boom cylinder；
Bucket arm cylinder pressure sensor, is mounted on bucket arm cylinder, for measuring the thrust of bucket arm cylinder.
Further, the boom cylinder pressure sensor, bucket arm cylinder pressure sensor are accessed by voltage analog signal
Data processing module.
Further, ultrasonic displacement sensor accesses data processing module by voltage analog signal.
Further, the data processing module is mounted on excavator and gets on the bus place, and data processing module is stored with data
Data can be stored and be recalled in real time by function.
A kind of hydraulic crawler excavator material method of weighing materials online, including following operating procedure:
Step 1: the CAN signal of dipper dynamic attitude transducer output, is connected to swing arm dynamic appearance by t connector
On state sensor, the CAN signal of swing arm dynamic attitude transducer output is connected to dynamic posture sensing of getting on the bus by t connector
On device, the CAN signal of dynamic of getting on the bus attitude transducer output is connected to data processing module by t connector；Boom cylinder
Pressure sensor, bucket arm cylinder pressure sensor access data processing module by voltage analog signal；
Step 2: data processing module carries out CAN bus signal and analog signals in line computation；
Step 3: finally calculated weight of material and total Mining Quality be on the display module in real time for data processing module
Display.
Further, in step 2, the calculating mathematical model of data processing module is as follows:
When excavator is in a horizontal position, m is quality of material in scraper bowl, and dipper is under certain posture, when scraper bowl zero load
Bucket cylinder is to hinge O1Torque be M1, when scraper bowl has material, bucket cylinder is to hinge O1Torque be M1', to torque
Direction definition is clockwise for negative value, is counterclockwise positive value；
By M1、M1' material can be obtained in scraper bowl to hinge O1Torque are as follows:
dM1=M '1-M1 (1)
Boom cylinder is M to swing arm hinge O torque when can similarly obtain unloaded2, boom cylinder is to swing arm hinge O when having material
Torque are as follows: M '2；
By M2、M′2Material can be obtained in scraper bowl to the torque of swing arm hinge O are as follows:
dM2=M '2-M2 (2)
By M1、M2Parameter be previously entered in data processing module, utilize look-up table extract M1、M2Data；Pass through two
Torque dM1、dM2The anti-accounting equation for releasing quality of material is as follows:
In equation (3), the pitch angle that a, b are swing arm, dipper is measured by dynamic attitude transducer, Y1、Y2For dipper, move
The hinge center of arm away from.
Further, when lateral tilt occurs in equipment, i.e., when roll angle is not zero, it is assumed that dynamic attitude transducer is surveyed
When the roll angle obtained is α, then the gravity acceleration g in equation (3) is modified to g ', and a, b are modified to a ', b ', correction formula are as follows:
The invention has the advantages that:
The present invention can exclude the influence of oil cylinder position and shovel mechanism of single bucket change in location to measurement result, in unknown digging
In the case where pick machine material center of gravity, each component weight of equipment and center of gravity, by installing less sensor, use is cleverly square
Method rapidly and accurately realizes that weight of material calculates in power shovel, and scraper bowl material can not be carried out accurately by solving existing excavator
The technical problem of weighing improves operation amount efficiency and measuring accuracy in excavator car loading operation.
Detailed description of the invention
Fig. 1 is the backhoe type hydraulic crawler excavator general assembly drawing of the invention；
Fig. 2 is the calculation diagram of the invention；
Fig. 3 is the partial enlarged view of bucket portion.
Wherein, all parts in Fig. 1 are as follows: 1- material, 2- scraper bowl, 3- ultrasonic displacement sensor, 4- bucket cylinder, 5- bucket
Bar, 6- dipper dynamic attitude transducer, 7- bucket arm cylinder pressure sensor, 8- bucket arm cylinder, 9- swing arm, 10- swing arm dynamic appearance
Get on the bus dynamic attitude transducer, 14- data processing module, 15- of state sensor, 11- boom cylinder, 12- display module, 13- is dynamic
Arm oil cylinder working-pressure sensor, 16- excavator are got on the bus, 17- excavator is got off.
Specific embodiment
To keep the purposes, technical schemes and advantages of the invention implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label indicate same or similar element or element with the same or similar functions.Described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to use
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.Under
Face is described in detail the embodiment of the present invention in conjunction with attached drawing.
