CN114295273B - Accurate measuring method for work resistance work of loader - Google Patents
Accurate measuring method for work resistance work of loader Download PDFInfo
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- CN114295273B CN114295273B CN202210027732.4A CN202210027732A CN114295273B CN 114295273 B CN114295273 B CN 114295273B CN 202210027732 A CN202210027732 A CN 202210027732A CN 114295273 B CN114295273 B CN 114295273B
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Abstract
The invention discloses an accurate measuring method for the work resistance of a loader, which comprises the following steps: starting the loader to advance linearly to a material pile, and shoveling the materials by a bucket; measuring the resistance of the material to the bucket in three directions in the shoveling operation, dividing into horizontal resistance F1Vertical resistance F2And lateral resistance F3(ii) a Measuring the horizontal displacement S of the bucket during the shoveling operation1And a vertical displacement S2. The invention provides a method for measuring the operation of the whole loader for the first time, the measuring object is the loader in actual work and is not a laboratory bucket, so the obtained data is more real and effective; the resistance work is measured as the work done by the loader bucket in the whole process from material contact to material separation, so that the energy consumption of the loader bucket in operation can be more understood, and the structure of the loader bucket can be further improved according to the work done by the loader bucket in the whole process from material contact to material separation, so that the purposes of energy conservation and consumption reduction are achieved.
Description
Technical Field
The invention belongs to the field of resistance work measurement, and particularly relates to an accurate method for measuring resistance work of loader operation.
Background
The loader is one of the most typical engineering mechanical equipment in China, fuel consumption is large, and emission pollution is serious; compared with the similar products abroad, the operation (production) efficiency of the loader in China has a larger gap. In recent years, the environment and energy problems are more and more emphasized in the whole society, the energy-saving, low-carbon and environment-friendly concepts are further advocated and deeply concentrated, and the energy-saving and efficiency-increasing effects become important subjects faced by the loader and even the whole engineering machinery industry.
The energy consumption of the loader during the working phase (loading material) is the largest during the whole loading cycle. How to effectively reduce the fuel consumption of the loader and reduce the work resistance work when shoveling and loading materials is one of the most effective methods, in order to research how to reduce the work resistance work, the work resistance work of the loader needs to be accurately measured. The conventional loader shoveling operation resistance method adopts a sensor mounted on a bucket for testing, and a patent No. 202010000988.7 discloses a loader shoveling operation resistance real-time testing method based on position calculation.
Disclosure of Invention
The invention aims to solve the technical problems and provide an accurate loader operation resistance function measuring method which has more real and effective data and can provide energy consumption basis for the operation of the whole loader so as to reduce the operation energy consumption.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an accurate loader work resistance force measuring method comprises the following steps:
(1) starting the loader to advance linearly to a material pile, and shoveling the materials by a bucket;
(2) measuring the resistance of the material to the bucket in three directions in the shoveling operation, dividing into horizontal resistance F1Vertical resistance F2And lateral resistance F3；
(3) Measuring the horizontal displacement S of the bucket during the shoveling operation1And a vertical displacement S2；
(4) Calculating the resistance work W of the bucket in the horizontal direction through the resistance and displacement values measured in the steps (2) and (3)1And resistance work W in the vertical direction2W is to be1And W2Adding the two to obtain the working resistance work W of the loader0。
As a further technical scheme, the resistance of the material to the bucket in three directions in the shoveling operation in the step (2) is measured by adopting a three-way force sensor, the three-way force sensor is arranged between the bucket and a pull rod, and the front of the three-way force sensor is fixedly connected with the bucket so as to move synchronously with the bucket; the back of the three-way force sensor is respectively hinged with the two movable arms and the pull rod.
As a further technical solution, the above horizontal displacement S1Distance L advanced by the loader1And the horizontal stroke L of the bucket2Adding to obtain; the vertical displacement S2Is the vertical stroke H of the bucket1。
As a further technical solution, the loader advances by a distance L1Is obtained byThe method comprises the steps that the laser range finder and the laser reflection plate are measured, the laser range finder is arranged on a shell of the loader, and the laser reflection plate is fixedly arranged behind the initial position of the loader.
