CN116955907A - Method and device for weighing electric shovel - Google Patents
Method and device for weighing electric shovel Download PDFInfo
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- CN116955907A CN116955907A CN202210399252.0A CN202210399252A CN116955907A CN 116955907 A CN116955907 A CN 116955907A CN 202210399252 A CN202210399252 A CN 202210399252A CN 116955907 A CN116955907 A CN 116955907A
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- 238000005303 weighing Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000000463 material Substances 0.000 claims abstract description 19
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 11
- 239000010959 steel Substances 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005065 mining Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
- G06F17/12—Simultaneous equations, e.g. systems of linear equations
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Mathematical Optimization (AREA)
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- General Engineering & Computer Science (AREA)
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- Operations Research (AREA)
- Probability & Statistics with Applications (AREA)
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- Bioinformatics & Computational Biology (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
The application provides a method and a device for weighing an electric shovel, wherein the method comprises the following steps: taking a numerical value in a first threshold range before opening the bucket as a tension value in real-time data acquired by the tension sensor; wherein the tension sensor is arranged on the lifting steel rope; acquiring shovel rod attitude data at the same moment as the tension value; and inputting the shovel rod attitude data and the tension value into a preset weighing function model to obtain the weight of the material in the bucket. The application can measure the weight of the materials in the bucket before the bucket is opened by the electric shovel.
Description
Technical Field
The application belongs to the technical field of mining machinery, and particularly relates to a method and a device for weighing an electric shovel.
Background
In the production of strip mines, electric shovels are the main mining equipment, and are usually matched with dump trucks, so that the materials in the bucket are discharged into the trucks, and the trucks are used for completing transportation. However, in actual production, because the loading capacity of the truck is limited, in order to ensure the production efficiency, the driver of the electric shovel needs to load as much material as possible in the loading nuclear loading capacity range of the truck, but the driver cannot know the weight of the material in each shovel bucket and can only judge the weight by experience, so that the accurate control of the loading quality is difficult to realize, and therefore, the application needs to be invented for a method capable of calculating the weight of the material in the shovel bucket in real time.
Disclosure of Invention
The application provides a method for weighing an electric shovel, which comprises the following steps: taking a numerical value in a first threshold range before opening the bucket as a tension value in real-time data acquired by the tension sensor; wherein the tension sensor is arranged on the lifting steel rope; acquiring shovel rod attitude data at the same moment as the tension value; and inputting the shovel rod attitude data and the tension value into a preset weighing function model to obtain the weight of the material in the bucket. Further, the shovel rod posture data comprise a shovel rod push-pull value and a shovel rod lifting value, wherein the shovel rod push-pull value represents the stroke of the shovel rod under the drive of the pushing mechanism, and the shovel rod lifting value represents the stroke of the shovel rod under the action of the lifting steel rope.
Further, the weighing function model is: m=a k1+b k2+c k3+d; wherein a is a push-pull value of a shovel rod, b is a lifting value of a bucket, c is a value measured by a tension sensor, d is a constant, k1 is an influence coefficient of the position of the push-pull rod on the deformation value of the A column, k2 is an influence coefficient of the vertical height of the bucket on the deformation value of the A column, k3 is an influence coefficient of data measured by the tension sensor on the total weight of the bucket and materials in the bucket, and M is the weight of the bucket and materials in the bucket.
The application also provides a device for weighing the electric shovel, which is characterized in that: comprising the following steps: the shovel rod attitude detection module is used for obtaining the attitude of the shovel rod, the attitude represents the stroke of the shovel rod under the drive of the pushing mechanism, the tension detection module is used for detecting the tension value on the lifting steel rope, and the calculation module is provided with a weighing function model for calculating the weight of materials in the shovel bucket according to the attitude of the shovel rod and the tension value on the lifting steel rope.
Further, the gesture detection module includes: the shovel rod push-pull sensor is connected with the pushing mechanism, and the bucket lifting sensor is connected with the lifting scroll.
The present application also provides a computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements a method as described in any one of the above
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of embodiment 1 of the present application;
fig. 2 is a system block diagram in embodiment 2 of the present application.
Detailed Description
Example 1:
the embodiment of the application provides a method for weighing an electric shovel, which comprises the following steps:
taking a numerical value in a first threshold range before opening the bucket as a tension value in real-time data acquired by the tension sensor; wherein the tension sensor is arranged on the lifting steel rope;
acquiring shovel rod attitude data at the same moment as the tension value;
and inputting the shovel rod attitude data and the tension value into a preset weighing function model to obtain the weight of the material in the bucket.
