CN117029984A - Electric shovel weighing method and device - Google Patents

Abstract

The application provides an electric shovel weighing method and device, wherein the method comprises the following steps: reading the value Fs of the weighing sensor; calculating the tension F1 of the steel wire rope according to the value of < 1 > and the value of the weighing sensor; calculating the weight g1 of the first shovel rod of the push rod shaft facing the side of the bucket and the weight g2 of the second shovel rod of the push rod shaft facing away from the side of the bucket according to the data detected by the shovel rod posture detection device; calculating a moment arm L4 of the second shovel rod weight g2 relative to the push rod shaft according to the data detected by the shovel rod posture detection device; calculating a first force arm L1, a second force arm L2 and a third force arm L3 corresponding to the first component, the second component and the third component; taking a push rod shaft as a center point, and calculating the total weight W of the bucket and the materials according to a moment balance principle; the weight of the bucket, W1, is read and the weight of the material, w2=w-W1, is calculated. The application can realize dynamic weighing of the electric shovel, so that a worker can acquire the actual weight of each shovel, thereby realizing more scientific and efficient management.

Description

Electric shovel weighing method and device

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 used with large-scale carrier vehicles such as dump trucks. In actual production, because the carrying capacity of the truck is limited, a driver cannot know the weight of the materials in each shovel bucket and can only judge the weight by experience, so that accurate control on the loading quality is difficult to realize. The modern construction requirements of strip mine enterprises cannot be met, and therefore, a method capable of calculating the weight of materials in a bucket in real time is urgently needed to be invented.

Disclosure of Invention

In order to solve the problems, the application provides a method and a device for weighing an electric shovel, which can realize the function of weighing materials in a shovel bucket in the working process of loading the materials by the electric shovel.

In a first aspect, the present application provides a method for weighing an electric shovel, comprising:

reading a numerical value Fs of a weighing sensor, wherein the weighing sensor is arranged below a steel wire rope above an electric shovel lifting device, the lifting device is used for driving the steel wire rope to be wound and unwound, a roller of the weighing sensor jacks up the steel wire rope, and an angle 1 formed from a tangent point of the steel wire rope and the lifting device to a tangent point of the steel wire rope and the roller of the weighing sensor to a tangent point of the steel wire rope and a crown block is an obtuse angle;

Calculating the tension F1 of the steel wire rope according to the value of < 1 > and the value of the weighing sensor;

calculating the weight g1 of the first shovel rod of the push rod shaft facing the side of the bucket and the weight g2 of the second shovel rod of the push rod shaft facing away from the side of the bucket according to the data detected by the shovel rod posture detection device;

calculating a moment arm L4 of the second shovel rod weight g2 relative to the push rod shaft according to the data detected by the shovel rod posture detection device;

the total weight of the bucket and the materials is W, the total weight W of the bucket and the materials is defined as a first component, g1 is defined as a second component, the pulling force F1 of the steel wire rope is defined as a third component, and a first force arm L1, a second force arm L2 and a third force arm L3 corresponding to the first component, the second component and the third component are calculated according to the data detected by the shovel rod posture detecting device;

taking the push rod shaft as a center point, according to a moment balance principle, calculating the total weight W of the bucket and materials by taking the product of the resultant force g1 of the push rod shaft on the side far from the bucket and the force arm L4 thereof as the sum of the products of all component forces of the push rod shaft on the side close to the bucket and the force arm thereof;

the weight of the bucket, W1, is read and the weight of the material, w2=w-W1, is calculated.

Further, the shovel rod posture detection device comprises a shovel rod push-pull sensor and a bucket lifting sensor, wherein the shovel rod push-pull sensor is used for detecting the displacement distance of the shovel rod on the push rod shaft, and the bucket lifting sensor is used for detecting the displacement distance of the lifting device driving the steel wire rope.

Further, in the step of calculating the pulling force F1 of the steel wire rope according to the value of +.1 and the value Fs of the weighing sensor, the following method is adopted for calculation:

f1 =fs×cos (+.2)/cos (+.1/2)/2, where+.2 is the angle between the vertical downward direction of the load cell and the bisector of+.1.