As a further technical scheme, the horizontal stroke L of the bucket is2And the vertical stroke H of the bucket1The measurement comprises the following steps:
firstly, setting an intersection point of the center of the front frame and the ground as a coordinate origin 0, and establishing a fixed coordinate system XOY parallel to the ground as an X direction; a point A in a coordinate system is a hinged mounting point of a movable arm oil cylinder and a front frame, a point B is a hinged mounting point of a movable arm and a front frame, a point C is a hinged mounting point of a bucket oil cylinder and a front frame, a point D is a hinged mounting point of the movable arm and the movable arm oil cylinder, a point E is a hinged mounting point of the bucket oil cylinder and a rocker arm, a point F is a hinged mounting point of the movable arm and the rocker arm, a point G is a hinged mounting point of the rocker arm and a pull rod, a point H is a hinged mounting point of the movable arm and a three-way force sensor, a point J is a hinged mounting point of the pull rod and the three-way force sensor, a perpendicular line passing through the point D and being a BH connecting line obtains a perpendicular point M, and a point K is a rising force measuring point 100mm behind a bucket edge of the bucket;
setting right-angled triangles BHN, BDP and BFQ crossed with the triangle DBA by taking a BH connecting line, a BD connecting line and a BF connecting line as hypotenuses respectively;
thirdly, a movable arm cylinder displacement sensor is respectively arranged on the movable arm cylinder bodies of the two movable arms of the loader, and the displacement of the piston rod of the movable arm cylinder of the left movable arm and the piston rod of the movable arm cylinder of the right movable arm at any time node in the bucket operation process is measured, so that the length L of the movable arm cylinder is obtainedDA(ii) a The displacement sensor of the bucket cylinder is arranged on the cylinder body of the loader bucket cylinder, and the displacement of the piston rod of the bucket cylinder at any time node in the bucket operation process is measured, so that the length L of the bucket cylinder is obtainedEC；
Fourthly, in the triangular DBA, calculating the angle of the DBA according to the cosine theorem;
fifthly, calculating the angle of HBN through the cross relationship between the right triangle BHN and the triangle DBA, and then calculating the coordinate (X) of the H pointH，YH) (ii) a By right triangles BDP and triangleThe cross relation of DBA, the angle of ≤ DBP, and the coordinate (X) of point DD，YD) (ii) a The angle of < FBQ is solved through the cross relation of the right-angled triangle BFQ and the triangle DBA, and then the coordinate (X) of the point F is solvedF，YF）；
Sixthly, in the triangular EFC, the coordinate (X) of the E point is calculated based on the coordinates of the F point and the C point and the three side lengths of the F point and the C pointE，YE）；
In the triangular EFG, the coordinates (X) of the G point are calculated based on the coordinates of the E point, the F point, and the three side lengths thereofG，YG）；
In the triangle HGJ, the coordinates (X) of the J point are calculated based on the coordinates of the H point, the G point, and the three side lengths thereofJ，YJ）；
In the triangle KHJ, the coordinates (X) of the point K are calculated based on the coordinates of the point H and the point J and the three side lengths thereofK，YK）；
Seventhly, respectively calculating T1And T2Coordinate value (X) of point K at timeK1，YK1) And (X)K2，YK2) Then the horizontal stroke L of the bucket2=XK2-XK1Vertical stroke H of bucket1=YK2-YK1。
As a further technical scheme, in the triangular DBA in the above step (iv), the angle of the ≈ DBA is calculated according to the cosine theorem, and the calculation formula is as follows:
LDA 2=LBD 2+LBA 2-2LBD×LBA×cos(∠DBA) （1）
wherein the content of the first and second substances,
LDAthe length of the boom cylinder;
LBDmeasuring B, D the distance between two points as a fixed value;
LBAthe distance between the two points is measured A, B as a fixed value.
