CN113957940A - Method and system for identifying operation load of working device of hydraulic excavator - Google Patents

Method and system for identifying operation load of working device of hydraulic excavator Download PDF

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Publication number
CN113957940A
CN113957940A CN202111273305.6A CN202111273305A CN113957940A CN 113957940 A CN113957940 A CN 113957940A CN 202111273305 A CN202111273305 A CN 202111273305A CN 113957940 A CN113957940 A CN 113957940A
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working
excavator
working device
time
load
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CN113957940B (en
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李善辉
徐玉兵
田超
刘恩亮
李雷
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Xuzhou XCMG Excavator Machinery Co Ltd
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Xuzhou XCMG Excavator Machinery Co Ltd
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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
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • 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
    • 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
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate 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)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)

Abstract

The invention discloses a method for identifying the operation load of a working device of a hydraulic excavator, which comprises the following steps: acquiring data of real-time stress on the left side and the right side of a movable arm of the excavator; determining the type of the operation load of the working device according to the real-time stress data; the stress data of the working device in the working process are collected in real time, the load types in the actual working process of the excavator working device and the proportion of each load type are obtained through analysis, the stress data can be used for evaluating the reliability of the working device, data input is provided for the subsequent fatigue life research of the working device, the stress data can be used for optimizing the excavator working process through each load type, and the fatigue durability of the existing working device is improved.