Further, in the step of "calculating the first blade weight g1 of the putter shaft toward the bucket side and the second blade weight g2 of the putter shaft away from the bucket side from the data detected by the blade posture detecting device", the following formula is adopted:

g1=k(L-d-e);

g2=k(d+e);

the shovel rod push-pull sensor is characterized in that k is the weight of the shovel rod in unit length, L is the total length of the shovel rod, d is the length of the shovel rod, which is far away from one side of the bucket, of the push rod shaft when the shovel rod push-pull sensor is in an initial position, and e is the numerical value measured by the shovel rod push-pull sensor.

In a second aspect, the application provides another electric shovel weighing method, which comprises the following steps:

reading the value F measured by the weighing sensor before opening the bucket _s1 And the value F measured by the weighing sensor after opening the bucket _s2 The method comprises the steps of carrying out a first treatment on the surface of the The weighing sensor is arranged below the steel wire rope above the electric shovel lifting device, the lifting device is a device for driving the steel wire rope to be wound and unwound, the steel wire rope is jacked up by the roller of the weighing sensor, and an obtuse angle 1 is formed from the tangential point of the steel wire rope and the lifting device to the tangential point of the steel wire rope and the roller of the weighing sensor to the tangential point of the steel wire rope and the head sheave;

According to the value of < 1 > and two values Fs1 and Fs2 measured by the weighing sensor before and after opening, respectively calculating the tensile forces F11 and F12 of the steel wire rope before and after opening;

calculating the weight g1 of the first shovel rod of the push rod shaft facing the side of the bucket and the weight g2 of the second shovel rod of the push rod shaft facing away from the side of the bucket according to the data detected by the shovel rod posture detection device;

calculating a moment arm L4 of the second shovel rod weight g2 relative to the push rod shaft according to the data detected by the shovel rod posture detection device, wherein the shovel rod posture detection device is used for detecting the distance of the shovel rod driven to displace by the push-pull device and the distance of the lifting device driven to displace by the steel wire rope;

the total weight of the bucket and the materials is W, the total weight W of the bucket and the materials is defined as a first component, g1 is defined as a second component, the pulling forces F11 and F12 of the steel wire ropes before and after the bucket is opened are defined as a third component, and a first force arm L1, a second force arm L2 and a third force arm L3 corresponding to the first component, the second component and the third component are calculated according to the data detected by the shovel rod posture detecting device;

taking the push rod shaft as a center point, according to a moment balance principle, calculating the total weight W of the bucket and materials by taking the product of the resultant force g1 of the push rod shaft at the side far from the bucket and the moment arm L4 of the push rod shaft before opening the bucket as the sum of the products of all component forces of the push rod shaft at the side close to the bucket and the moment arm of the push rod shaft before opening the bucket;

Taking the push rod shaft as a center point, according to a moment balance principle, calculating to obtain the bucket weight Wx after bucket opening, wherein the product of the resultant force g1 of the push rod shaft at the side far away from the bucket and the moment arm L4 thereof is equal to the sum of the products of all component forces of the push rod shaft at the side close to the bucket and the moment arm thereof after bucket opening;

the weight of the material w2=w-Wx is calculated.

Further, the shovel rod posture detection device comprises a shovel rod push-pull sensor and a bucket lifting sensor, wherein the shovel rod push-pull sensor is used for detecting the displacement distance of the shovel rod on the push rod shaft, and the bucket lifting sensor is used for detecting the displacement distance of the lifting device driving the steel wire rope.

Further, in the step of calculating the pulling forces F11, F12 of the wire rope before and after opening the hopper according to the value of +.1 and the two values Fs1 and Fs2 measured by the weighing sensor before and after opening the hopper, respectively, the following method is adopted:

F11=Fs1*cos(∠2)/ cos(∠1/2)/2；

F12=Fs2*cos(∠2)/ cos(∠1/2)/2；

wherein +.2 is the angle between the vertical downward direction of weighing sensor and the bisector of +.1.