As a further technical scheme, in the fifth step, the angle of the angle HBN is calculated by the following calculation formula:
∠HBN=∠DBA+∠HBD-∠NBA （2）
coordinates (X) of the H pointH，YH) The calculation formula of (2) is as follows:
XH=XB+LBH×sin(∠HBN)，YH=YB-LBH×cos(∠HBN) （3）
the angle of the & DBP is solved by the following calculation formula:
∠DBP=∠DBA -∠PBA （4）
coordinates (X) of the D pointD，YD) The calculation formula of (2) is as follows:
XD=XB+LBD×sin(∠DBP)，YD=YB-LBD×cos(∠DBP) （5）
the calculation formula of the angle of < FBQ is as follows:
∠FBQ=∠DBA+∠FBD-∠QBA （6）
the coordinates (X) of the F pointF，YF) The calculation formula of (2) is as follows:
XF=XB+LBF×sin(∠FBQ)，YF=YB-LBF×cos(∠FBQ) （7）
wherein, the first and the second end of the pipe are connected with each other,
the angle DBA is obtained by the step IV;
the method comprises the steps of obtaining fixed values of angle HBD, angle NBA, angle PBA, angle FBD and angle QBA through angle measurement;
coordinate value (X) of point BB，YB) Is a fixed value;
LBHmeasuring the distance between B, H two points as a fixed value;
LBDmeasuring B, D distance between two points as fixed value;
LBFmeasuring the distance between B, F two points as a fixed value;
as a further technical scheme, in the step of (c), the coordinate (X) of the point EE，YE) The calculation formula of (2) is as follows:
LEF 2=(XF-XE)2+(YF-YE)2
LEC 2=(XE-XC)2+(YE-YC)2 （8）
coordinates (X) of G pointG，YG) The calculation formula of (2) is as follows:
LGF 2=(XF-XG)2+(YF-YG)2
LEG 2=(XE-XG)2+(YE-YG)2 （9）
coordinates (X) of J pointJ，YJ) The calculation formula of (2) is as follows:
LHJ 2=(XH-XJ)2+(YH-YJ)2
LGJ 2=(XG-XJ)2+(YG-YJ)2 （10）
coordinate of K point (X)K，YK) The calculation formula of (2) is as follows:
LHK 2=(XH-XK)2+(YH-YK)2
LJK 2=(XJ-XK)2+(YJ-YK)2 （11）
wherein the content of the first and second substances,
coordinate value (X) of point FF，YF) H coordinate (X)H，YH) Obtained by the fifth step;
LEFmeasuring the distance between E, F two points as a fixed value;
LECthe length of the bucket cylinder;
LGFmeasuring the distance between G, F two points as a fixed value;
LEGmeasuring G, E distance as fixed value;
LHJmeasuring the distance between H, J two points as a fixed value;
LGJmeasuring the distance between G, J two points as a fixed value;
LHKmeasuring the distance between H, K two points as a fixed value;
LJKmeasuring the distance between J, K two points as a fixed value;
as a further technical solution, when the above lateral resistance F3And (3) when the measured value is larger than the engineering requirement value, restarting the measurement from the step (1).
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides a method for measuring the operation of the whole loader for the first time, the measuring object is the loader in actual work and is not a laboratory bucket, so the obtained data is more real and effective; the resistance work is measured as the work done by the loader bucket in the whole process from material contact to material separation, so that the energy consumption of the loader bucket in operation can be more understood, and the structure of the loader bucket can be further improved according to the work done by the loader bucket in the whole process from material contact to material separation, so that the purposes of energy conservation and consumption reduction are achieved.
2. The invention finds that the movement of the loader bucket in the material is mainly concentrated in the horizontal direction and the vertical direction through research, and the horizontal resistance F is obtained by arranging a three-way sensor on a pull rod of the bucket1And vertical resistance F2For calculating work resistance work and using side resistance F3As an index for monitoring the effectiveness of data, although the index is not used when the resistance work is calculated, under normal conditions, the lateral stress is small, if the test result of the value is too large, the track of the machine is not in a straight line in the advancing process, the test data is invalid, re-measurement is needed, and the accuracy of the measurement result is further ensured.
3. According to the invention, the three-way sensor is arranged behind the bucket, so that the accuracy and the reasonability of the resistance work in the measuring process are ensured.