Description

Method and system for identifying operation load of working device of hydraulic excavator
Technical Field
The invention belongs to the technical field of engineering machinery monitoring, and particularly relates to a method and a system for identifying the operation load of a working device of a hydraulic excavator.
Background
The hydraulic excavator is widely applied to various aspects of our lives nowadays, a working device is an actuating mechanism for realizing actions such as excavation, crushing and the like, and is also an important component of the hydraulic excavator, for a medium-sized and large-sized hydraulic excavator working device, a common failure mode is cracking of structural members such as a movable arm and an arm, generally, the working condition of the hydraulic excavator working device can be divided into earthwork working conditions and stone working conditions according to the working property, in the prior art, an identification method for earthwork and stone exists, but most of the working devices crack under unbalanced load operation according to the failure mode of the structural members of the medium-sized and large-sized hydraulic excavator working devices. When the working device is subjected to normal-load operation, the whole excavating force is uniformly transmitted to the bucket, the link mechanism, the arm and the movable arm, the working device has high durability and is not easy to crack actually, but when the working device is subjected to an offset-load operation condition in the actual operation process, the excavating force is transmitted unevenly, so that the movable arm and the arm are cracked, key structural members of the working device are cracked along with the passage of time, and the service life of the hydraulic excavator working device is greatly shortened if the working device is subjected to the offset-load operation condition for a long time, so that a method capable of identifying the operation load of the excavator working device is urgently needed.
The Chinese patent with the publication number of CN112182863A discloses an engineering machinery health monitoring method, a residual life estimation method and a system, and belongs to the technical field of engineering machinery monitoring. The method comprises the following steps: acquiring unbalance load data near a hinge point at the joint of a movable arm and a bucket rod in a working device of the engineering machinery, and acquiring load data of operation driving equipment in the working device; and determining a life damage value of the working device according to the load size data and the unbalance load size data. The invention is used for health monitoring and residual life evaluation of the working device.
Although this method can evaluate the remaining life of the excavator, it cannot evaluate the load state of the excavator during operation.
Disclosure of Invention
The invention aims to provide a method and a system for identifying the working load of a working device of a hydraulic excavator, which solve the problem that the type of the working load of the existing excavator is difficult to judge when the existing excavator works.
In order to achieve the purpose, the invention adopts the technical scheme that:
a method of identifying a work load of a work implement of a hydraulic excavator, the method comprising:
acquiring data of real-time stress on the left side and the right side of a movable arm of the excavator;
and determining the type of the operation load of the working device according to the real-time stress data.
Further, the data acquisition of the real-time stress comprises:
acquiring real-time strain data of the left side and the right side of a movable arm of the excavator;
and carrying out data analysis processing on the real-time strain data to obtain real-time stress data.
Further, the real-time stress on the left side and the right side of the movable arm of the excavator is respectively sigmaLeft side ofAnd σRight sideAccording to
Figure RE-GDA0003407169610000021
Judging the working load type of the working device, wherein delta is sigmaLeft side ofAnd σRight sideRelative error of σmax (left, right)Is σLeft side ofAnd σRight sideMaximum value of (1); when the delta is less than or equal to 6 percent, the working device is in a normal-load working condition; when delta>And when the load is 6%, the working device is in an unbalance loading working condition.
Further, when σ isLeft side of>σRight sideAnd 6 percent<Δ<When 23%, the working condition of the working device is a right unbalance loading working condition III; when sigma isLeft side of<σRight sideAnd 6 percent<Δ<When 23%, the working condition of the working device is a left unbalance loading working condition III; when sigma isLeft side of>σRight sideAnd delta is more than or equal to 23%<When 43%, the working condition of the working device is a right unbalance loading working condition II; when sigma isLeft side of<σRight sideAnd delta is more than or equal to 23%<When 43%, the working condition of the working device is a left unbalance loading working condition II; when sigma isLeft side of>σRight sideAnd when the delta is more than or equal to 43 percent, the working condition of the working device is a right unbalance loading condition I(ii) a When sigma isLeft side of<σRight sideAnd when the delta is larger than or equal to 43 percent, the working condition of the working device is a first left unbalance loading condition.
Further, during the excavator operation, the working efficiency is improved by
Figure RE-GDA0003407169610000022
Calculating the ratio of the total working time of various working loads of the excavator working device, wherein deltaiA ratio of a certain working load to the total working time, tiT is the total time of a certain work load in the work, and t is the total time of the whole work.
Further, a hydraulic excavator working device working load identification system is provided, based on the identification method, the system comprises:
and the data acquisition module is used for acquiring strain data of the left side and the right side of the force arm of the excavator.
Further, the system further comprises:
a processor;
a memory coupled to the processor;
the memory stores instructions executed by the processor, and the processor realizes the identification method by executing the instructions stored by the memory.
Furthermore, the data acquisition module includes two strain sensors, two strain sensors all with the treater electricity is connected, two strain sensors symmetry respectively sets up in the left and right sides of excavator arm of force for real-time supervision excavator arm of force's the meeting an emergency in the left and right sides, and with real-time strain data transmission extremely the treater.
Further, an excavator is also provided, and the excavator is provided with the processor and the strain sensor.
Compared with the prior art, the invention has the beneficial effects that: the stress data of the working device in the working process are collected in real time, the load types in the actual working process of the excavator working device and the proportion of each load type are obtained through analysis, the reliability of the working device can be evaluated, data input is provided for the subsequent fatigue life research of the working device, the proportion data of each load type can be used for optimizing the excavator working process, the welding process of the working device can be optimized, and the fatigue durability of the existing working device is improved.
Drawings
Fig. 1 is a schematic structural view of a working device of a conventional excavator;
FIG. 2 is a schematic view of a side plate structure according to the present invention;
FIG. 3 is a time course graph of boom side stress data;
FIG. 4 is a time course graph of stress data on the other side of the movable arm;
FIG. 5 is a flowchart of a method for identifying a work load of a work implement of a hydraulic excavator according to the present invention;
in the figure: 1. a boom cylinder; 2. a movable arm; 201. a side plate; 202. a support plate; 3. a bucket rod cylinder; 4. a bucket rod; 5. A bucket cylinder; 6. a link mechanism; 7. a bucket; 71. relieving a first tooth; 72. a relieving tooth II; 73. relieving teeth III; 74. relieving teeth IV; 75. a relieving tooth five; 8. a strain sensor; 801. a data transmission line; 802. and a data line connector.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. 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.
Referring to fig. 5, the present embodiment provides a method for identifying a work load of a work implement of a hydraulic excavator, the method including:
acquiring data of real-time stress on the left side and the right side of a movable arm 2 of the excavator;
and determining the type of the operation load of the working device according to the real-time stress data.
In some embodiments, the working device of the existing excavator is shown in fig. 1, and includes a boom cylinder 1, a boom 2, an arm cylinder 3, an arm 4, a bucket cylinder 5, a link mechanism 6, a bucket 7, and a first tooth 71, a second tooth 72, a third tooth 73, a fourth tooth 74, and a fifth tooth 75, which are sequentially arranged on the bucket 7 from left to right from the viewpoint of the cab of the excavator, in the case of a medium-sized excavator, most of the bucket 7 is of a five-tooth structure at present, and when the working device of the excavator bears the excavating force together during the working process, the working device is in a normal working condition; if only the third relieved tooth 73 bears the excavating force in the actual working process, and the third relieved tooth 73 is positioned in the middle of the whole bucket 7, the working device of the excavator is considered to be in the normal-load working condition in the condition, and the working condition is defined as the normal-load working condition. When the first relieving gear 71 works alone, the working condition is the unbalance loading working condition of the hydraulic excavator, the left unbalance loading working condition is seen from the direction of the cab, and the working condition is defined as a left unbalance loading working condition I; when the shovel tooth five 75 works independently, the shovel tooth five is the unbalance loading working condition of the hydraulic excavator, and the shovel tooth five is the right unbalance loading working condition when viewed from the direction of the cab, and the working condition is defined as a first right unbalance loading working condition; when the second relieving tooth 72 works alone, the left unbalance loading working condition is seen from the direction of the cab, and the working condition is defined as a left unbalance loading working condition II; when the fourth relieved tooth 74 works independently, the working condition is a right unbalance loading working condition when viewed from the cab direction, and the working condition is defined as a right unbalance loading working condition two; when the first relieving 71 and the second relieving 72 work together, the left unbalance loading working condition is seen from the direction of the cab, and the working condition is defined as a left unbalance loading working condition III; when the fourth relieved tooth 74 and the fifth relieved tooth 75 work together, the working condition is a right unbalance loading working condition when viewed from the cab direction, and the working condition is defined as a right unbalance loading working condition three; the left unbalance loading working condition and the right unbalance loading working condition are collectively called as the unbalance loading working condition of the excavator working device, when the working device is in the actual working process, the stress on two sides of the working device is uneven, the side with large stress is easy to lose efficacy, and the failure mode is usually represented as cracking near a plate welding seam.
