CN109680738B - Hydraulic excavator material online weighing device and method - Google Patents
Hydraulic excavator material online weighing device and method Download PDFInfo
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- CN109680738B CN109680738B CN201910111981.XA CN201910111981A CN109680738B CN 109680738 B CN109680738 B CN 109680738B CN 201910111981 A CN201910111981 A CN 201910111981A CN 109680738 B CN109680738 B CN 109680738B
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- 239000000463 material Substances 0.000 title claims abstract description 58
- 238000005303 weighing Methods 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 53
- 238000006073 displacement reaction Methods 0.000 claims abstract description 14
- 238000004364 calculation method Methods 0.000 claims description 13
- 230000005484 gravity Effects 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 5
- 238000013178 mathematical model Methods 0.000 claims description 5
- 238000009412 basement excavation Methods 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 238000013500 data storage Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 19
- 238000005259 measurement Methods 0.000 description 3
- 230000004069 differentiation Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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
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- 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
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
The invention discloses a material online weighing device and method of a hydraulic excavator, wherein the material online weighing device comprises a sensor module, a data processing module and a display module; the data processing module is connected with the sensor module and is used for processing signals detected by the sensor on line; the display module is arranged in the cab and connected with the data processing module, and the data processed by the data processing module is displayed through the display module. The sensor module comprises a dynamic attitude sensor, an oil pressure sensor and an ultrasonic displacement sensor, wherein the dynamic attitude sensor is used for measuring attitude angles of an upper carriage, a movable arm and a bucket rod of the excavator; the oil pressure sensor is used for measuring the thrust of the oil cylinder; the ultrasonic displacement sensor is arranged on the bucket cylinder and is used for measuring the displacement of the bucket cylinder. The invention solves the problem of on-line weighing of bucket materials, realizes that the change of the posture of the working device and the posture of the vehicle does not influence weighing, and improves the work load efficiency and the metering precision in the loading operation of the excavator.
Description
Technical Field
The invention relates to a device and a method for weighing materials of a hydraulic excavator on line, which are particularly suitable for a front shovel and a back shovel type hydraulic excavator.
Background
The excavator is used as a single product with the highest value of engineering machinery, the application scene is extremely wide, along with the rapid development of the excavating machinery and the improvement of the requirements of people on quantitative operation tasks, a method capable of weighing materials on line in real time and counting the excavating output is increasingly required, and the old excavator which is put into use also needs to be additionally provided with a weighing system so as to achieve the purpose of fine operation.
In order to calculate the weight of the excavated materials of the excavator under different excavation working conditions, most manufacturers do not have better solutions at present, and some manufacturers are reluctant to disclose related measurement technologies due to technical confidentiality. CN104132721a proposes that the rotation angle between each component is measured by an angle sensor, the real-time position of each component is calculated, and then the kinematic parameters such as the speed and acceleration of each component are calculated differentially. The method utilizes the corners to conduct primary differentiation and secondary differentiation respectively, a large amount of errors are introduced in calculation, the problem of the center of gravity of the materials cannot be solved, and the center of mass of the materials can be corrected only according to the calculation result, the density of the materials and the accumulation state. CN103900669a proposes a dynamic weighing device for bucket materials of excavator and its method, in which a sensor is installed on each component of the working device, the weight and the gravity center position of each component of the working device must be known in advance, and after the sensor measures data, a complex calculation method is used to calculate the working states of all components, so that the measured data are more, resulting in large overall error of the system, and the influence of the load gravity center position and the hydraulic oil quantity variation in the oil cylinder on the result is not considered.
Disclosure of Invention
The invention provides an on-line weighing device and method for hydraulic excavator materials, which are used for solving the defects existing in the prior art.
The invention is realized according to the following technical scheme:
an on-line weighing device for hydraulic excavator materials, comprising:
a sensor module;
the data processing module is connected with the sensor module and is used for processing signals detected by the sensor on line;
the display module is arranged in the cab and connected with the data processing module, and the data processed by the data processing module is displayed through the display module;
wherein the sensor module comprises:
the dynamic attitude sensor is used for measuring attitude angles of the loading, the movable arm and the bucket rod of the excavator;
an oil pressure sensor for measuring a thrust force of the cylinder;
and the ultrasonic displacement sensor is arranged on the bucket cylinder and is used for measuring the displacement of the bucket cylinder.
