CN110849455A - Material weighing method of large mining excavator - Google Patents
Material weighing method of large mining excavator Download PDFInfo
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- CN110849455A CN110849455A CN201911057451.8A CN201911057451A CN110849455A CN 110849455 A CN110849455 A CN 110849455A CN 201911057451 A CN201911057451 A CN 201911057451A CN 110849455 A CN110849455 A CN 110849455A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/14—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing suspended loads
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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
- E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
- E02F3/52—Cableway excavators
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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
- E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
- E02F3/58—Component parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
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Abstract
The invention discloses a material weighing method of a large mining excavator, which comprises the following steps: 1. a force sensor is arranged at the head sheave shaft, so that the real-time lifting rope tension can be obtained; 2. a force sensor is arranged at the A-shaped frame at the end part of the guy rope, so that the real-time guy rope tension can be obtained; 3. installing a distance measuring instrument at the A-shaped frame; an angle sensor is arranged at the saddle; the absolute zero position of the state of the angle and distance positioning equipment can be utilized to eliminate the positioning error; 4. the whole working device (comprising a crane boom, a bucket rod, a bucket and materials) is taken as a research object, the moment balance solution is carried out on the heel pin center, and the weight of the materials can be deduced; 5. in the calculation process, different gravity center positions are set according to the fact that the material filling amount is smaller than 1/2 and larger than 1/2 buckets, and modification is carried out according to comparison between a result and a theoretical value, so that the material measurement and calculation accuracy is improved.
Description
Technical Field
The invention belongs to mining machinery, and particularly relates to a material weighing method of a large mining excavator.
Background
In 2016, China issued' national mineral resource planning (2016-.
National coal mine safety supervision agency announcements (No. 1 in 2019): the coal mine robot mainly develops and researches the basic requirements of the intelligent remote control automatic loading system of the electric shovel of the open pit mine (tunneling type): the intelligent remote control automatic loading system for the open-pit electric shovel is researched and developed, has the functions of mining area environment sensing and three-dimensional reproduction, wireless communication and remote monitoring, automatic loading alignment, shovel position moving, intelligent fault identification and alarming and the like, and realizes the intellectualization and unmanned operation of the open-pit electric shovel.
The single-bucket material statistics of the bucket can be realized based on a high-precision weighing system, and the single-bucket material statistics can be used as a basis for evaluating the operation behavior of a driver; the statistics of the yield of a single hopper, a single vehicle, the number of shifts and the number of months can be used as the basis of a material statistics system; the single-bucket material weighing can avoid single-bucket overload and mining truck overload, prolong the service life of the excavator and the mining truck, and can be used as the basis of equipment health management.
The high-precision weighing system is the basis of actual unmanned excavation, the full bucket rate of materials is more than 90% according to the requirement of equipment excavation materials, and the real-time high-precision weighing system provides judgment basis for the staged operation of unmanned excavation.
Therefore, the high-precision weighing system is particularly significant for large mining excavators.
Disclosure of Invention
Therefore, the invention provides a material weighing method of a large mining excavator, which comprises the following steps:
s1: the method comprises the following steps that a force sensor is arranged on an equalizing beam of an A-shaped frame and used for measuring real-time tension Fs of a guy rope, a distance meter is arranged on the A-shaped frame and used for detecting the real-time horizontal position of a bucket rod, an angle sensor is arranged on the lower portion of a saddle and used for detecting the real-time angle of the bucket rod, and the force sensor is arranged near a head sheave device of a crane boom and used for measuring real-time tension Fh of a lifting rope; measuring the distance from a saddle heel pin shaft to the center of the saddle as a fixed value Lo, and measuring the weight Gb of a crane boom, the weight Gd of a bucket movable assembly and the weight Gdh of a bucket rod, wherein the Gb, the Gd and the Gdh are fixed values;
s2: a coordinate system is established by taking a cargo boom heel pin as an original point O and taking the horizontal direction and the vertical direction as X, Y axes respectively, and a certain position of the excavator is taken as an initial position, wherein the following positions are as follows: measuring a force arm Ls from the guy rope to a point O of the crane boom heel pin, measuring a force arm Lh from the hoisting rope to the point O of the crane boom heel pin, and measuring a force arm Lb from the gravity center of the crane boom to the point O of the crane boom heel pin;
s3, when the excavator works, the excavator pushes and presses an encoder on a transmission system to obtain the expansion amount △ xdh of the bucket rod, the expansion amount △ xd of the bucket and the expansion amount △ xm of the materials;
s4: measuring an angle change a from an angle sensor;
s5, obtaining the weight of the material Gm { Fs, Ls + Fh, Lh-Lh } + Gd ] [ cos (a). △ xd + Lo ] + Gm ] [ cos (a)). △ xm + Lo ] according to a moment balance formula, and obtaining the weight of the material Gm ═ Fs, Ls + Fh-Lh-Gb-Gd ] ([ cos (a)). △ xd + Lo ] }/[ cos (a)). △ xm + Lo ].