Further, in the step of "calculating the first blade weight g1 of the putter shaft toward the bucket side and the second blade weight g2 of the putter shaft away from the bucket side from the data detected by the blade posture detecting device", the following formula is adopted:

g1=k(L-d-e);

g2=k(d+e);

The shovel rod push-pull sensor is characterized in that k is the weight of the shovel rod in unit length, L is the total length of the shovel rod, d is the length of the shovel rod, which is far away from one side of the bucket, of the push rod shaft when the shovel rod push-pull sensor is in an initial position, and e is the numerical value measured by the shovel rod push-pull sensor.

In a third aspect, the present application provides an electric shovel weighing device comprising:

the weighing sensor is used for detecting the pressure value applied by the steel wire rope symmetrical weight sensor and is arranged below the steel wire rope above the electric shovel lifting device, the lifting device is a device for driving the steel wire rope to be wound and unwound, and the rolling shaft of the weighing sensor jacks up the steel wire rope so that an obtuse angle 1 formed from the tangential point of the steel wire rope and the lifting device to the tangential point of the steel wire rope and the rolling shaft of the weighing sensor to the tangential point of the steel wire rope and the head sheave is an obtuse angle;

the shovel rod posture detection device is used for detecting the displacement distance of the shovel rod on the push rod shaft and the displacement distance of the steel wire rope driven by the lifting device;

the calculation module comprises a steel wire rope tension calculation unit and is used for calculating the tension of the steel wire rope according to the value of the weighing sensor; the component force calculation unit is used for calculating the magnitude of all component forces on two sides of the push rod shaft according to the attitude data of the shovel rod and the tension of the steel wire rope; the arm calculation unit is used for calculating the arm length corresponding to all component forces on two sides of the push rod shaft according to the shovel rod attitude data; the material weight calculating unit is used for calculating the weight of the material according to the moment balance principle.

In a fourth aspect, the present application provides another electric shovel weighing device, comprising:

the weighing sensor is used for detecting pressure values applied by the weighing sensors before and after the bucket is opened, the weighing sensor is arranged below the steel wire rope above the electric shovel lifting device, the lifting device is a device for driving the steel wire rope to be wound and unwound, the rolling shaft of the weighing sensor jacks up the steel wire rope, and an obtuse angle 1 is formed from the tangential point of the steel wire rope and the lifting device to the tangential point of the steel wire rope and the rolling shaft of the weighing sensor to the tangential point of the steel wire rope and the head sheave;

the shovel rod posture detection device is used for detecting the displacement distance of the shovel rod on the push rod shaft and the displacement distance of the steel wire rope driven by the lifting device;

the calculation module comprises a steel wire rope tension calculation unit and is used for calculating the tension of the steel wire rope before and after the bucket is opened according to the value of the weighing sensor; the component force calculation unit is used for calculating the magnitude of all component forces on two sides of the push rod shaft after the bucket is opened and closed before the bucket is opened according to the attitude data of the shovel rod and the tensile force of the steel wire rope; the arm calculation unit is used for calculating the arm length corresponding to all component forces on two sides of the push rod shaft according to the shovel rod attitude data; and the material weight calculation unit is used for calculating the total weight of the material and the bucket after the bucket is opened and closed before the bucket is opened according to the moment balance principle, so as to calculate the actual weight of the material.

Compared with the prior art, the embodiment of the application has the beneficial effects that:

the electric shovel weighing method provided by the application can realize the function of weighing the materials in the shovel bucket in the working process of loading the materials by the electric shovel, so that the staff can acquire the actual weight of each shovel, thereby realizing more scientific and efficient management. The weighing method provided by the application is more scientific, the data acquisition and calculation are more accurate, and the calculation result is more reliable.

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 a method provided by an embodiment of the present application;

FIG. 2 is a schematic illustration of a mechanical model in accordance with the present application;

FIG. 3 is a flow chart of a method provided by another embodiment of the present application;

fig. 4 is a schematic view of the structure of an apparatus according to an embodiment of the present application.

A weighing sensor; 20. a shovel rod posture detection device; 30. a computing module; 301. a wire rope tension calculation unit; 302. a component force calculation unit; 303. a moment arm calculation unit; 304. a material weight calculation unit; 40. a lifting device; 50. a push rod shaft.