As shown in Figure 1, a kind of hydraulic crawler excavator material online weighing device, including sensor module, data processing module
14 and display module 12；Data processing module 14 is connected with sensor module, and the signal of sensor detection is carried out online processing；
Display module 12 is mounted in driver's cabin, and is connected with data processing module 14, and treated the data of data processing module 14 are logical
Display module 12 is crossed to be shown.
The sensor module includes dynamic attitude transducer, oil pressure sensor and ultrasonic displacement sensor 3, dynamic appearance
State sensor is used to measure excavator and gets on the bus the attitude angle of 16, swing arm 9 and dipper 5；Oil pressure sensor is for measuring oil cylinder
Thrust；Ultrasonic displacement sensor 3 is mounted on bucket cylinder 4, for measuring the displacement of bucket cylinder 4.
With continued reference to shown in Fig. 1, the dynamic attitude transducer includes dipper dynamic attitude transducer 6, swing arm dynamic appearance
State sensor 10 and dynamic attitude transducer 13 of getting on the bus；Dipper dynamic attitude transducer 6 is mounted on dipper 5, measurement dipper 5
Attitude angle；Swing arm dynamic attitude transducer 10 is mounted on swing arm 9, measures the attitude angle of swing arm 9；Dynamic of getting on the bus attitude transducer
13, which are mounted on excavator, gets on the bus at 16, measurement excavator get on the bus 16 attitude angle.
It should be noted that dynamic attitude transducer was made of 3 axle acceleration sensors and 3 axis angular rate sensors
Dynamic Inertia measurement module.The CAN signal that the dipper dynamic attitude transducer 6 exports, is connected to swing arm by t connector
On dynamic attitude transducer 10, swing arm dynamic attitude transducer 10 export CAN signal be connected to by t connector get on the bus it is dynamic
On state attitude transducer 13, the CAN signal that dynamic of getting on the bus attitude transducer 13 exports is connected to data processing by t connector
Module 14.The boom cylinder pressure sensor 15, bucket arm cylinder pressure sensor 7 are accessed at data by voltage analog signal
Manage module 14.Ultrasonic displacement sensor 3 accesses data processing module 14 by voltage analog signal.
With continued reference to shown in Fig. 1, the oil pressure sensor includes boom cylinder pressure sensor 15 and bucket arm cylinder pressure
Sensor 7；Boom cylinder pressure sensor 15 is mounted on boom cylinder 11, for measuring the thrust of boom cylinder 11；Dipper
Oil cylinder working-pressure sensor 7 is mounted on bucket arm cylinder 8, for measuring the thrust of bucket arm cylinder 8.
It should be noted that data processing module 14, which is mounted on excavator, gets on the bus 16, by the acquisition of sensor signal, based on
It calculates and stores., display module 12 is integrated with excavator display instrument function, for showing material 1 in current scraper bowl 2
The weight of weight and accumulative material.
Such as Fig. 2, as indicated at 3, a kind of hydraulic crawler excavator material method of weighing materials online, including following operating procedure:
Step 1: the CAN signal that dipper dynamic attitude transducer 6 exports, is connected to swing arm dynamic appearance by t connector
On state sensor 10, the CAN signal that swing arm dynamic attitude transducer 10 exports is connected to dynamic posture of getting on the bus by t connector
On sensor 13, the CAN signal that dynamic of getting on the bus attitude transducer 13 exports is connected to data processing module by t connector
14；Boom cylinder pressure sensor 15, bucket arm cylinder pressure sensor 7 access data processing module by voltage analog signal
14；
Step 2: data processing module 14 carries out CAN bus signal and analog signals in line computation；Data processing mould
Block 14 has data storage function, can data be stored and be recalled in real time；
Step 3: the final calculated weight of material of data processing module 14 and total Mining Quality are 12 real on the display module
When show, and display can be manipulated and come call parameters input and the programs such as weighing accommodation zero.
