CN112878409A - Crushing equipment, and method and device for detecting idle driving of crushing hammer in crushing equipment - Google Patents

Crushing equipment, and method and device for detecting idle driving of crushing hammer in crushing equipment Download PDF

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CN112878409A
CN112878409A CN202110339168.5A CN202110339168A CN112878409A CN 112878409 A CN112878409 A CN 112878409A CN 202110339168 A CN202110339168 A CN 202110339168A CN 112878409 A CN112878409 A CN 112878409A
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gravity
moment
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刘均华
王宇
曹东辉
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Sany Heavy Machinery Ltd
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Priority to PCT/CN2022/078486 priority patent/WO2022206257A1/en
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/30—Auxiliary apparatus, e.g. for thawing, cracking, blowing-up, or other preparatory treatment of the soil
    • E02F5/305—Arrangements for breaking-up hard ground
    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces

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Abstract

The invention discloses crushing equipment, and a method and a device for detecting idle driving of a breaking hammer in the crushing equipment, wherein a working device of the crushing equipment comprises a movable arm and the breaking hammer, and the method for detecting the idle driving of the breaking hammer in the crushing equipment comprises the following steps: determining the gravity moment of the working device relative to a preset fixed point; acquiring the pressure of a movable arm oil cylinder, and calculating the oil cylinder thrust moment of the component force of the pressure of the movable arm oil cylinder in the direction opposite to the gravity relative to the fixed point according to the pressure of the movable arm oil cylinder; and when the gravity moment of the device is greater than the thrust moment of the oil cylinder, judging that the breaking hammer is idle-driven. Whether the breaking hammer is idle-beat can be automatically identified in the working process of the breaking equipment, so that the operation requirement on an operator can be reduced, the working efficiency is improved, the service life of the breaking hammer is prolonged, and the intellectualization of the breaking operation is realized.

Description

Crushing equipment, and method and device for detecting idle driving of crushing hammer in crushing equipment
Technical Field
The invention relates to the technical field of control of mechanical equipment, in particular to crushing equipment, and a method and a device for detecting idle driving of a crushing hammer in the crushing equipment.
Background
The breaking hammer is also called a hydraulic pick and a hydraulic gun, the power source of the breaking hammer is pressure oil provided by a pump station of an excavator or a loader, and the breaking hammer can effectively clean floating stones and soil in rock gaps in the process of excavating a building foundation. The breaking hammer has a relatively hot market prospect in recent years. According to incomplete statistics, the proportion of the breaking hammer matched with the 30T-70T excavator reaches more than 40 percent.
One problem of the breaking hammer in the use process is that the breaking hammer is forbidden to be used for idle driving. By "blank beating" is meant: when a breaking hammer breaks a broken object such as rock, stone, concrete, etc., a drill rod of the breaking hammer does not impact the broken object. Impact that the air beating caused can make drill rod lockpin, bush wearing and tearing damage even, and the wearing and tearing of bush can make rocking increase of drill rod, finally leads to the dust to get into the quartering hammer easily, shortens the life of quartering hammer by a wide margin. Whether the idle stroke is carried out or not is judged only by the visual and experience of an operator at present, and the operation requirement of the operator is high.
Disclosure of Invention
In view of this, embodiments of the present invention provide a crushing device, and a method and an apparatus for detecting idle striking of a crushing hammer in the crushing device, so as to detect the idle striking of the crushing hammer in the crushing device.
According to a first aspect, an embodiment of the present invention provides a method for detecting blank beating of a breaking hammer in a breaking device, including:
determining the gravity moment of the working device relative to a preset fixed point;
acquiring the pressure of a movable arm cylinder of the movable arm, and calculating the cylinder thrust moment of the component force of the pressure of the movable arm cylinder in the opposite direction of gravity relative to the fixed point;
and when the gravity moment of the device is greater than the thrust moment of the oil cylinder, judging that the breaking hammer is idle-driven.
According to the method for detecting the idle driving of the breaking hammer in the breaking equipment, whether the breaking hammer is in the idle driving state or not is judged according to the relation between the gravity moment of the device and the thrust moment of the oil cylinder, so that whether the breaking hammer is in the idle driving state or not can be automatically identified in the working process of the breaking equipment, the operation requirement on an operator can be reduced, the working efficiency is improved, the service life of the breaking hammer is prolonged, and the intellectualization of the breaking operation is realized.