4. In the present invention, the displacement of the bucket is mainly divided into horizontal displacement S1And a vertical displacement S2. Horizontal displacement S1Distance L advanced by the loader1And the horizontal stroke L of the bucket2Adding the obtained data, and measuring the advancing distance of the loader by a laser range finder; displacement S of the bucket2Regardless of the position where the loader travels, only the strokes of the boom cylinder and the bucket cylinder. Since the movement of the boom cylinder and the bucket cylinder causes the movement of the bucket in the horizontal and vertical directions, and if the stroke of the boom cylinder and the stroke of the bucket cylinder are determined, the position of the bucket is the only determined position, the position of the bucket can be calculated by measuring the strokes of the boom cylinder and the bucket cylinder. The invention finds that the transverse coordinate change value and the longitudinal coordinate change value of the rising force measuring point K at the position 100mm behind the bucket edge of the bucket are the horizontal stroke L of the bucket2And a vertical stroke H1Therefore, the coordinates of the K at different time nodes can be calculated through the trigonometric function, and the calculation is convenient.
Drawings
FIG. 1 is a front view of a loader used in the present invention;
FIG. 2 is a perspective view of a loader used in the present invention;
FIG. 3 is a schematic view of a node position at a certain time during a shovel loading operation of the loader according to the present invention.
Reference numerals: 1-material pile, 2-bucket, 3-three-way force sensor, 4-bucket oil cylinder, 5-bucket oil cylinder displacement sensor, 6-laser range finder, 7-laser reflection plate, 8-movable arm, 9-pull rod, 10-rocker arm, 11-movable arm oil cylinder, 12-movable arm oil cylinder displacement sensor, and 13-front vehicle frame.
Detailed Description
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited to the scope of the examples.
Example 1:
as shown in fig. 1 and 2, the material pile 1 is arranged in front of the loader, the laser reflection plate 7 is fixedly arranged behind the initial position of the loader, and the laser range finder 6 is arranged on the engine shell of the loader and corresponds to the laser reflection plate 7. The three-way force sensor 3 is arranged between the bucket 2 and the pull rod 9, and the front of the three-way force sensor 3 is fixedly connected with the bucket 2 so as to move synchronously with the bucket 2; two side surfaces of the three-way force sensor 3 are respectively hinged with the two movable arms 8, and the rear surface of the three-way force sensor 3 is hinged with the pull rod 9. The cylinders of the boom cylinders 11 of the two booms 8 of the loader are respectively provided with a boom cylinder displacement sensor 12, and the cylinder of the loader bucket cylinder 4 is provided with a bucket cylinder displacement sensor 5.
As shown in fig. 3, a method for accurately measuring work resistance of a loader comprises the following steps:
(1) starting the loader to advance linearly to the position of the material pile 1, and shoveling the materials by the bucket 2;
(2) in the process of measuring the shoveling operation, the three-way force sensor 3 is adopted to measure the resistance of the material to the bucket 2 in three directions, and the resistance is divided into horizontal resistance F1Vertical resistance F2And lateral resistance F3；
(3) Measuring the horizontal displacement S of the bucket 2 during the shoveling operation1And a vertical displacement S2；
Horizontal displacement S1Distance L advanced by the loader1And the horizontal stroke L of the bucket 22Adding to obtain; distance L of forward movement of loader1The distance measurement is carried out by measuring at a laser range finder 6 and a laser reflection plate 7;
vertical displacement S2Is the vertical stroke H of the bucket 21；
Horizontal stroke L of bucket 22And the vertical stroke H of the bucket 21The measurement comprises the following steps:
firstly, setting an intersection point of the center of the front frame 13 and the ground as a coordinate origin 0, and establishing a fixed coordinate system XOY parallel to the ground as an X direction; a point A in a coordinate system is a hinged mounting point of a movable arm oil cylinder 11 and a front frame 13, a point B is a hinged mounting point of a movable arm 8 and the front frame 13, a point C is a hinged mounting point of a bucket oil cylinder 4 and the front frame 13, a point D is a hinged mounting point of the movable arm 8 and the movable arm oil cylinder 11, a point E is a hinged mounting point of the bucket oil cylinder 4 and a rocker arm 10, a point F is a hinged mounting point of the movable arm 8 and the rocker arm 10, a point G is a hinged mounting point of the rocker arm 10 and a pull rod 9, a point H is a hinged mounting point of the movable arm 8 and a three-way force sensor 3, a point J is a hinged mounting point of the pull rod 9 and the three-way force sensor 3, a perpendicular line passing the point D and making a BH connection line obtains a perpendicular point M, and a point K is an rising force measuring point 100mm behind an bucket edge of the bucket 2;
point A, B, C is articulated on the front frame 13 so that the coordinate values A (X) of the three pointsA,YA）、B(XB,YB)、C(XC,YC) Is fixed and constant with respect to the front frame 13 and is a known value.