Further, the dynamic attitude sensor includes:
the bucket rod dynamic attitude sensor is arranged on the bucket rod and used for measuring the attitude angle of the bucket rod;
a boom dynamic attitude sensor mounted on the boom, measuring an attitude angle of the boom;
the loading dynamic attitude sensor is arranged at the loading position of the excavator and is used for measuring the attitude angle of the loading of the excavator.
Further, CAN signals output by the bucket rod dynamic attitude sensor are connected to the movable arm dynamic attitude sensor through a T-shaped connector, CAN signals output by the movable arm dynamic attitude sensor are connected to the upper vehicle dynamic attitude sensor through a T-shaped connector, and CAN signals output by the upper vehicle dynamic attitude sensor are connected to the data processing module through a T-shaped connector.
Further, the oil pressure sensor includes:
a boom cylinder pressure sensor mounted on the boom cylinder for measuring a thrust of the boom cylinder;
and the bucket rod oil cylinder pressure sensor is arranged on the bucket rod oil cylinder and is used for measuring the thrust of the bucket rod oil cylinder.
Further, the movable arm oil cylinder pressure sensor and the bucket rod oil cylinder pressure sensor are connected into the data processing module through voltage analog signals.
Further, the ultrasonic displacement sensor is connected to the data processing module through a voltage analog signal.
Furthermore, the data processing module is arranged at the position of the on-board of the excavator, has a data storage function and can store and call out data in real time.
An on-line weighing method for hydraulic excavator materials comprises the following operation steps:
the method comprises the following steps that firstly, CAN signals output by a bucket rod dynamic posture sensor are connected to a movable arm dynamic posture sensor through a T-shaped connector, the CAN signals output by the movable arm dynamic posture sensor are connected to an upper vehicle dynamic posture sensor through the T-shaped connector, and the CAN signals output by the upper vehicle dynamic posture sensor are connected to a data processing module through the T-shaped connector; the movable arm cylinder pressure sensor and the bucket rod cylinder pressure sensor are connected to the data processing module through voltage analog signals;
secondly, the data processing module carries out online calculation on the CAN bus signals and analog quantity signals;
and thirdly, displaying the material weight and the total excavation mass which are finally calculated by the data processing module on a display module in real time.
Further, in step two, the mathematical model of the calculation of the data processing module is as follows:
when the excavator is in a horizontal position, m is the mass of materials in the bucket, the bucket rod is in a certain posture, and the bucket cylinder is opposite to a hinge point O when the bucket is in idle load 1 Moment of M 1 Bucket cylinder opposite hinge point O when the bucket has materials 1 Moment of M 1 ' the direction definition of the moment is clockwise negative and anticlockwise positive;
from M 1 、M 1 ' available bucket material to hinge point O 1 The moment of (2) is:
dM 1 ＝M′ 1 -M 1 (1)
similarly, the moment of the swing arm oil cylinder to the swing arm hinge point O when no load is obtained is M 2 When materials exist, the moment of the movable arm oil cylinder to the movable arm hinge point O is as follows: m's' 2 ；
From M 2 、M′ 2 The moment of the material in the bucket to the hinge point O of the movable arm is obtained as follows:
dM 2 ＝M′ 2 -M 2 (2)
will M 1 、M 2 The parameters of (2) are input into a data processing module in advance, and M is extracted by using a table look-up method 1 、M 2 Data; by two moments dM 1 、dM 2 The calculation equation of the reversely-deduced material mass is as follows:
in the equation (3), a and b are pitch angles measured by the movable arm and the bucket rod through the dynamic attitude sensor, and Y 1 、Y 2 The center distance of the hinge points of the bucket rod and the movable arm.