According to a first aspect, in a first embodiment of the first aspect, the determining of the device gravitational moment of the working device of the crushing plant relative to the preset fixed point comprises:
acquiring oil cylinder displacement and gravity of all working components in the working device;
and calculating the gravity moment of the working device relative to the fixed point according to the displacement and the gravity of the oil cylinders of all the working assemblies.
In a first embodiment of the first aspect, in a second embodiment of the first aspect, the calculating a device gravity moment of the working device relative to a preset fixed point according to the cylinder displacement and the gravity of all working assemblies includes:
for any working assembly, calculating the force arm of the working assembly relative to the fixed point according to the displacement of the oil cylinder of the working assembly, and calculating the assembly gravity moment of the working assembly relative to the fixed point according to the force arm of the working assembly relative to the fixed point and the gravity of the working assembly;
and obtaining the device gravity moment of the working device according to the component gravity moments of all working components in the working device.
With reference to the second embodiment of the first aspect, in the third embodiment of the first aspect, obtaining the device gravitational moment of the working device according to the component gravitational moments of all working components in the working device includes: and adding the component gravity moments of all the working components to obtain the device gravity moment of the working device.
With reference to the first aspect, in a fourth embodiment of the first aspect, calculating a cylinder thrust moment of a component force of the boom cylinder pressure in the vertical direction with respect to the fixed point from the boom cylinder pressure includes:
calculating a force arm L4 of a component force of the thrust of the boom cylinder in the direction opposite to the gravity direction relative to the fixed point according to the pressure of the boom cylinder and the displacement of the boom cylinder;
calculating an included angle theta between the thrust of the movable arm oil cylinder and an X axis according to the pressure of the movable arm oil cylinder;
and obtaining a cylinder thrust moment of a component force of the boom cylinder pressure in the opposite direction of gravity relative to the fixed point according to the boom cylinder pressure, the L4 and the theta.
With reference to the first aspect through the fourth embodiment of the first aspect, in the fifth embodiment of the first aspect, the method for detecting idle driving of the breaking hammer in the excavator further includes:
and when the breaking hammer is in idle driving, controlling the breaking hammer to stop moving and/or sending out a prompt message.
With reference to the fifth embodiment of the first aspect, in the sixth embodiment of the first aspect, the controlling of the breaking hammer to stop moving includes:
when the excavator comprises an electric control main valve, cutting off an oil inlet path of the breaking hammer through the electric control main valve;
and when the excavator comprises a hydraulic control main valve, controlling a solenoid directional valve in the hydraulic control main valve to cut off a pilot oil path of the breaking hammer.
According to a second aspect, an embodiment of the present invention further provides a detection apparatus for detecting blank beating of a breaking hammer in a breaking device, including:
the gravity moment module is used for determining the gravity moment of a working device of the crushing equipment relative to a preset fixed point, and the working device comprises a crushing hammer;
the thrust moment module is used for acquiring the pressure of a movable arm oil cylinder of the crushing equipment and calculating the oil cylinder thrust moment of a component force of the pressure of the movable arm oil cylinder in the direction opposite to the gravity relative to the fixed point according to the pressure of the movable arm oil cylinder;
and the judging module is used for judging that the breaking hammer is idle-driven when the gravity moment of the device is greater than the thrust moment of the oil cylinder.
According to a third aspect, the present invention further provides a crushing apparatus, including a work device cylinder displacement sensor, a boom cylinder pressure sensor, a memory and a processor, where the work device cylinder displacement sensor, the boom cylinder pressure sensor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the method for detecting the idle striking of the crushing hammer in the crushing apparatus according to the first aspect or any one of the embodiments of the first aspect.