In the method for weighing the material of the large mining excavator, in the step S5, when the weight Gm of the material is greater than or equal to one half of the rated normal load, it is determined that the obtained value is reliable; and when the weight Gm of the material is less than one half of the rated normal load, resetting the center position of the weight, and repeating the steps S1, S2, S3, S4 and S5 until the obtained Gm is more than or equal to one half of the rated normal load.
Drawings
In order to more clearly illustrate embodiments of the present invention or technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic diagram of a material weighing system to which the material weighing method of the large mining excavator of the present invention is applied.
Description of reference numerals: 1-head sheave device, 2-guy rope, 3-equalizing beam, 4-A type frame, 5-distance meter, 6-lifting rope, 7-saddle, 8-angle sensor, 9-cargo boom, 10-bucket rod, 11-bucket and 12-material.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the material weighing system applicable to the material weighing method of the large-scale mining excavator of the present invention mainly comprises a boom, a dipper, a bucket, a hoist rope, a guy rope, an a-frame, a material, a force sensor, an angle sensor, and a distance meter, wherein: a force sensor is arranged on a balance beam of the A-shaped frame and used for measuring the real-time tension Fs of the guy rope; the A-shaped frame is provided with a distance meter for detecting the real-time horizontal position of the bucket rod; an angle sensor is arranged at the lower part of the saddle and used for detecting the real-time angle of the bucket rod.
The material weighing method of the large-scale mining excavator obtains the weight of the material according to a mechanical balance equation by establishing a mathematical model, taking a cargo boom heel pin o point as an origin point, taking a cargo boom, a bucket rod, a bucket and the material, a lifting rope and a guy rope as research objects. Specifically, the material weighing method of the large mining excavator comprises the following steps:
a force sensor is arranged on a balance beam in the A-shaped frame, the real-time tension Fs of the guy rope can be measured, the force arm from the guy rope to a point o of a foot-following pin of the crane boom is Ls, and the moment Fs & Ls corresponding to the guy rope can be obtained.
A force sensor is arranged near the crane boom head sheave device, so that the tension Fh of a lifting rope can be measured in real time, and the moment arm from the lifting rope to the crane boom heel pin O point is Lh; the torque corresponding to the hoisting rope can be obtained as follows: fh & Lh.
The crane boom is a fixed assembly, the weight of the crane boom is Gb, the moment arm corresponding to the gravity center position is Lb, and the moment arm Gb & Lb corresponding to the crane boom can be obtained.
The method comprises the steps that the positions of a bucket rod, a bucket and materials are changed in real time, so that the gravity center positions of the bucket rod, the bucket and the materials are measured in real time, and the expansion and contraction change quantity of the bucket rod, the bucket and the materials can be calculated through transmission ratio conversion according to a stroke encoder of a pushing and pressing system; because the initial position of the stroke encoder needs to be set after the lifting steel wire rope is replaced every time, if the initial position is not constant every time, the data difference in the calculation process is large, and the influence on the result is large; therefore, the angle of the bucket rod can be monitored in real time by adopting the angle sensor at the lower part of the saddle, and the distance measuring instrument is arranged on the A-shaped frame behind the bucket rod; the horizontal position of the bucket rod can be monitored; every initial position all uses the dipper level, and the distancer is certain fixed value as initial position, can pinpoint the size of this position, guarantees simultaneously that the initial position of dipper keeps unchangeable after changing wire rope at every turn.