Setting right-angled triangles BHN, BDP and BFQ crossed with a triangle DBA by taking a BH connecting line, a BD connecting line and a BF connecting line as hypotenuses respectively;
thirdly, by respectively arranging boom cylinder displacement sensors 12 on the body of the boom cylinders 11 of the two booms 8 of the loader, the piston rods of the boom cylinders 11 of the left and right booms 8 are respectively measured in the process of T of the bucket 2 in operation1And T2Displacement at that time, the total length L of the boom cylinder 11, since the length of the cylinder body is constantDAIs the sum of the displacement value of the piston rod and the cylinder body, thereby respectively obtaining T1And T2Total length L of boom cylinder 11 at timeDA(ii) a A bucket cylinder displacement sensor 5 is arranged on a cylinder body of a loader bucket cylinder 4, and T of a piston rod of the bucket cylinder 4 in the operation process of a bucket 2 is measured1And T2The displacement at that time, the length L of the bucket cylinder 4, because the length of the cylinder body is not changedECThe displacement value of the piston rod and the cylinder body are summed, so that T is respectively obtained1And T2Length L of bucket cylinder 4 at timeEC；
Fourthly, in the triangular DBA, calculating the angle of the DBA according to the cosine theorem; the calculation formula is as follows:
LDA 2=LBD 2+LBA 2-2LBD×LBA×cos(∠DBA) （1）
wherein, because the B, D points are all on the movable arm 8, the relative positions are unchanged; A. point B is fixedly hinged with the front frame 13, so, point LBDAnd LBAMeasuring the distance between two corresponding points as a fixed value; due to LDARespectively substituting T for variable values1And T2Length L of boom cylinder 11 at timeDATo thereby yield T1And T2Angle of ≤ DBA at time;
fifthly, the angle of the angle HBN is calculated through the cross relationship between the right triangle BHN and the triangle DBA, and the calculation formula is as follows:
∠HBN=∠DBA+∠HBD-∠NBA （2）
then, the coordinates (X) of the point H are obtainedH，YH) The calculation formula is as follows:
XH=XB+LBH×sin(∠HBN)，YH=YB-LBH×cos(∠HBN) （3）
the angle of ≈ DBP is solved through the cross relation between a right triangle BDP and a triangle DBA, and the calculation formula is as follows:
∠DBP=∠DBA -∠PBA （4）
then, the coordinates (X) of the point D are obtainedD，YD) The calculation formula is as follows:
XD=XB+LBD×sin(∠DBP)，YD=YB-LBD×cos(∠DBP) （5）
the angle of < FBQ is solved through the cross relation between a right-angled triangle BFQ and a triangle DBA, and the calculation formula is as follows:
∠FBQ=∠DBA+∠FBD-∠QBA （6）
then, the coordinates (X) of the F point are obtainedF，YF) The calculation formula is as follows:
XF=XB+LBF×sin(∠FBQ)，YF=YB-LBF×cos(∠FBQ) （7）
wherein, H, B, D points are all on the movable arm 8The relative positions of the three points are not changed, so that the angle HBD and LBH 、LBDIs also fixed, and similarly, F, B, D three points are all fixed on the movable arm 8, and the relative positions of the three points are not changed, so that ═ FBD and LBFIs also fixed and unchangeable; A. the point B is a fixed point on the front frame 13, and the point N, P, Q is a perpendicular point, so that the points of ℃ < NBA, < PBA, < QBA > are fixed and constant and can be obtained through measurement;
from this step, T1Coordinate (X) of point H of timeH1，YH1) D coordinates of points (X)D1，YD1) Coordinate of point F (X)F1，YF1），T2Coordinates (X) of point H at timeH2，YH2) D coordinates of points (X)D2，YD2) Coordinate of point F (X)F2，YF2）。