According to a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer instructions for causing a computer to execute the method for detecting a blank beat of a breaking hammer in a breaking device according to the first aspect or any one of the embodiments of the first aspect.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
fig. 1 is a schematic flow chart of a detection method of impact of a breaking hammer in a breaking device according to embodiment 1 of the present invention;
FIG. 2 is a schematic attitude view of a specific example of an excavator;
FIG. 3 is a schematic diagram of the manner in which a pilot controlled main valve excavator is controlled when the breaking hammer is idle;
fig. 4 is a schematic structural diagram of a detection device for detecting the idle driving of a breaking hammer in the breaking equipment according to embodiment 2 of the present invention;
fig. 5 is a schematic structural diagram of a concrete example of an excavator in embodiment 3 of the present invention;
wherein: 1. a breaking hammer oil cylinder displacement sensor; 2. a displacement sensor of the bucket rod oil cylinder; 3. a movable arm cylinder displacement sensor; 4. a boom cylinder pressure sensor; 5. and a controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The embodiment 1 of the invention provides a method for detecting idle driving of a breaking hammer in breaking equipment. In embodiment 1 of the present invention, the crushing apparatus may be an excavator or a loader, and the working devices of the crushing apparatus include a boom and a crushing hammer. Fig. 1 is a schematic flow diagram of a detection method for detecting blank beating of a breaking hammer in a crushing device according to embodiment 1 of the present invention, and fig. 2 is a schematic attitude diagram of a specific example of an excavator, as shown in fig. 1 and fig. 2, the detection method for detecting blank beating of a breaking hammer in an excavator according to embodiment 1 of the present invention includes the following steps:
s101: and determining the gravity moment of the working device relative to a preset fixed point.
As a specific embodiment, the following technical solutions may be adopted to determine the device gravity moment of the working device relative to the preset fixed point: acquiring the displacement and gravity of oil cylinders of all working components in the excavator working device, and calculating the device gravity moment of the working device relative to a preset fixed point according to the displacement and gravity of the oil cylinders of all the working components.
When the crushing equipment is an excavator, the working device comprises a movable arm, a bucket rod and a crushing hammer; when the crushing apparatus is a loader, the working device includes a boom and a crushing hammer.
As a specific embodiment, as shown in fig. 2, the fixed point is a connection hinge point a of the vehicle body and the boom.
As a specific embodiment, the calculating the device gravity moment of the working device relative to the preset fixed point according to the cylinder displacement and the gravity of all the working assemblies includes: for any working assembly, calculating the force arm of the working assembly relative to the fixed point according to the displacement of the oil cylinder of the working assembly, and calculating the assembly gravity moment of the working assembly relative to the fixed point according to the force arm of the working assembly relative to the fixed point and the gravity of the working assembly; and obtaining the device gravity moment of the working device according to the component gravity moments of all working components in the working device.
More specifically, as shown in fig. 2, when the working assembly is a boom, calculating a moment arm of the working assembly relative to the fixed point according to a displacement of a cylinder of the working assembly includes:
(11) calculating the gravity center M of the movable arm according to the displacement of the movable arm oil cylinder of the movable arm1Line M connecting with the fixed point A1Angle between A and X axis1AX；
(12) According to the center of gravity M of the movable arm1Distance L from said fixed point AAM1And the angle M1AX calculates a moment arm L of the boom relative to the fixed pointM1。
Illustratively, as shown in fig. 2, the step (11) calculates a boom center of gravity M according to a boom cylinder displacement of the boom1Line M connecting with the fixed point A1Angle between A and X axis1AX can be represented by the following formula:
∠M1AX＝arccos((LAF 2+LAC 2-L1 2)/(2*LAF*LAC))-arctan(YAF/XAF)-∠CA M1
illustratively, as shown in FIG. 2, step (12) is based on the boom center of gravity M1Distance L from said fixed point AAM1And the angle M1AX calculates a moment arm L of the boom relative to the fixed pointM1The following formula may be employed:
LM1＝LAM1*cos∠M1AX
more specifically, when the working assembly is a dipper, calculating the moment arm of the working assembly relative to the fixed point according to the displacement of the oil cylinder of the working assembly includes:
(21) calculating an included angle ABM of a first connecting line and a second connecting line according to the displacement of an arm cylinder of the arm2Wherein the first connecting line is a connecting hinge point B of the movable arm and the bucket rod and the fixed point A, and the second connecting line is a connecting hinge point B of the movable arm and the bucket rod and the gravity center M of the bucket rod2The connecting line of (1);
(22) according to the < ABM2Is calculated to obtainThe fixed point A and the gravity center M of the bucket rod2Distance L ofAM2；
(23) According to the < ABM2Calculating the gravity center M of the bucket rod2Line M connecting with the fixed point A2The included angle between A and the X axis;
(24) according to said LAM2And the angle M2AX calculates the moment arm L of the arm relative to the fixed pointM2。
For example, as shown in fig. 2, the step (21) may adopt the following formula:
∠ABM2＝2π-∠ABD-∠HBM2-arccos((LBD 2+LBH 2-L2 2)/(2*LBD*LBH))
step (22) may employ the following formula:
Figure BDA0002998842640000061
the step (23) comprises the following technical scheme: (231) according to the < ABM2Calculating to obtain an included angle between the first connecting line and the third connecting line2Wherein the third line is the fixed point A and the center of gravity M of the dipper2The connecting line of (1); (232) according to the < BAM2Calculating to obtain an included angle M between the third connecting line and the X axis2AX. Step (231) may employ the following formula:
∠BAM2＝arccos((LAB 2+LAM2 2–LBM2 2)/(2*LAB*LAM2))
step (232) may employ the following formula:
∠M2AX＝arccos((LAF 2+LAC 2-L1 2)/(2*LAF*LAC))-arctan(YAF/XAF)-∠BA M2
step (24) may employ the following formula:
LM2＝LAM2*cos∠M2AX；
as a specific embodiment, as shown in fig. 2, when the working assembly is a breaking hammer, the following technical solution can be adopted for calculating the moment arm of the working assembly relative to the fixed point according to the displacement of the cylinder of the working assembly:
(31) calculating a horizontal tilt angle alpha of the movable arm, an included angle beta of the movable arm and the bucket rod and an included angle gamma of the bucket rod and the breaking hammer according to the displacement of a movable arm oil cylinder of the movable arm, the displacement of a bucket rod oil cylinder of the bucket rod and the displacement of a breaking hammer oil cylinder of the breaking hammer;
(32) calculating the moment arm L of the breaking hammer relative to the fixed point according to the alpha, the beta and the gammaM3。
As shown in fig. 2, step (31) may calculate a boom horizontal inclination angle α according to a boom cylinder displacement of the boom, and may employ the following formula as an example:
α＝arccos((LAF 2+LAC 2-L1 2)/(2*LAF*LAC))-arctan(YAF/XAF)-∠BAC
in the step (31), an included angle β between the movable arm and the arm may be calculated according to displacement of an arm cylinder of the arm, and the following formula may be used as an example:
β＝2π-∠ABD-∠HBG-arccos((LBD 2+LBH 2-L2 2)/(2*LBD*LBH))；
the step (31) of calculating the included angle gamma between the bucket rod and the breaking hammer can adopt the following technical scheme: (311) calculating an included angle KNG between a sixth connecting line and a seventh connecting line according to the displacement of a breaking hammer oil cylinder of the breaking hammer, wherein the sixth connecting line is a connecting line of a connecting hinge point K of a connecting rod and a rocker and a connecting hinge point N of the connecting rod and the bucket rod, and the seventh connecting line is a connecting line of the connecting hinge point N of the connecting rod and the bucket rod and a connecting hinge point G of the bucket rod and the breaking hammer; (312) determining the distance L between the connecting hinge point G of the hopper rod and the breaking hammer and the connecting hinge point K of the connecting rod and the rocker according to the angle KNGGK(ii) a (313) According to the aboveLGKAnd determining an included angle gamma between the bucket rod and the breaking hammer.
As an example, step (311) may use the following formula:
∠KNG＝∠ENG-arccos((LEN 2+LNK 2-L3 2)/(2*LEN*LNK))
step (312) may employ the following formula:
Figure BDA0002998842640000071
step (313) may employ the following formula:
∠NGK＝arccos((LNG 2+LGK 2-LNK 2)/(2*LNG*LGK))；
∠KGL＝arccos((LGK 2+LGL 2-LKL 2)/(2*LGK*LGL))；
γ＝2π-∠NGB-∠LGJ-∠NGK-∠KGL；
for example, as shown in fig. 2, step (32) may employ the following formula:
LM3＝LAB*cos(α)-LBG*cos(α+β)+LGJ*cos(α+β+γ)
as a specific embodiment, obtaining the device gravity moment of the working device according to the component gravity moments of all working components in the working device may be performed as follows: the assembly weight moments of all the working assemblies are added to obtain a device weight moment T1 of the working device, for example T1 ═ LM1*G1+LM2*G2+LM3G3, wherein LM1Representing the boom gravity moment, G1 representing the boom gravity, LM2Indicating the moment of the arm gravity, G2 indicating the arm gravity, LM3Representing the breaking hammer weight moment and G3 representing the breaking hammer weight.