The angle change a is measured by the angle sensor.
The weight of the movable assembly of the bucket rod is Gdh, the force arm corresponding to the gravity center position is Ldh, the force arm position of the bucket rod is changed in real time, the expansion and contraction amount of the bucket rod is △ xdh (△ xdh is the distance from the gravity center of the bucket rod to the center of the saddle along the direction of the bucket rod, wherein △ xdh can be directly read by a stroke encoder on a pushing transmission system), the force arm Ldh' from the bucket rod to the center of the saddle is cos (a) △ xdh, the distance from the heel pin shaft to the center of the saddle is a fixed value Lo, therefore, the force arm from the gravity center of the bucket rod to the heel pin is cos (a) △ xdh + Lo, and the moment corresponding to the bucket rod is (cos (a) △ xdh + Lo) Gdh.
The weight of the bucket is a movable assembly Gd, the moment arm corresponding to the gravity center position is Ld, the moment arm position of the bucket is changed in real time, the expansion and contraction amount of the bucket is △ xd (△ xd is the distance from the gravity center of the bucket to the center of a saddle along the direction of a bucket rod, wherein △ xd can be directly read by a stroke encoder on a pushing transmission system), the moment arm Ld' from the bucket to the center of the saddle is cos (a) - △ xd, the distance from a saddle heel pin shaft to the center of the saddle is a fixed value Lo, therefore, the moment arm from the gravity center of the bucket to the heel pin is cos (a) - △ xd + Lo, and the moment corresponding to the bucket rod is (cos (a) - △ xd + Lo) Gd.
The weight of the material is a movable assembly Gm, the force arm corresponding to the gravity center position is Lm, the force arm position of the material is changed in real time, the expansion and contraction amount of the material is △ xm (△ xm is the distance from the gravity center of the material to the center of the saddle along the direction of the bucket rod, wherein △ xm can be directly read by a stroke encoder on a pushing transmission system), the force arm Lm' from the material to the center of the saddle is cos (a) △ xm, the distance from the heel pin shaft of the saddle to the center of the saddle is a fixed value Lo, and therefore the force arm from the gravity center of the material to the heel pin is cos (a) △ xm + Lo, and the moment corresponding to the bucket rod is (cos a) △ xm + Lo) Gm.
Taking a cargo boom heel pin as a research center, and according to a moment balance formula:
Fs·Ls+Fh·Lh＝Gb·Lb+Gd·Ld+Gm·Lm
obtaining Gm ═ Fs · Ls + Fh · Lh-Gb · Lb + Gd · Ld)/Lm
According to the formula, derivation and calculation are carried out to obtain the weight Gm of the weighed material, and when the weight Gm of the weighed material is larger than 1/2 of the rated normal load, the measured value is considered to be normal; when the weight of the material to be weighed is Gm and is smaller than 1/2 of the rated normal load, the material is brought into the force arm Lm' corresponding to the material again, and the weight of different materials corresponds to different gravity center positions by optimizing the force arm corresponding to the material, so that the material weighing precision is improved.
Compared with the prior art, the invention provides the high-precision weighing method suitable for the gear and gear rigid pushing excavator, and the method utilizes different mathematical models to avoid approximate errors in the calculation process; the force sensor is adopted to avoid calculating the pushing and pressing force, so that the error of a pushing and pressing system is avoided; an angle and range finder are adopted, a method for accurately positioning an original state is provided, and the calculation precision is improved; a closed-loop control method is provided, which considers the real-time change of the gravity center position caused by the real-time change of the material in the actual excavation process and improves the material precision. A method for measuring the weight of a material is provided, and the influence of the weight acceleration on the precision of the material in the weighing process is avoided.
It should be noted that the above embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or alterations do not depart from the spirit of the invention.