Sixthly, in the triangular EFC, the coordinate (X) of the E point is calculated based on the coordinates of the F point and the C point and the three side lengths of the F point and the C pointE，YE) The calculation formula is as follows:
LEF 2=(XF-XE)2+(YF-YE)2
LEC 2=(XE-XC)2+(YE-YC)2 （8）
in the triangular EFG, the coordinates (X) of the G point are calculated based on the coordinates of the E point, the F point, and the three side lengths thereofG，YG) The calculation formula is as follows:
LGF 2=(XF-XG)2+(YF-YG)2
LEG 2=(XE-XG)2+(YE-YG)2 （9）
in the triangle HGJ, the coordinates (X) of the J point are calculated based on the coordinates of the H point, the G point, and the three side lengths thereofJ，YJ) Calculating the formulaComprises the following steps:
LHJ 2=(XH-XJ)2+(YH-YJ)2
LGJ 2=(XG-XJ)2+(YG-YJ)2 （10）
in the triangle KHJ, the coordinates (X) of the point K are calculated based on the coordinates of the point H and the point J and the three side lengths thereofK，YK) The calculation formula is as follows:
LHK 2=(XH-XK)2+(YH-YK)2
LJK 2=(XJ-XK)2+(YJ-YK)2 （11）
wherein the content of the first and second substances,
LFC 2=(XF-XC)2+(YF-YC)2 （12）
since E, F, G are all located on rocker arm 10 at three points, the relative positions of the three points are not changed, so LEF、LGF、LEGThe value of (a) is also fixed; similarly, point G is a hinged mounting point of the rocker arm 10 and the pull rod 9, point H is a hinged mounting point of the movable arm 8 and the three-way force sensor 3, point J is a hinged mounting point of the pull rod 9 and the three-way force sensor 3, and the relative positions of the three points are unchanged, so that point L is a hinged mounting point of the rocker arm 10 and the pull rod 9, and the three points are opposite to each otherHJ、LGJIs also fixed; l is the relative position of the three points H, J and K is constantHK、LJKThe values of (a) are also fixed and are all obtained by measurement.
Seventhly, respectively calculating T1And T2Coordinate value (X) of point K at timeK1，YK1) And (X)K2，YK2) Then the horizontal stroke L of the bucket 22=XK2-XK1Vertical stroke H of bucket 21=YK2-YK1。
(4) Obtaining the resistance and displacement values measured in the steps (2) and (3)
Horizontal displacement S of bucket 21= L1+ L2= L1+ XK2-XK1
Vertical displacement S of the bucket 22= H1=YK2-YK1
Loader operation resistance work W0= W1 +W2= F1×S1+ F2×S2= F1×（L1+ XK2-XK1）+ F2×（YK2-YK1）。
Lateral resistance F3And (3) when the measured value is larger than the engineering requirement value, restarting the measurement from the step (1).
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "leading," "trailing," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the scope of the invention. It is also to be understood that, unless expressly stated or limited otherwise, the terms "connected" and "coupled" are intended to be open-ended, i.e., may be fixedly connected; can be a detachable connection; or may be a point connection; may be a direct connection; may be indirectly connected through an intermediate medium, may communicate between the two elements, and those skilled in the art will understand the specific meaning of the above terms in the present invention in specific situations. The connection of the devices not described in detail in the present invention is understood in the conventional connection manner in the art.
The above-described embodiments are only specific examples for further explaining the object, technical solution and advantageous effects of the present invention in detail, and the present invention is not limited thereto. Any modification, equivalent replacement, improvement and the like made within the scope of the present disclosure are included in the protection scope of the present invention.