Further, when the working device is inclined sideways, that is, the roll angle is not zero, assuming that the roll angle measured by the dynamic attitude sensor is α, the gravitational acceleration g in equation (3) is corrected to g ', a, b to a ', b ', and the correction formula is:
the invention has the beneficial effects that:
according to the invention, the influence of the position change of the oil cylinder and the bucket connecting rod mechanism on the measurement result can be eliminated, the weight calculation of the materials in the bucket of the excavator can be rapidly and accurately realized by a smart method through installing fewer sensors under the condition of unknown gravity center of the materials of the excavator and the weight and gravity center of each part of the working device, the technical problem that the existing excavator cannot accurately weigh the bucket materials is solved, and the working load efficiency and the metering precision in the loading operation of the excavator are improved.
Drawings
FIG. 1 is a general view of the backhoe hydraulic excavator of the present invention;
FIG. 2 is a computational schematic of the invention;
fig. 3 is an enlarged partial view of the bucket portion.
Wherein, each part in fig. 1 is: 1-materials, 2-bucket, 3-ultrasonic displacement sensor, 4-bucket cylinder, 5-arm, 6-arm dynamic attitude sensor, 7-arm cylinder pressure sensor, 8-arm cylinder, 9-arm, 10-arm dynamic attitude sensor, 11-arm cylinder, 12-display module, 13-loading dynamic attitude sensor, 14-data processing module, 15-arm cylinder pressure sensor, 16-excavator loading and 17-excavator unloading.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention become more apparent, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the invention. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, an on-line weighing device for hydraulic excavator materials comprises a sensor module, a data processing module 14 and a display module 12; the data processing module 14 is connected with the sensor module and is used for carrying out on-line processing on signals detected by the sensor; the display module 12 is installed in the cab and connected with the data processing module 14, and the data processed by the data processing module 14 is displayed by the display module 12.
The sensor module comprises a dynamic attitude sensor, an oil pressure sensor and an ultrasonic displacement sensor 3, wherein the dynamic attitude sensor is used for measuring attitude angles of the upper carriage 16, the movable arm 9 and the bucket rod 5 of the excavator; the oil pressure sensor is used for measuring the thrust of the oil cylinder; an ultrasonic displacement sensor 3 is mounted on the bucket cylinder 4 for measuring the displacement of the bucket cylinder 4.
With continued reference to fig. 1, the dynamic posture sensor includes a stick dynamic posture sensor 6, a boom dynamic posture sensor 10, and an boarding dynamic posture sensor 13; the bucket rod dynamic attitude sensor 6 is arranged on the bucket rod 5 and measures the attitude angle of the bucket rod 5; a boom dynamic attitude sensor 10 is mounted on the boom 9, and measures an attitude angle of the boom 9; the loading dynamic attitude sensor 13 is installed at the excavator loading 16, and measures the attitude angle of the excavator loading 16.
The dynamic attitude sensor is a dynamic inertial measurement module composed of a 3-axis acceleration sensor and a 3-axis angular velocity sensor. The CAN signal output by the bucket rod dynamic posture sensor 6 is connected to the movable arm dynamic posture sensor 10 through a T-shaped connector, the CAN signal output by the movable arm dynamic posture sensor 10 is connected to the upper vehicle dynamic posture sensor 13 through a T-shaped connector, and the CAN signal output by the upper vehicle dynamic posture sensor 13 is connected to the data processing module 14 through a T-shaped connector. The movable arm oil cylinder pressure sensor 15 and the bucket rod oil cylinder pressure sensor 7 are connected to the data processing module 14 through voltage analog signals. The ultrasonic displacement sensor 3 is connected to the data processing module 14 through a voltage analog signal.
With continued reference to fig. 1, the oil pressure sensor includes a boom cylinder pressure sensor 15 and an arm cylinder pressure sensor 7; the movable arm cylinder pressure sensor 15 is mounted on the movable arm cylinder 11 and is used for measuring the thrust of the movable arm cylinder 11; the arm cylinder pressure sensor 7 is mounted on the arm cylinder 8 and is used for measuring the thrust of the arm cylinder 8.
The data processing module 14 is installed on the excavator truck 16, and is used for collecting, calculating and storing sensor signals. The display module 12 is integrated with the excavator display meter function for displaying the weight of the material 1 and the accumulated weight of the material in the current bucket 2.