The load identification method mentioned in this embodiment is a load type identification method, and is also the meaning of an operation condition type identification method.
Further, the data acquisition of the real-time stress comprises:
acquiring real-time strain data of the left side and the right side of a movable arm 2 of the excavator;
carrying out data analysis processing on the real-time strain data to obtain real-time stress data;
wherein, the stress is strain × elastic modulus;
when the working condition of the excavator working device is a right unbalance loading working condition I, a right unbalance loading working condition II and a right unbalance loading working condition III, a left side plate 201 of an excavator force arm bears compressive stress, a right side plate 201 of the excavator force arm bears tensile stress, and the compressive stress borne by the left side plate 201 of the excavator force arm is greater than the tensile stress borne by the right side plate 201 of the excavator force arm; similarly, when the working condition of the excavator working device is a first left unbalance loading condition, a second left unbalance loading condition and a third left unbalance loading condition, the left side plate 201 of the excavator force arm bears tensile stress, the right side plate 201 of the excavator force arm bears compressive stress, and the tensile stress borne by the left side plate 201 of the excavator force arm is smaller than the compressive stress borne by the right side plate 201 of the excavator force arm; when the excavator working device is in a normal-load working condition in the actual working process, the stress borne by the side plates 201 on the left side and the right side of the excavator force arm is similar;
further, the real-time stress on the left and right sides of the excavator movable arm 2 is respectively sigmaLeft side ofAnd σRight side(ii) a According to
Figure RE-GDA0003407169610000041
Judging the working load type of the working device, wherein delta is sigmaLeft side ofAnd σRight sideRelative error of σmax (left, right)Is σLeft side ofAnd σRight sideMaximum value of (1); when the delta is less than or equal to 6 percent, the working device is in a normal-load working condition; when delta>And when the load is 6%, the working device is in an unbalance loading working condition.
Further, when σ isLeft side of>σRight sideAnd 6 percent<Δ<When 23%, the working condition of the working device is a right unbalance loading working condition III; when sigma isLeft side of<σRight sideAnd 6 percent<Δ<At 23%, the working condition of the working device is left unbalance loadingWorking condition three; when sigma isLeft side of>σRight sideAnd delta is more than or equal to 23%<When 43%, the working condition of the working device is a right unbalance loading working condition II; when sigma isLeft side of<σRight sideAnd delta is more than or equal to 23%<When 43%, the working condition of the working device is a left unbalance loading working condition II; when sigma isLeft side of>σRight sideWhen the delta is larger than or equal to 43 percent, the working condition of the working device is a right unbalance loading condition I; when sigma isLeft side of<σRight sideAnd when the delta is larger than or equal to 43 percent, the working condition of the working device is a first left unbalance loading condition.
Further, during the excavator operation, the working efficiency is improved by
Figure RE-GDA0003407169610000051
Calculating the ratio of the total working time of various working loads of the excavator working device, wherein deltaiA ratio of a certain working load to the total working time, tiThe total time of a certain operation load in the operation is taken as t, and the total time of the whole operation is taken as t;
Δiwherein i is 1, 2, 3, 4, 5, 6, 7;
Δ1the proportion of the normal load operation condition in the operation to the total operation time is shown;
Δ2the proportion of the left unbalance loading working condition to the total operation time in the operation is shown;
Δ3the proportion of the left unbalance loading working condition II in the total operation time is shown;
Δ4the proportion of the left unbalance loading working condition III in the total operation time is shown;
Δ5the proportion of the right unbalance loading working condition to the total operation time in the operation is shown;
Δ6the proportion of the right unbalance loading working condition II in the operation to the total operation time is shown;
Δ7the proportion of the right unbalance loading working condition III in the total operation time is shown;
tiwherein i is 1, 2, 3, 4, 5, 6, 7;
t1the time when the working device is in the normal working condition in the operation is shown;
t2the time when the working device is in a left unbalance loading working condition I in the operation is shown;
t3the time when the working device is in the left unbalance loading working condition II in the operation is shown;
t4the time when the working device is in the left unbalance loading working condition III in the operation is shown;
t5the time when the working device is in the right unbalance loading working condition I in the operation is shown;
t6the time when the working device is in the right unbalance loading working condition II in the operation is shown;
t7the time when the working device is in the right unbalance loading working condition III in the operation is shown;
when the time of the excavator working device under the left unbalance loading working condition I and the right unbalance loading working condition I is longer, the time of the working device under the dangerous working condition is longer, and the cracking risk of the key structural part is higher.
Further, a hydraulic excavator working device working load identification system is provided, based on the identification method, the system comprises:
and the data acquisition module is used for acquiring strain data of the left side and the right side of the force arm of the excavator.
Further, the system further comprises:
a processor;
a memory coupled to the processor;
the memory stores instructions executed by the processor, and the processor realizes the identification method by executing the instructions stored by the memory.
Further, the data acquisition module includes two strain sensors 8, two strain sensors 8 all through data transmission line 801 and data line connector 802 with the treater electricity is connected, two strain sensors 8 symmetry respectively set up the left and right sides at the excavator arm of force for real-time supervision excavator arm of force's the strain of left and right sides, and with real-time strain data transmission extremely the treater.
Further, referring to fig. 1 and 2, the excavator boom 2 includes two side plates 201 that are parallel to each other and are symmetrically arranged about the left side and the right side, fig. 2 is a schematic structural diagram of the side plate 201 arranged on the right side, a supporting plate 202 is arranged at the joint of the side plate 201 and the arm cylinder 3, the supporting plate 202 is perpendicular to the side plate 201, the strain sensor 8 is arranged on the outer side surface of the side plate 201 and is located on one side of the bottom of the supporting plate 202 close to the excavator cab, the strain sensor 8 is arranged here, the detected strain amount is most obvious, the working condition of the excavator can be clearly judged, and the accuracy of the working condition judgment is improved.
Further, an excavator is also provided, which has the processor described above and the strain sensor 8 described above.
Further, fig. 3 is a time-course graph of stress data of the left side of the movable arm 2, and fig. 4 is a time-course graph of stress data of the right side of the movable arm 2, it can be seen that the relative error of the stress data of the first 10s two graphs is small, the working device can be considered to be in a normal-load working condition, when the time is between 63s and 68s, the error of the stress values of the two sides is large, and σ isLeft side of>σRight sideAnd the working device is considered to be in the right unbalance loading working condition I.
When the time proportion of the working device of the excavator in the first left unbalance loading working condition to the time proportion of the working device in the right unbalance loading working condition is longer, the working device is shown to be in a dangerous working condition for a longer time, and the cracking risk of a key structural member is higher.
From the perspective of fault simulation analysis of market cracking of the working device of the existing medium-large excavator, the market fault of the working device is mostly caused by an unbalanced load working condition, when the working device is in unbalanced load operation for a long time, stress on two sides of a structural part of the working device is not uniform, the problem of the market fault is mostly solved by simulation analysis at present, structural improvement is carried out according to a simulation result, although the market fault can be solved quickly by the method, the method cannot be solved from the source, and therefore the invention provides the working load identification method of the working device of the hydraulic excavator, and the type of the load borne by the working device of the excavator in the actual working process can be identified by the method. And the proportion of each working condition provides data support for the later fatigue life research of the working device, thereby improving the durability of the working device.
The left side of the representative direction appearing in the invention is that a driver sits in the cab of the excavator, the face part faces to the working device of the excavator, the left side judged by the driver at the moment, and the right side is that the driver sits in the cab of the excavator, the face part faces to the working device of the excavator, and the right side judged by the driver at the moment.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (8)