S102: and acquiring the pressure of a movable arm oil cylinder, and calculating the oil cylinder thrust moment of the component force of the pressure of the movable arm oil cylinder in the direction opposite to the gravity relative to the fixed point according to the pressure of the movable arm oil cylinder.
As a specific implementation manner, the following technical solution may be adopted in step S102:
(41) calculating a force arm L4 of a component force of the thrust of the boom cylinder in the direction opposite to the gravity direction relative to the fixed point according to the pressure of the boom cylinder and the displacement of the boom cylinder;
(42) calculating an included angle theta between the thrust of the movable arm oil cylinder and an X axis according to the pressure of the movable arm oil cylinder;
(43) and obtaining a cylinder thrust moment T2 of a component force of the boom cylinder pressure in the opposite direction of gravity relative to the fixed point according to the boom cylinder pressure, the L4 and the theta.
For example, as shown in fig. 2, step (41) may use the following formula:
∠CAX＝arccos((LAF 2+LAC 2-L1 2)/(2*LAF*LAC))-arctan(YAF/XAF)
L4＝LAC*cos∠CAZ
step (42) may employ the following equation:
θ＝π-arccos((LFA 2+LFC 2–LAC 2)/(2*LFA*LFC))-arctan(YAF/XAF)
step (43) may employ the following equation:
T2＝L4*F*sinθ
it should be noted that, in the formula of the embodiment 1 of the present invention, AZ is the positive direction of the X axis; a is a connecting hinge point of the vehicle body main body and the movable arm; b is a connecting hinge point of the movable arm and the bucket rod; c is a connecting hinge point of the movable arm oil cylinder and the bucket rod oil cylinder; d is a connecting hinge point of the bucket rod oil cylinder base and the bucket rod oil cylinder; e is a connecting hinge point of the bucket rod and the breaking hammer oil cylinder; f is a connecting hinge point of the movable arm oil cylinder and the vehicle body main body; g is a connecting hinge point of the bucket rod and the breaking hammer; h is a connecting hinge point of a piston rod of the bucket rod oil cylinder and the bucket rod; j is the position of the breaking hammer tooth tip; k is the link (i.e., KL in fig. 2, connecting the arm cylinder and the demolition hammer) and the rocker (i.e., NK in fig. 2,connecting bucket rod cylinder and bucket rod); q is a connecting hinge point between the rocker and the breaking hammer; l is1Moving a piston rod of a movable arm oil cylinder; l is2The displacement of a piston rod of a bucket rod oil cylinder; l is3The displacement of a piston rod of a breaking hammer oil cylinder; n is a connecting hinge point of the connecting rod and the bucket rod; alpha is the horizontal inclination angle of the movable arm; beta is an included angle between the movable arm and the bucket rod; gamma is an included angle between the bucket rod and the breaking hammer; theta is an included angle between the thrust direction of the movable arm oil cylinder and the X axis; m1 is the center of gravity of the movable arm; m2 is the gravity center of the bucket rod; m3 is the center of gravity of the breaking hammer; l isM1The gravity arm is a gravity arm of the movable arm relative to the point A; l isM2A gravity arm of the bucket rod with gravity relative to the point A; l isM3The gravity arm is a gravity arm of the breaking hammer relative to the point A; l4 is the arm of force of the component of the boom cylinder thrust in the opposite direction of gravity with respect to point A.
L is the distance between the two connecting hinge points; x is the X-axis component of the distance between two connecting hinge points; y is the Y-axis component of the distance between the two connecting hinge points. Such as LACAnd the distance between the fixed point A and a connecting hinge point C of the movable arm oil cylinder and the arm oil cylinder is represented.
S103: and when the gravity moment of the device is greater than the thrust moment of the oil cylinder, judging that the breaking hammer is idle-driven.