As shown in fig. 2 and 3, the method for weighing the hydraulic excavator materials on line comprises the following operation steps:
the method comprises the following steps that firstly, CAN signals output by a bucket rod dynamic posture sensor 6 are connected to a movable arm dynamic posture sensor 10 through a T-shaped connector, CAN signals output by the movable arm dynamic posture sensor 10 are connected to an upper vehicle dynamic posture sensor 13 through the T-shaped connector, and CAN signals output by the upper vehicle dynamic posture sensor 13 are connected to a data processing module 14 through the T-shaped connector; the movable arm cylinder pressure sensor 15 and the bucket rod cylinder pressure sensor 7 are connected to the data processing module 14 through voltage analog signals;
step two, the data processing module 14 carries out online calculation on the CAN bus signal and the analog signal; the data processing module 14 has a data storage function and can store and call out data in real time;
step three, the data processing module 14 displays the finally calculated material weight and total excavation mass on the display module 12 in real time, and can operate the display to call programs such as parameter input, weighing zero setting and the like.
With continued reference to FIG. 2, in step two, the mathematical model of the data processing module is calculated as follows:
when the excavator is in a horizontal position, m is the mass of materials in the bucket, the bucket rod is in a certain posture, and the bucket cylinder is opposite to a hinge point O when the bucket is in idle load 1 Moment of M 1 Bucket cylinder opposite hinge point O when the bucket has materials 1 Moment of M 1 ' the direction definition of the moment is clockwise negative and anticlockwise positive;
from M 1 、M 1 ' available bucket material to hinge point O 1 The moment of (2) is:
dM 1 ＝M′ 1 -M 1 (1)
similarly, the moment of the swing arm oil cylinder to the swing arm hinge point O when no load is obtained is M 2 When materials exist, the moment of the movable arm oil cylinder to the movable arm hinge point O is as follows: m's' 2 ；
From M 2 、M′ 2 The moment of the material in the bucket to the hinge point O of the movable arm is obtained as follows:
dM 2 ＝M′ 2 -M 2 (2)
will M 1 、M 2 The parameters of (2) are input into a data processing module in advance, and M is extracted by using a table look-up method 1 、M 2 Data; by two moments dM 1 、dM 2 The calculation equation of the reversely-deduced material mass is as follows:
in the equation (3), a and b are pitch angles measured by the movable arm and the bucket rod through the dynamic attitude sensor, and Y 1 、Y 2 The center distance of the hinge points of the bucket rod and the movable arm.
When the working device is inclined sideways, that is, the roll angle is not zero, and the roll angle measured by the dynamic attitude sensor is alpha, the gravity acceleration g in the equation (3) is corrected to g ', a and b are corrected to a ', b ', and the correction formula is as follows:
it should be noted that, the above mathematical model is only suitable for the condition that the upper carriage 16 of the excavator is in a non-rotation condition on the lower carriage 17 of the excavator, and the data processing module 14 determines the rotation state through the angular velocity signal output by the upper carriage dynamic attitude sensor 13.
The method can be summarized as follows: the invention solves the problem of on-line weighing of the bucket materials, realizes that the change of the posture of the working device and the posture of the vehicle does not influence weighing, and meanwhile, the position of the gravity center of the bucket materials in the bucket does not influence weighing results, the weight and the gravity center position of each part of the working device are not needed, and the workload efficiency and the metering precision in the loading operation of the excavator are improved.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical scheme of the present invention and are not limiting; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.