1. A method for identifying the working load of a working device of a hydraulic excavator is characterized by comprising the following steps:
acquiring data of real-time stress on the left side and the right side of a movable arm of the excavator;
determining the type of the operation load of the working device according to the real-time stress data;
the real-time stress on the left side and the right side of a movable arm of the excavator is respectively sigmaLeft side ofAnd σRight sideAccording to
Figure FDA0003328536610000011
Judging the working load type of the working device, wherein delta is sigmaLeft side ofAnd σRight sideRelative error of σmax (left, right)Is σLeft side ofAnd σRight sideMaximum value of (1); when the delta is less than or equal to 6 percent, the working device is in a normal-load working condition; when delta>And when the load is 6%, the working device is in an unbalance loading working condition.
2. The method of claim 1, wherein the real-time stress data acquisition comprises:
acquiring real-time strain data of the left side and the right side of a movable arm of the excavator;
and carrying out data analysis processing on the real-time strain data to obtain real-time stress data.
3. The method of claim 1, wherein σ is a time when σ is a work load of the hydraulic excavator work implementLeft side of>σRight sideAnd 6 percent<Δ<When 23%, the working condition of the working device is a right unbalance loading working condition III; when sigma isLeft side of<σRight sideAnd 6 percent<Δ<When 23%, the working condition of the working device is a left unbalance loading working condition III; when sigma isLeft side of>σRight sideAnd delta is more than or equal to 23%<When 43%, the working condition of the working device is a right unbalance loading working condition II; when sigma isLeft side of<σRight sideAnd delta is more than or equal to 23%<When 43%, the working condition of the working device is a left unbalance loading working condition II; when sigma isLeft side of>σRight sideWhen the delta is larger than or equal to 43 percent, the working condition of the working device is a right unbalance loading condition I; when sigma isLeft side of<σRight sideAnd when the delta is larger than or equal to 43 percent, the working condition of the working device is a first left unbalance loading condition.
4. A method of identifying a work load on a work implement of a hydraulic excavator according to claim 3, wherein the work load is identified during excavator work by
Figure FDA0003328536610000012
Calculating the ratio of the total working time of various working loads of the excavator working device, wherein deltaiProportion of a certain working load to total working time, tiT is the total time of a certain work load in the work, and t is the total time of the whole work.
5. A hydraulic excavator working device working load identification system based on the identification method of any one of claims 1 to 4, characterized in that the system comprises:
and the data acquisition module is used for acquiring strain data of the left side and the right side of the force arm of the excavator.
6. The hydraulic excavator work implement work load identification system of claim 5 further comprising:
a processor;
a memory coupled to the processor;
wherein the memory stores instructions for execution by the processor, and the processor implements the identification method of any one of claims 1 to 4 by executing the instructions stored by the memory.
7. The system of claim 6, wherein the data acquisition module comprises two strain sensors, the two strain sensors are electrically connected to the processor, and the two strain sensors are symmetrically disposed on the left and right sides of the arm of force of the excavator respectively, and are configured to monitor strains on the left and right sides of the arm of force of the excavator in real time and transmit real-time strain data to the processor.
8. An excavator having a processor as claimed in claim 6 and a strain sensor as claimed in claim 7.
CN202111273305.6A 2021-10-29 2021-10-29 Method and system for identifying operation load of working device of hydraulic excavator Active CN113957940B (en)