Description of the embodiments

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

The technical scheme provided by the embodiment of the application is described by a specific embodiment.

Examples

The embodiment provides an electric shovel weighing method, which comprises the following steps as shown in fig. 1:

s1, reading a numerical value Fs of a weighing sensor, wherein the weighing sensor is arranged below a steel wire rope above an electric shovel lifting device (shown in fig. 2), the lifting device is a device for driving the steel wire rope to be wound and unwound, a roller of the weighing sensor jacks up the steel wire rope, and an angle 1 formed from a tangent point of the steel wire rope and the lifting device to a tangent point of the steel wire rope and the roller of the weighing sensor to a tangent point of the steel wire rope and a crown block is an obtuse angle;

specifically, in some types of electric shovels, the lifting device is a winch, the steel wire rope is wound on the winch, and the winding and unwinding of the steel wire rope are realized through the forward rotation and the reverse rotation of the winch. The weighing sensor is of a roller type, two ends of the weighing sensor are fixed on a frame body of the electric shovel, the steel wire rope is lapped on the middle roller, and the steel wire rope is jacked up by the roller, so that the pressure of the steel wire rope on the roller is measured.

S2, calculating the tension F1 of the steel wire rope according to the value of the < 1 > and the value of the weighing sensor;

specifically, according to the model of the electric shovel, after the weighing sensor is installed, the value of the angle 1 is a determined value and cannot be changed along with the retraction of the steel wire rope or the push-pull of the shovel rod. Therefore, the angle 1 can be regarded as a known quantity, on the basis, the value measured by the weighing sensor is the component force of the pressure applied by the wire rope symmetrical weight sensor in the vertical direction, and the resultant force direction caused by the wire rope symmetrical weight sensor is the direction pointed by the bisector of the angle 1. And according to the geometric relationship and the value measured by the weighing sensor, combining a parallelogram method to obtain the tension of the steel wire rope.

S3, calculating the weight g1 of the first shovel rod of the push rod shaft facing the side of the bucket and the weight g2 of the second shovel rod of the push rod shaft far away from the side of the bucket according to the data detected by the shovel rod posture detection device;

specifically, because the shovel rod posture detection device can detect the displacement distance of the shovel rod relative to the push rod shaft and the displacement distance of the steel wire rope in real time, under the condition that the two data are determined, the specific posture of the shovel rod can be determined, and the lengths of the shovel rod parts at the two sides of the shovel rod can be calculated by taking the push rod shaft as a limit.

S4, calculating a moment arm L4 of the second shovel rod weight g2 relative to the push rod shaft according to the data detected by the shovel rod posture detection device;

referring specifically to fig. 2, the weight g2 of the second shovel rod refers to a portion of the push rod shaft away from one side of the bucket, and uses the push rod shaft as a balance point (a black solid circle in fig. 2 is the push rod shaft), and the gravity center of the second shovel rod is located at a geometric center point of the second shovel rod, so that a horizontal distance from the second shovel rod to the push rod shaft can be calculated according to the posture of the second shovel rod, namely, a moment arm L4.

S5, setting the total weight of the bucket and the materials as W, defining the total weight W of the bucket and the materials as a first component, defining g1 as a second component, defining the pulling force F1 of the steel wire rope as a third component, and calculating a first force arm L1, a second force arm L2 and a third force arm L3 corresponding to the first component, the second component and the third component according to the data detected by the shovel rod posture detection device;

S6, taking the push rod shaft as a center point according to a moment balance principle, and calculating the total weight W of the bucket and materials according to the moment balance principle, wherein the product of the resultant force g1 on the side of the push rod shaft far from the bucket and the force arm L4 thereof is equal to the sum of the products of all the component forces on the side of the push rod shaft close to the bucket and the force arm thereof;

namely, the sum of the product of the first component force and the first force arm L1, the product of the second component force and the second force arm L2 and the product of the third component force and the third force arm L3 (the sign of the third component force is negative because the direction of the third component force is opposite to other component forces) is equal to the product of g2 and the force arm L4, and the total weight W of the bucket and the material is calculated;

and S7, reading the weight W1 of the bucket, and calculating the weight W2=W-W1 of the material.