With continued reference to shown in Fig. 2, in step 2, the calculating mathematical model of data processing module is as follows:
When excavator is in a horizontal position, m is quality of material in scraper bowl, and dipper is under certain posture, when scraper bowl zero load
Bucket cylinder is to hinge O1Torque be M1, when scraper bowl has material, bucket cylinder is to hinge O1Torque be M1', to torque
Direction definition is clockwise for negative value, is counterclockwise positive value；
By M1、M1' material can be obtained in scraper bowl to hinge O1Torque are as follows:
dM1=M '1-M1 (1)
Boom cylinder is M to swing arm hinge O torque when can similarly obtain unloaded2, boom cylinder is to swing arm hinge O when having material
Torque are as follows: M '2；
By M2、M′2Material can be obtained in scraper bowl to the torque of swing arm hinge O are as follows:
dM2=M '2-M2 (2)
By M1、M2Parameter be previously entered in data processing module, utilize look-up table extract M1、M2Data；Pass through two
Torque dM1、dM2The anti-accounting equation for releasing quality of material is as follows:
In equation (3), the pitch angle that a, b are swing arm, dipper is measured by dynamic attitude transducer, Y1、Y2For dipper, move
The hinge center of arm away from.
When lateral tilt occurs in equipment, i.e., when roll angle is not zero, it is assumed that the cross that dynamic attitude transducer measures
When roll angle is α, then the gravity acceleration g in equation (3) is modified to g ', and a, b are modified to a ', b ', correction formula are as follows:
It should be noted that the above-mentioned mathematical model be only applicable to excavator get on the bus 16 excavator get off be on 17 it is non-
Turning course, data processing module 14 carry out turn state by the angular velocity signal for the output of dynamic attitude transducer 13 of getting on the bus
Judgement.
Can to sum up obtain: the present invention solves the problems, such as scraper bowl material online weighing, realizes attitude of working device and vehicle
The variation of posture does not influence to weigh, while position of the scraper bowl material center of gravity in scraper bowl does not influence weighing results, fills without work
Each component weight and position of centre of gravity are set, operation amount efficiency and measuring accuracy in excavator car loading operation are improved.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (10)
1. a kind of hydraulic crawler excavator material online weighing device characterized by comprising
Sensor module；
Data processing module is connected with the sensor module, and the signal of sensor detection is carried out online processing；
Display module is mounted in driver's cabin, and is connected with the data processing module, data processing module treated number
It is shown according to by display module；
Wherein, the sensor module includes:
Dynamic attitude transducer, be used to measure excavator get on the bus, the attitude angle of swing arm and dipper；
Oil pressure sensor is used to measure the thrust of oil cylinder；
Ultrasonic displacement sensor is mounted on bucket cylinder, for measuring the displacement of bucket cylinder.
2. a kind of hydraulic crawler excavator material online weighing device according to claim 1, which is characterized in that the dynamic appearance
State sensor includes:
Dipper dynamic attitude transducer, is mounted on dipper, measures the attitude angle of dipper；
Swing arm dynamic attitude transducer, is mounted on swing arm, measures the attitude angle of swing arm；
Dynamic of getting on the bus attitude transducer is mounted on excavator and gets on the bus place, the attitude angle that measurement excavator is got on the bus.
3. a kind of hydraulic crawler excavator material online weighing device according to claim 2, it is characterised in that: the dipper is dynamic
The CAN signal of state attitude transducer output, is connected on swing arm dynamic attitude transducer, swing arm dynamic appearance by t connector
The CAN signal of state sensor output is connected to by t connector gets on the bus on dynamic attitude transducer, dynamic of getting on the bus posture sensing
The CAN signal of device output is connected to data processing module by t connector.
4. a kind of hydraulic crawler excavator material online weighing device according to claim 1, which is characterized in that the oil pressure passes
Sensor includes:
Boom cylinder pressure sensor, is mounted on boom cylinder, for measuring the thrust of boom cylinder；
Bucket arm cylinder pressure sensor, is mounted on bucket arm cylinder, for measuring the thrust of bucket arm cylinder.
5. a kind of hydraulic crawler excavator material online weighing device according to claim 4, it is characterised in that: the swing arm oil
Cylinder pressure transducer, bucket arm cylinder pressure sensor access data processing module by voltage analog signal.
6. a kind of hydraulic crawler excavator material online weighing device according to claim 1, it is characterised in that: ultrasonic displacement
Sensor accesses data processing module by voltage analog signal.
7. a kind of hydraulic crawler excavator material online weighing device according to claim 1, it is characterised in that: at the data
Reason module is mounted on excavator and gets on the bus place, and data can be stored and be adjusted in real time with data storage function by data processing module
Out.