In an alternative embodiment, the blade attitude data includes a blade push-pull value representing a stroke of the blade displaced by the pushing mechanism and a bucket lift value representing a stroke of the bucket displaced by the lift wire.
In an alternative embodiment, the weighing function model is: m=a k1+b k2+c k3+d; wherein a is a push-pull value of a shovel rod, b is a lifting value of a bucket, c is a value measured by a tension sensor, d is a constant, k1 is an influence coefficient of the position of the push-pull rod on the deformation value of the A column, k2 is an influence coefficient of the vertical height of the bucket on the deformation value of the A column, k3 is an influence coefficient of data measured by the tension sensor on the total weight of the bucket and materials in the bucket, and M is the weight of the bucket and materials in the bucket. The values of the coefficients k1, k2, k3 and d in the weighing model function are related to the model (specific parameters) of the electric shovel, so that the function model can be obtained only by obtaining the values of the coefficients k1, k2, k3 and d, and the following calculation method is adopted in the embodiment: the function model is deformed to ak1+bk2+ck3+d-m=0, and since the equation contains k1, k2, k3 and d four unknowns, the values of k1, k2, k3 and d can be obtained by taking 4 sets a, b, c, d of sample points respectively different from each other and taking all the four sets of sample points into the equation "ak1+bk2+ck3+d-m=0" to form an equation set, and thus the weighing function model can be obtained.
By the method provided by the embodiment, the weight of the materials in the bucket can be measured before the bucket is opened by the electric shovel.
Example 2
An apparatus for weighing an electric shovel, as shown in fig. 2, comprises: the shovel rod attitude detection module is used for obtaining the attitude of the shovel rod, the attitude represents the stroke of the shovel rod under the drive of the pushing mechanism, the tension detection module is used for detecting the tension value on the lifting steel rope, and the calculation module is provided with a weighing function model for calculating the weight of materials in the shovel bucket according to the attitude of the shovel rod and the tension value on the lifting steel rope.
Example 3
The present embodiment provides a computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the method in embodiment 1.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (6)
1. A method of weighing an electric shovel, comprising: taking a numerical value in a first threshold range before opening the bucket as a tension value in real-time data acquired by the tension sensor; wherein the tension sensor is arranged on the lifting steel rope; acquiring shovel rod attitude data at the same moment as the tension value; and inputting the shovel rod attitude data and the tension value into a preset weighing function model to obtain the weight of the material in the bucket.
2. A method as in claim 1 wherein the blade attitude data includes a blade push-pull value indicative of a travel of the blade as driven by the pushing mechanism and a bucket lift value indicative of a travel of the bucket as displaced by the lift wire.
3. The method of claim 1, wherein the weighing function model is: m=a k1+b k2+c k3+d; wherein a is a push-pull value of a shovel rod, b is a lifting value of a bucket, c is a value measured by a tension sensor, d is a constant, k1 is an influence coefficient of the position of the push-pull rod on the deformation value of the A column, k2 is an influence coefficient of the vertical height of the bucket on the deformation value of the A column, k3 is an influence coefficient of data measured by the tension sensor on the total weight of the bucket and materials in the bucket, and M is the weight of the bucket and materials in the bucket.
4. An electric shovel weighing device, its characterized in that: comprising the following steps: the shovel rod attitude detection module is used for obtaining the attitude of the shovel rod, the attitude represents the stroke of the shovel rod under the drive of the pushing mechanism, the tension detection module is used for detecting the tension value on the lifting steel rope, and the calculation module is provided with a weighing function model for calculating the weight of materials in the shovel bucket according to the attitude of the shovel rod and the tension value on the lifting steel rope.
5. The electric shovel weighing device according to claim 4, wherein: the gesture detection module includes: the shovel rod push-pull sensor is connected with the pushing mechanism, and the bucket lifting sensor is connected with the lifting scroll.
6. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the method according to any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210399252.0A CN116955907A (en) | 2022-04-15 | 2022-04-15 | Method and device for weighing electric shovel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210399252.0A CN116955907A (en) | 2022-04-15 | 2022-04-15 | Method and device for weighing electric shovel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116955907A true CN116955907A (en) | 2023-10-27 |
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ID=88455261
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210399252.0A Pending CN116955907A (en) | 2022-04-15 | 2022-04-15 | Method and device for weighing electric shovel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116955907A (en) |
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2022
- 2022-04-15 CN CN202210399252.0A patent/CN116955907A/en active Pending
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