Referring to fig. 2, the push rod is subjected to stress analysis, wherein one side of the push rod shaft far from the bucket only has one force, namely the gravity g2 of the push rod, and one end of the push rod shaft close to the bucket has 3 component forces, namely the total weight W of the bucket and materials, which is defined as a first component force; the gravity g1 of the push rod is defined as a second component, and the pulling force F1 applied to the bucket by the wire rope is defined as a third component. The direction of the third component is opposite to the other direction, and can be counted as a negative number when calculating the sum of the component forces. Because the attitude of the shovel rod can be determined, the length of each moment arm can be determined: the first force arm of the first component is the horizontal distance between the bucket and the push rod shaft, the second force arm of the second component is the horizontal distance between the gravity center of the second shovel rod and the push rod shaft, and the third force arm of the third component is the horizontal distance between the bucket and the push rod shaft.

In the step of calculating the weight of the material based on the moment balance, the total weight of the bucket and the material may be represented by W, and the first component force may be represented by an expression including W, and the value of W may be obtained by substituting W into the moment balance expression. Since the weight of the bucket is a known quantity, the weight W2 of the material in the bucket can be determined by subtracting the bucket weight W1 from W.

In one embodiment, the shovel bar posture detection device comprises a shovel bar push-pull sensor for detecting a displacement distance of the shovel bar on the push bar shaft and a bucket lifting sensor for detecting a distance of a lifting device driving the wire rope to displace.

Specifically, the shovel rod push-pull sensor and the bucket lifting sensor are both realized by adopting an encoder, wherein the shovel rod push-pull sensor is arranged on the pushing mechanism at the push rod shaft, when the pushing mechanism drives the shovel rod to push and pull transversely, the shovel rod push-pull sensor can detect the distance that the pushing mechanism drives the shovel rod to move, for example, when the pushing mechanism drives the shovel rod to move through a motor, a gear and a rack, the encoder can be arranged on the rotating shaft of the gear, so that the displacement distance of the rack is calculated. Similarly, the bucket lifting sensor can be arranged on the lifting device for calculating the displacement distance of the steel wire rope, for example, the lifting device is a motor, a gear and a roller, the steel wire rope is wound on the roller, the roller is driven by the motor to rotate forwards and reversely to realize the winding and unwinding of the steel wire rope, and then the encoder can be arranged on the rotating shaft of the roller or the driving shaft of the motor.

In one embodiment, in the step of calculating the tension F1 of the wire rope according to the value of +.1 and the value Fs of the load cell, the following formula is adopted:

f1 =fs×cos (+.2)/cos (+.1/2)/2, where+.2 is the angle between the vertical downward direction of the load cell and the bisector of+.1.

In one embodiment, in the step of "calculating the first blade weight g1 of the putter shaft toward the side of the bucket and the second blade weight g2 of the putter shaft away from the side of the bucket from the data detected by the blade posture detecting means", the following formula is adopted:

g1=k(L-d-e);

g2=k(d+e);

wherein k is the weight of the shovel rod in unit length (related to the model of the electric shovel, the known quantity), L is the total length of the shovel rod (the known quantity), d is the length of the shovel rod on one side of the push rod shaft far away from the bucket when the shovel rod push-pull sensor is in an initial position, and e is the value measured by the shovel rod push-pull sensor. D can be set according to practical situations, for example, when the push rod is pushed to the farthest position, the reading of the push-pull sensor of the shovel rod is 0, and no specific setting is made in the embodiment.