Claims (6)
1. An accurate loader work resistance force measuring method is characterized by comprising the following steps:
(1) starting the loader to advance linearly to a material pile, and shoveling the materials by a bucket;
(2) measuring the resistance of the material to the bucket in three directions in the shoveling operation, dividing into horizontal resistance F1Vertical resistance F2And lateral resistance F3(ii) a The resistance of the material to the bucket in three directions in the shoveling operation is measured in the step (2), and is obtained by measuring by using a three-way force sensor, the three-way force sensor is arranged between the bucket and a pull rod, and the front of the three-way force sensor is fixedly connected with the bucket so as to move synchronously with the bucket; the back of the three-way force sensor is respectively hinged with the two movable arms and the pull rod;
(3) measuring the horizontal displacement S of the bucket during the shoveling operation1And a vertical displacement S2(ii) a The horizontal displacement S1Distance L advanced by the loader1And the horizontal stroke L of the bucket2Adding to obtain; the vertical displacement S2Is the vertical stroke H of the bucket1；
Horizontal stroke L of the bucket2And the vertical stroke H of the bucket1The measurement comprises the following steps:
firstly, setting an intersection point of the center of the front frame and the ground as a coordinate origin 0, and establishing a fixed coordinate system XOY parallel to the ground as an X direction; a point A in a coordinate system is a hinged mounting point of a movable arm oil cylinder and a front frame, a point B is a hinged mounting point of a movable arm and a front frame, a point C is a hinged mounting point of a bucket oil cylinder and a front frame, a point D is a hinged mounting point of the movable arm and the movable arm oil cylinder, a point E is a hinged mounting point of the bucket oil cylinder and a rocker arm, a point F is a hinged mounting point of the movable arm and the rocker arm, a point G is a hinged mounting point of the rocker arm and a pull rod, a point H is a hinged mounting point of the movable arm and a three-way force sensor, a point J is a hinged mounting point of the pull rod and the three-way force sensor, a perpendicular line passing through the point D and being a BH connecting line obtains a perpendicular point M, and a point K is a rising force measuring point 100mm behind a bucket edge of the bucket;
setting right-angled triangles BHN, BDP and BFQ crossed with the triangle DBA by taking a BH connecting line, a BD connecting line and a BF connecting line as hypotenuses respectively;
thirdly, a movable arm oil cylinder displacement sensor is arranged on a cylinder body of a movable arm oil cylinder of the loader, and the displacement of a piston rod of the movable arm oil cylinder of the movable arm at any time node in the bucket operation process is measured, so that the length L of the movable arm oil cylinder is obtainedDA(ii) a The displacement sensor of the bucket cylinder is arranged on the cylinder body of the loader bucket cylinder, and the displacement of the piston rod of the bucket cylinder at any time node in the bucket operation process is measured, so that the length L of the bucket cylinder is obtainedEC；
Fourthly, in the triangular DBA, calculating the angle of the DBA according to the cosine theorem;
fifthly, the angle of the HBN is calculated through the cross relationship of the right triangle BHN and the triangle DBA, and then the coordinate (X) of the H point is calculatedH，YH) (ii) a The angle of & (DBP) is solved through the cross relation of the BDP and the DBA, and then the coordinate (X) of the point D is solvedD，YD) (ii) a The angle of < FBQ is solved through the cross relation of the right-angled triangle BFQ and the triangle DBA, and then the coordinate (X) of the point F is solvedF，YF)；
Sixthly, in the triangular EFC, the coordinate (X) of the E point is calculated based on the coordinates of the F point and the C point and the three side lengths of the F point and the C pointE，YE)；
In the triangle EFG, the coordinates (X) of the G point are calculated based on the coordinates of the E point, the F point, and the three side lengths thereofG，YG)；
In the triangle HGJ, the coordinates (X) of the J point are calculated based on the coordinates of the H point, the G point, and the three side lengths thereofJ，YJ)；
In the triangle KHJ, the coordinates (X) of the point K are calculated based on the coordinates of the point H and the point J and the three side lengths thereofK，YK)；
Seventhly, respectively calculating T1And T2Coordinate value (X) of point K at timeK1，YK1) And (X)K2，YK2) Then the horizontal stroke L of the bucket2＝XK2-XK1Vertical stroke H of bucket1＝YK2-YK1；
(4) Calculating the resistance work W of the bucket in the horizontal direction through the resistance and displacement values measured in the steps (2) and (3)1And resistance work W in the vertical direction2W is to be1And W2Adding the two to obtain the working resistance work W of the loader0。
2. The method of claim 1, wherein the method further comprises the steps of: distance L of forward movement of the loader1The method is characterized in that the method is obtained by measuring a laser range finder and a laser reflection plate, the laser range finder is arranged on a shell of the loader, and the laser reflection plate is fixedly arranged behind the initial position of the loader.