According to the method for detecting the idle striking of the breaking hammer in the breaking equipment, provided by the embodiment of the invention, the gravity moment T1 is stressed relative to the point A, and when the breaking hammer strikes a stone or a hard object, the gravity moment is balanced with the moment T2 in the direction opposite to the gravity of the movable arm. If the breaking hammer is idle-beat, T2 is less than T1, so as to be used as the condition whether the breaking hammer is idle-beat, that is to say, whether the breaking hammer is idle-beat is judged according to the relation between the gravity moment of the device and the thrust moment of the oil cylinder, so that whether the breaking hammer is idle-beat can be automatically identified in the working process of the breaking equipment, the operation requirement on an operator can be reduced, the working efficiency is improved, the service life of the breaking hammer is prolonged, and the intellectualization of the breaking operation is realized.
As a further embodiment, the breaking hammer is controlled to stop moving when the breaking hammer is idle. When the excavator comprises an electric control main valve, cutting off an oil inlet path of the breaking hammer through the electric control main valve; as shown in fig. 3, when the excavator includes a pilot-controlled main valve, the electromagnetic directional valve in the pilot-controlled main valve is controlled to cut off the oil inlet path of the breaking hammer.
As a further embodiment, when the breaking hammer is judged to be idle-beat, a word of 'no idle-beat' can be output on the display screen to remind the operator.
Example 2
Corresponding to embodiment 1 of the present invention, fig. 4 is a schematic structural diagram of a detection device for detecting blank beating of a breaking hammer in a crushing apparatus according to embodiment 2 of the present invention, and as shown in fig. 4, the detection device for detecting blank beating of a breaking hammer in a crushing apparatus according to embodiment 2 of the present invention includes a gravity torque module 20, a thrust torque module 22, and a determination module 24.
Specifically, the gravitational moment module 20 is configured to determine a device gravitational moment of the working device relative to a predetermined fixed point.
And the thrust moment module 22 is configured to obtain a pressure of the boom cylinder, and calculate a cylinder thrust moment of a component force of the pressure of the boom cylinder in the opposite direction to the gravity with respect to the fixed point according to the pressure of the boom cylinder.
And the judging module 24 is used for judging that the breaking hammer is idle-driven when the gravity moment of the device is greater than the thrust moment of the oil cylinder.
The specific details of the device for detecting idle driving of the breaking hammer in the excavator can be understood by referring to the corresponding related descriptions and effects in the embodiments shown in fig. 1 to fig. 3, and are not described herein again.
Example 3
The embodiment of the invention also provides an excavator, which can comprise a working device oil cylinder displacement sensor, a movable arm oil cylinder pressure sensor, a processor and a memory, wherein the working device oil cylinder displacement sensor, the movable arm oil cylinder pressure sensor, the memory and the processor are in communication connection with each other, and the processor and the memory can be connected through a bus or other modes.
As a specific embodiment, the working device cylinder displacement sensor includes: a movable arm oil cylinder displacement sensor, a bucket rod oil cylinder displacement sensor and a breaking hammer oil cylinder displacement sensor.
The processor may be a Central Processing Unit (CPU). The Processor may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware operating components, or a combination thereof.
The memory, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the method for detecting a dry hit of a breaking hammer in an excavator in the embodiments of the present invention (for example, the gravitational torque module 20, the thrust torque module 22, and the determination module 24 shown in fig. 4). The processor executes various functional applications and data processing of the processor by running the non-transitory software program, instructions and modules stored in the memory, so as to implement the method for detecting the idle driving of the breaking hammer in the excavator in the above method embodiment.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor, and the like. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and such remote memory may be coupled to the processor via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory and, when executed by the processor, perform a method of detecting a hammer blow in an excavator as in the embodiments of fig. 1-3.
The details of the excavator can be understood by referring to the corresponding descriptions and effects in the embodiments shown in fig. 1 to fig. 3, and are not described herein again.
Fig. 5 is a schematic structural diagram of a specific example of an excavator in embodiment 3 of the present invention, and as shown in fig. 5, the excavator includes a breaking hammer cylinder displacement sensor 1, an arm cylinder displacement sensor 2, a boom cylinder displacement sensor 3, a boom cylinder pressure sensor 4, and a controller 5, the controller 5 is in communication connection with the breaking hammer cylinder displacement sensor 1, the arm cylinder displacement sensor 2, the boom cylinder displacement sensor 3, and the boom cylinder pressure sensor 4, and the controller 5 includes a memory and a processor.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims (10)

1. A method for detecting idle driving of a breaking hammer in breaking equipment, wherein a working device of the breaking equipment comprises a movable arm and the breaking hammer, and the method is characterized by comprising the following steps:
determining the gravity moment of the working device relative to a preset fixed point;
acquiring the pressure of a movable arm cylinder of the movable arm, and calculating a cylinder thrust moment of a component force of the pressure of the movable arm cylinder in the opposite direction of gravity relative to the fixed point according to the pressure of the movable arm cylinder;
and when the gravity moment of the device is greater than the thrust moment of the oil cylinder, judging that the breaking hammer is idle-driven.