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Publication number Priority date Publication date Assignee Title
CN103874807A (en) * 2011-09-20 2014-06-18 科技矿业企业有限公司 Stress and/or accumulated damage monitoring system
JPWO2013172277A1 (en) * 2012-05-14 2016-01-12 日立建機株式会社 Stress calculation system for work machines
US20170089044A1 (en) * 2011-09-20 2017-03-30 Tech Mining Pty Ltd Stress or accumulated damage monitoring system
CN111091310A (en) * 2020-01-17 2020-05-01 中联重科股份有限公司 Excavation equipment health monitoring system and method
CN112182863A (en) * 2020-09-17 2021-01-05 中联重科股份有限公司 Engineering machinery health monitoring method, residual life estimation method and system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103874807A (en) * 2011-09-20 2014-06-18 科技矿业企业有限公司 Stress and/or accumulated damage monitoring system
US20170089044A1 (en) * 2011-09-20 2017-03-30 Tech Mining Pty Ltd Stress or accumulated damage monitoring system
JPWO2013172277A1 (en) * 2012-05-14 2016-01-12 日立建機株式会社 Stress calculation system for work machines
CN111091310A (en) * 2020-01-17 2020-05-01 中联重科股份有限公司 Excavation equipment health monitoring system and method
CN112182863A (en) * 2020-09-17 2021-01-05 中联重科股份有限公司 Engineering machinery health monitoring method, residual life estimation method and system

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