Claims (8)
1. An on-line weighing device for hydraulic excavator materials, which is characterized by comprising:
a sensor module;
the data processing module is connected with the sensor module and is used for processing signals detected by the sensor on line;
the display module is arranged in the cab and connected with the data processing module, and the data processed by the data processing module is displayed through the display module;
wherein the sensor module comprises:
the dynamic attitude sensor is used for measuring attitude angles of the loading, the movable arm and the bucket rod of the excavator;
an oil pressure sensor for measuring a thrust force of the cylinder;
an ultrasonic displacement sensor mounted on the bucket cylinder for measuring displacement of the bucket cylinder;
the dynamic attitude sensor includes:
the bucket rod dynamic attitude sensor is arranged on the bucket rod and used for measuring the attitude angle of the bucket rod;
a boom dynamic attitude sensor mounted on the boom, measuring an attitude angle of the boom;
the loading dynamic attitude sensor is arranged at the loading position of the excavator and is used for measuring the attitude angle of the loading of the excavator;
the CAN signal output by the bucket rod dynamic attitude sensor is connected to the movable arm dynamic attitude sensor through a T-shaped connector, the CAN signal output by the movable arm dynamic attitude sensor is connected to the upper vehicle dynamic attitude sensor through the T-shaped connector, and the CAN signal output by the upper vehicle dynamic attitude sensor is connected to the data processing module through the T-shaped connector;
the computational mathematical model of the data processing module is as follows:
when the excavator is in a horizontal position, m is the mass of materials in the bucket, the bucket rod is in a certain posture, and the bucket cylinder is opposite to a hinge point O when the bucket is in idle load 1 Moment of M 1 Bucket cylinder opposite hinge point O when the bucket has materials 1 Moment of M 1 ' the direction definition of the moment is clockwise negative and anticlockwise positive;
from M 1 、M 1 ' available bucket material to hinge point O 1 The moment of (2) is:
dM 1 ＝M′ 1 -M 1 (1)
similarly, the moment of the swing arm oil cylinder to the swing arm hinge point O when no load is obtained is M 2 When materials exist, the moment of the movable arm oil cylinder to the movable arm hinge point O is as follows: m's' 2 ；
From M 2 、M′ 2 Available bucketThe moment of the inner material to the movable arm hinge point O is as follows:
dM 2 ＝M′ 2 -M 2 (2)
will M 1 、M 2 The parameters of (2) are input into a data processing module in advance, and M is extracted by using a table look-up method 1 、M 2 Data; by two moments dM 1 、dM 2 The calculation equation of the reversely-deduced material mass is as follows:
in the equation (3), a and b are pitch angles measured by the movable arm and the bucket rod through the dynamic attitude sensor, and Y 1 、Y 2 The center distance of the hinge points of the bucket rod and the movable arm.
2. The hydraulic excavator material on-line weighing device of claim 1 wherein the oil pressure sensor comprises:
a boom cylinder pressure sensor mounted on the boom cylinder for measuring a thrust of the boom cylinder;
and the bucket rod oil cylinder pressure sensor is arranged on the bucket rod oil cylinder and is used for measuring the thrust of the bucket rod oil cylinder.
3. The hydraulic excavator material on-line weighing device according to claim 2, wherein: the movable arm oil cylinder pressure sensor and the bucket rod oil cylinder pressure sensor are connected to the data processing module through voltage analog signals.
4. The hydraulic excavator material on-line weighing device according to claim 1, wherein: the ultrasonic displacement sensor is connected to the data processing module through a voltage analog signal.
5. The hydraulic excavator material on-line weighing device according to claim 1, wherein: the data processing module is arranged at the position of the loading of the excavator, has a data storage function and can store and call out data in real time.
6. A weighing method based on the hydraulic excavator material online weighing device as claimed in claim 1, which is characterized by comprising the following operation steps:
the method comprises the following steps that firstly, CAN signals output by a bucket rod dynamic posture sensor are connected to a movable arm dynamic posture sensor through a T-shaped connector, the CAN signals output by the movable arm dynamic posture sensor are connected to an upper vehicle dynamic posture sensor through the T-shaped connector, and the CAN signals output by the upper vehicle dynamic posture sensor are connected to a data processing module through the T-shaped connector; the movable arm cylinder pressure sensor and the bucket rod cylinder pressure sensor are connected to the data processing module through voltage analog signals;
secondly, the data processing module carries out online calculation on the CAN bus signals and analog quantity signals;
and thirdly, displaying the material weight and the total excavation mass which are finally calculated by the data processing module on a display module in real time.