Claims (2)
1. A material weighing method of a large mining excavator comprises the following steps:
s1: the method comprises the following steps that a force sensor is arranged on an equalizing beam of an A-shaped frame and used for measuring real-time tension Fs of a guy rope, a distance meter is arranged on the A-shaped frame and used for detecting the real-time horizontal position of a bucket rod, an angle sensor is arranged on the lower portion of a saddle and used for detecting the real-time angle of the bucket rod, and the force sensor is arranged near a head sheave device of a crane boom and used for measuring real-time tension Fh of a lifting rope; measuring the distance from a saddle heel pin shaft to the center of the saddle as a fixed value Lo, and measuring the weight Gb of a crane boom, the weight Gd of a bucket movable assembly and the weight Gdh of a bucket rod, wherein the Gb, the Gd and the Gdh are fixed values;
s2: a coordinate system is established by taking a cargo boom heel pin as an original point O and taking the horizontal direction and the vertical direction as X, Y axes respectively, and a certain position of the excavator is taken as an initial position, wherein the following positions are as follows: measuring a force arm Ls from the guy rope to a point O of the crane boom heel pin, measuring a force arm Lh from the hoisting rope to the point O of the crane boom heel pin, and measuring a force arm Lb from the gravity center of the crane boom to the point O of the crane boom heel pin;
s3, when the excavator works, the excavator pushes and presses an encoder on a transmission system to obtain the expansion amount △ xdh of the bucket rod, the expansion amount △ xd of the bucket and the expansion amount △ xm of the materials;
s4: measuring an angle change a from an angle sensor;
s5, obtaining the weight of the material Gm { Fs, Ls + Fh, Lh-Lh } + Gd ] [ cos (a). △ xd + Lo ] + Gm ] [ cos (a)). △ xm + Lo ] according to a moment balance formula, and obtaining the weight of the material Gm ═ Fs, Ls + Fh-Lh-Gb-Gd ] ([ cos (a)). △ xd + Lo ] }/[ cos (a)). △ xm + Lo ].
2. The method for weighing the material of the large mining excavator according to claim 1, wherein: in the step S5, when the weight Gm of the material is greater than or equal to one half of the rated normal load, determining that the obtained value is reliable; and when the weight Gm of the material is less than one half of the rated normal load, resetting the center position of the weight, and repeating the steps S1, S2, S3, S4 and S5 until the obtained Gm is more than or equal to one half of the rated normal load.
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| CN201911057451.8A CN110849455A (en) | 2019-11-01 | 2019-11-01 | Material weighing method of large mining excavator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114021071A (en) * | 2021-11-12 | 2022-02-08 | 北京中矿华沃科技股份有限公司 | Method and device for weighing electric shovel and computer readable storage medium |
| CN114878045A (en) * | 2022-04-11 | 2022-08-09 | 太原重工股份有限公司 | Excavator excavation resistance measuring method |
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| CN102914351B (en) * | 2012-10-11 | 2015-01-21 | 中钢集团衡阳重机有限公司 | Weighting method for electric excavator |
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2019
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Patent Citations (7)
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| JPH0783740A (en) * | 1993-09-14 | 1995-03-31 | Shin Caterpillar Mitsubishi Ltd | Machine for loading and carrying heavy load |
| WO2007121517A1 (en) * | 2006-04-20 | 2007-11-01 | Cmte Development Limited | Payload estimation system and method |
| JP2008096255A (en) * | 2006-10-11 | 2008-04-24 | Shin Caterpillar Mitsubishi Ltd | Apparatus for measuring load of working machine |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114021071A (en) * | 2021-11-12 | 2022-02-08 | 北京中矿华沃科技股份有限公司 | Method and device for weighing electric shovel and computer readable storage medium |
| CN114878045A (en) * | 2022-04-11 | 2022-08-09 | 太原重工股份有限公司 | Excavator excavation resistance measuring method |
| CN114878045B (en) * | 2022-04-11 | 2023-09-19 | 太原重工股份有限公司 | Excavator excavation resistance measuring method |
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