2. The method of claim 1, wherein determining a device gravitational moment of a working device of the crushing plant relative to a preset fixed point comprises:
acquiring oil cylinder displacement and gravity of all working components in the working device;
and calculating the gravity moment of the working device relative to the fixed point according to the displacement and the gravity of the oil cylinders of all the working assemblies.
3. The method of claim 2, wherein calculating the device gravitational moment of the working device relative to the fixed point based on the cylinder displacement and the gravitational force of all working assemblies comprises:
for any working assembly, calculating the force arm of the working assembly relative to the fixed point according to the displacement of the oil cylinder of the working assembly, and calculating the assembly gravity moment of the working assembly relative to the fixed point according to the force arm of the working assembly relative to the fixed point and the gravity of the working assembly;
and obtaining the device gravity moment of the working device according to the component gravity moments of all working components in the working device.
4. The method of claim 3, wherein deriving the device gravitational moment of the working device from the component gravitational moments of all working components in the working device comprises:
and adding the component gravity moments of all the working components to obtain the device gravity moment of the working device.
5. The method of claim 1, wherein calculating a cylinder thrust moment of a component of the boom cylinder pressure in a direction opposite to gravity with respect to the fixed point from the boom cylinder pressure comprises:
calculating a force arm L4 of a component force of the thrust of the boom cylinder in the direction opposite to the gravity direction relative to the fixed point according to the pressure of the boom cylinder and the displacement of the boom cylinder;
calculating an included angle theta between the thrust of the movable arm oil cylinder and an X axis according to the pressure of the movable arm oil cylinder;
and obtaining a cylinder thrust moment of a component force of the boom cylinder pressure in the opposite direction of gravity relative to the fixed point according to the boom cylinder pressure, the L4 and the theta.
6. The method according to any one of claims 1 to 5, further comprising:
and when the breaking hammer is in idle driving, controlling the breaking hammer to stop moving and/or sending out a prompt message.
7. The method of claim 6, wherein the controlling the breaking hammer to stop moving comprises:
when the excavator comprises an electric control main valve, cutting off an oil inlet path of the breaking hammer through the electric control main valve;
and when the excavator comprises a hydraulic control main valve, controlling an electromagnetic directional valve in the hydraulic control main valve to cut off an oil inlet path of the breaking hammer.
8. The utility model provides a detection device is beaten to quartering hammer sky in crushing equipment which characterized in that includes:
the gravity moment module is used for determining the gravity moment of a working device of the crushing equipment relative to a preset fixed point, and the working device comprises a crushing hammer;
the thrust moment module is used for acquiring the pressure of a movable arm oil cylinder of the crushing equipment and calculating the oil cylinder thrust moment of a component force of the pressure of the movable arm oil cylinder in the direction opposite to the gravity relative to the fixed point according to the pressure of the movable arm oil cylinder;
and the judging module is used for judging that the breaking hammer is idle-driven when the gravity moment of the device is greater than the thrust moment of the oil cylinder.
9. A crushing plant, characterized in that it comprises:
a working device cylinder displacement sensor, a boom cylinder pressure sensor, a memory and a processor, wherein the working device cylinder displacement sensor, the boom cylinder pressure sensor, the memory and the processor are connected in communication with each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the method for detecting the idle driving of the breaking hammer in the breaking equipment according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions for causing the computer to execute the method of detection of a dry hit of a breaking hammer in a breaking apparatus according to any one of claims 1-7.
CN202110339168.5A 2021-03-30 2021-03-30 Crushing equipment, and method and device for detecting idle driving of crushing hammer in crushing equipment Pending CN112878409A (en)

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PCT/CN2022/078486 WO2022206257A1 (en) 2021-03-30 2022-02-28 Breaking device, and blank hammering detection method and apparatus for breaking device

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