3. The method of claim 1, wherein the method further comprises the steps of: in the triangular DBA, calculating the angle of the DBA according to the cosine theorem, wherein the calculation formula is as follows:
LDA 2＝LBD 2+LBA 2-2LBD×LBA×cos(∠DBA) (1)
wherein the content of the first and second substances,
LDAthe length of the boom cylinder;
LBDmeasuring B, D the distance between two points as a fixed value;
LBAthe distance between the two points is measured A, B as a fixed value.
4. The method of claim 1, wherein the method further comprises the steps of: in the fifth step, the angle of the angle HBN is calculated by the following calculation formula:
∠HBN＝∠DBA+∠HBD-∠NBA (2)
coordinates (X) of the H pointH，YH) Is calculated byThe formula is as follows:
XH＝XB+LBH×sin(∠HBN)，YH＝YB-LBH×cos(∠HBN) (3)
the angle of the & DBP is solved by the following calculation formula:
∠DBP＝∠DBA-∠PBA (4)
coordinates (X) of the D pointD，YD) The calculation formula of (2) is as follows:
XD＝XB+LBD×sin(∠DBP)，YD＝YB-LBD×cos(∠DBP) (5)
the angle of < FBQ is solved by the following calculation formula:
∠FBQ＝∠DBA+∠FBD-∠QBA (6)
the coordinates (X) of the F pointF，YF) The calculation formula of (2) is as follows:
XF＝XB+LBF×sin(∠FBQ)，YF＝YB-LBF×cos(∠FBQ) (7)
wherein the content of the first and second substances,
the angle DBA is obtained by the step four;
the method comprises the following steps of obtaining fixed values of angle HBD, angle NBA, angle PBA, angle FBD and angle QBA through angle measurement;
coordinate value (X) of point BB，YB) Is a fixed value;
LBHmeasuring B, H distance as fixed value;
LBDmeasuring B, D the distance between two points as a fixed value;
LBFthe distance between the two points is measured B, F as a fixed value.
5. The method of claim 1, wherein the method further comprises the steps of: step sixthly, the coordinate (X) of the point EE，YE) The calculation formula of (2) is as follows:
LEF 2＝(XF-XE)2+(YF-YE)2
LEC 2＝(XE-XC)2+(YE-YC)2 (8)
coordinates (X) of G pointG，YG) The calculation formula of (2) is as follows:
LGF 2＝(XF-XG)2+(YF-YG)2
LEG 2＝(XE-XG)2+(YE-YG)2 (9)
coordinates (X) of J pointJ，YJ) The calculation formula of (2) is as follows:
LHJ 2＝(XH-XJ)2+(YH-YJ)2
LGJ 2＝(XG-XJ)2+(YG-YJ)2 (10)
coordinate of K point (X)K，YK) The calculation formula of (2) is as follows:
LHK 2＝(XH-XK)2+(YH-YK)2
LJK 2＝(XJ-XK)2+(YJ-YK)2 (11)
wherein the content of the first and second substances,
coordinate value (X) of point FF，YF) H coordinate (X)H，YH) Obtained by the fifth step;
LEFmeasuring the distance between E, F two points as a fixed value;
LECthe length of the bucket cylinder;
LGFmeasuring the distance between G, F two points as a fixed value;
LEGmeasuring G and G as fixed values,E, obtaining the distance between the two points;
LHJmeasuring the distance between H, J two points as a fixed value;
LGJmeasuring the distance between G, J two points as a fixed value;
LHKmeasuring the distance between H, K two points as a fixed value;
LJKthe distance between the two points is measured J, K as a fixed value.
6. The method of claim 1, wherein the method further comprises the steps of: when the lateral resistance F3And (3) when the measured value is larger than the engineering requirement value, restarting the measurement from the step (1).
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