7. The weighing method according to claim 6, wherein in step two, the mathematical model of the calculation of the data processing module is as follows:
when the excavator is in a horizontal position, m is the mass of materials in the bucket, the bucket rod is in a certain posture, and the bucket cylinder is opposite to a hinge point O when the bucket is in idle load 1 Moment of M 1 Bucket cylinder opposite hinge point O when the bucket has materials 1 Moment of M 1 ' the direction definition of the moment is clockwise negative and anticlockwise positive;
from M 1 、M 1 ' available bucket material to hinge point O 1 The moment of (2) is:
dM 1 ＝M′ 1 -M 1 (1)
similarly, the moment of the swing arm oil cylinder to the swing arm hinge point O when no load is obtained is M 2 When materials exist, the moment of the movable arm oil cylinder to the movable arm hinge point O is as follows: m's' 2 ；
From M 2 、M′ 2 The moment of the material in the bucket to the hinge point O of the movable arm is obtained as follows:
dM 2 ＝M′ 2 -M 2 (2)
will M 1 、M 2 The parameters of (2) are input into a data processing module in advance, and M is extracted by using a table look-up method 1 、M 2 Data; by two moments dM 1 、dM 2 The calculation equation of the reversely-deduced material mass is as follows:
in the equation (3), a and b are pitch angles measured by the movable arm and the bucket rod through the dynamic attitude sensor, and Y 1 、Y 2 The center distance of the hinge points of the bucket rod and the movable arm.
8. The weighing method according to claim 7, characterized in that: when the working device is inclined sideways, that is, the roll angle is not zero, and the roll angle measured by the dynamic attitude sensor is alpha, the gravity acceleration g in the equation (3) is corrected to g ', a and b are corrected to a ', b ', and the correction formula is as follows:
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| KR20200132217A (en) * | 2019-05-16 | 2020-11-25 | 두산인프라코어 주식회사 | Method of measuring bucket soil volume during excavation of excavator |
| CN110095174B (en) * | 2019-06-03 | 2020-06-09 | 北京理工大学 | Vehicle online weighing method and system |
| WO2021006349A1 (en) * | 2019-07-11 | 2021-01-14 | 住友重機械工業株式会社 | Excavator |
| CN110374163A (en) * | 2019-07-17 | 2019-10-25 | 三一重机有限公司 | Excavator weighing system, method and excavator |
| JP7246294B2 (en) * | 2019-11-26 | 2023-03-27 | コベルコ建機株式会社 | Measuring equipment and construction machinery |
| JP7353958B2 (en) * | 2019-12-16 | 2023-10-02 | 株式会社小松製作所 | Working machines, measuring methods and systems |
| WO2022124319A1 (en) * | 2020-12-07 | 2022-06-16 | 住友重機械工業株式会社 | Work machine and control device for work machine |
| CN113010979B (en) * | 2021-03-01 | 2023-01-24 | 潍柴动力股份有限公司 | Excavator weighing method and system |
| CN113566943B (en) * | 2021-07-29 | 2023-07-25 | 上海三一重机股份有限公司 | Material weighing method and device of excavator, excavator and readable storage medium |
| CN115094971B (en) * | 2022-06-02 | 2024-03-15 | 柳州柳工挖掘机有限公司 | Method and system for calibrating weighing position of excavated material, weighing method and excavator |
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| KR930021894A (en) * | 1992-04-23 | 1993-11-23 | 김형벽 | Work Automation Control Method and Device of Electro-Hydraulic Excavator |
| CN102041824A (en) * | 2010-12-09 | 2011-05-04 | 三一重机有限公司 | Automatic control system and control method of working device of excavator |
| CN103900669A (en) * | 2014-03-20 | 2014-07-02 | 华侨大学 | Excavator bucket material dynamic weighing device and method |
| CN104132721A (en) * | 2014-07-29 | 2014-11-05 | 昆山三一数字科技有限公司 | Automatic material weighing method for mine excavator |
| CN104452845A (en) * | 2014-12-25 | 2015-03-25 | 广西大学 | Multi-closed-chain controllable excavation mechanism for keeping posture of bucket through metamorphism |
| CN209585142U (en) * | 2019-02-12 | 2019-11-05 | 徐州徐工挖掘机械有限公司 | A kind of hydraulic crawler excavator material online weighing device and hydraulic crawler excavator |
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