8. a kind of hydraulic crawler excavator material method of weighing materials online, which is characterized in that including following operating procedure:
Step 1: the CAN signal of dipper dynamic attitude transducer output, is connected to swing arm dynamic posture by t connector and passes
On sensor, the CAN signal of swing arm dynamic attitude transducer output is connected to dynamic attitude transducer of getting on the bus by t connector
On, the CAN signal of dynamic of getting on the bus attitude transducer output is connected to data processing module by t connector；Boom cylinder pressure
Force snesor, bucket arm cylinder pressure sensor access data processing module by voltage analog signal；
Step 2: data processing module carries out CAN bus signal and analog signals in line computation；
Step 3: finally calculated weight of material and total Mining Quality are shown data processing module in real time on the display module
Show.
9. hydraulic crawler excavator material method of weighing materials online according to claim 8, which is characterized in that in step 2, number
It is as follows according to the calculating mathematical model of processing module:
When excavator is in a horizontal position, m is quality of material in scraper bowl, and dipper is under certain posture, scraper bowl when scraper bowl zero load
Oil cylinder is to hinge O1Torque be M1, when scraper bowl has material, bucket cylinder is to hinge O1Torque be M1', to the direction of torque
Definition is clockwise for negative value, is counterclockwise positive value；
By M1、M1' material can be obtained in scraper bowl to hinge O1Torque are as follows:
dM1=M '1-M1 (1)
Boom cylinder is M to swing arm hinge O torque when can similarly obtain unloaded2, boom cylinder is to swing arm hinge O torque when having material
Are as follows: M '2；
By M2、M2' material can be obtained in scraper bowl to the torque of swing arm hinge O are as follows:
dM2=M '2-M2 (2)
By M1、M2Parameter be previously entered in data processing module, utilize look-up table extract M1、M2Data；Pass through two torques
dM1、dM2The anti-accounting equation for releasing quality of material is as follows:
In equation (3), the pitch angle that a, b are swing arm, dipper is measured by dynamic attitude transducer, Y1、Y2For dipper, swing arm
Hinge center away from.
10. hydraulic crawler excavator material method of weighing materials online according to claim 9, it is characterised in that: when equipment goes out
When existing lateral tilt, i.e., when roll angle is not zero, it is assumed that when the roll angle that dynamic attitude transducer measures is α, then in equation (3)
Gravity acceleration g be modified to g ', a, b are modified to a ', b ', correction formula are as follows:
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Cited By (9)
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| CN110095174A (en) * | 2019-06-03 | 2019-08-06 | 北京理工大学 | A kind of vehicle method of weighing materials online and system |
| CN110374163A (en) * | 2019-07-17 | 2019-10-25 | 三一重机有限公司 | Excavator weighing system, method and excavator |
| CN111945799A (en) * | 2019-05-16 | 2020-11-17 | 斗山英维高株式会社 | Method for measuring amount of bucket soil in excavation work of excavator |
| CN113010979A (en) * | 2021-03-01 | 2021-06-22 | 潍柴动力股份有限公司 | Excavator weighing method and system |
| CN113566943A (en) * | 2021-07-29 | 2021-10-29 | 上海三一重机股份有限公司 | Material weighing method and device for excavator, excavator and readable storage medium |
| CN114026293A (en) * | 2019-07-11 | 2022-02-08 | 住友重机械工业株式会社 | Excavator |
| CN114761642A (en) * | 2019-11-26 | 2022-07-15 | 神钢建机株式会社 | Measuring device and construction machine |
| CN114761641A (en) * | 2019-12-16 | 2022-07-15 | 株式会社小松制作所 | Working machine, measurement method, and system |
| CN115094971A (en) * | 2022-06-02 | 2022-09-23 | 柳州柳工挖掘机有限公司 | Method and system for calibrating excavation material weighing position, weighing method and excavator |
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| CN113010979B (en) * | 2021-03-01 | 2023-01-24 | 潍柴动力股份有限公司 | Excavator weighing method and system |
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| CN115094971A (en) * | 2022-06-02 | 2022-09-23 | 柳州柳工挖掘机有限公司 | Method and system for calibrating excavation material weighing position, weighing method and excavator |
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