Examples

The embodiment provides another electric shovel weighing method, as shown in fig. 3, comprising the following steps:

S21, reading a numerical value F measured by a weighing sensor before opening the hopper _s1 And the value F measured by the weighing sensor after opening the bucket _s2 The method comprises the steps of carrying out a first treatment on the surface of the The weighing sensor is arranged below the steel wire rope above the electric shovel lifting device, the lifting device is a device for driving the steel wire rope to be wound and unwound, the steel wire rope is jacked up by the roller of the weighing sensor, and an obtuse angle 1 is formed from the tangential point of the steel wire rope and the lifting device to the tangential point of the steel wire rope and the roller of the weighing sensor to the tangential point of the steel wire rope and the head sheave;

specifically, in some types of electric shovels, the lifting device is a winch, the steel wire rope is wound on the winch, and the winding and unwinding of the steel wire rope are realized through the forward rotation and the reverse rotation of the winch. The weighing sensor is of a roller type, two ends of the weighing sensor are fixed on a frame body of the electric shovel, the steel wire rope is lapped on the middle roller, and the steel wire rope is jacked up by the roller, so that the pressure of the steel wire rope on the roller is measured.

S22, respectively calculating the tensile forces F11 and F12 of the steel wire rope before and after the hopper is opened according to the numerical value of < 1 > and the two numerical values Fs1 and Fs2 measured by the weighing sensor before and after the hopper is opened;

specifically, the weighing sensor is in an opening state in the whole working process of the electric shovel, the pressure of the steel wire rope is detected in real time, and when the electric shovel is dynamically weighed, only the value of the weighing sensor before opening the bucket and the value after opening the bucket are taken, so that the weight of the material actually loaded into the truck by the bucket is calculated according to the weight of the bucket before opening the bucket and the weight of the bucket after opening the bucket.

S23, calculating the weight g1 of the first shovel rod of the push rod shaft facing the side of the bucket and the weight g2 of the second shovel rod of the push rod shaft far away from the side of the bucket according to the data detected by the shovel rod posture detection device;

specifically, since the shovel rod posture detection device can detect the displacement distance of the shovel rod relative to the push rod shaft and the displacement distance of the steel wire rope in real time, under the condition that the two data are determined, the specific posture of the shovel rod can be determined, namely, the lengths of the shovel rod parts at two sides of the shovel rod can be calculated by taking the push rod shaft as a limit, in the embodiment, the shovel rod is regarded as an object with uniform density, and the weight of the shovel rod at two sides can be calculated according to the lengths of the shovel rod at two sides of the push rod shaft.

S24, calculating a moment arm L4 of the weight g2 of the second shovel rod relative to the push rod shaft according to data detected by a shovel rod gesture detection device, wherein the shovel rod gesture detection device is used for detecting the distance of the displacement of the shovel rod driven by the push-pull device and the distance of the displacement of the steel wire rope driven by the lifting device;

referring specifically to fig. 2, the weight g2 of the second shovel rod refers to a portion of the push rod shaft away from one side of the bucket, and uses the push rod shaft as a balance point, and the gravity center of the second shovel rod is located at a geometric center point of the second shovel rod, so that the horizontal distance from the second shovel rod to the push rod shaft can be calculated according to the posture of the shovel rod, namely, the moment arm L4.

S25, setting the total weight of the bucket and the materials as W, defining the total weight W of the bucket and the materials as a first component force, defining g1 as a second component force, defining the pulling forces F11 and F12 of the steel wire rope before and after opening the bucket as a third component force, and calculating a first force arm L1, a second force arm L2 and a third force arm L3 corresponding to the first component force, the second component force and the third component force according to the data detected by the shovel rod gesture detection device;

s26, taking a push rod shaft as a center point, and calculating the total weight W of the bucket and materials according to a moment balance principle, wherein the product of the resultant force g1 of the push rod shaft at the side far from the bucket and the moment arm L4 of the push rod shaft before bucket opening is equal to the sum of the products of all component forces and moment arms of the push rod shaft at the side close to the bucket before bucket opening;

s27, taking a push rod shaft as a center point, according to a moment balance principle, calculating the sum of the resultant force g1 of one side of the push rod shaft far from the bucket and the product of the moment arm L4 of the push rod shaft, which is equal to the sum of the products of all component forces of one side of the push rod shaft close to the bucket and the moment arm, after the bucket is opened, and obtaining the weight Wx of the bucket after the bucket is opened;

referring to fig. 2, the push rod is subjected to stress analysis, wherein one side of the push rod shaft far from the bucket only has one force, namely the gravity g2 of the push rod, and one end of the push rod shaft close to the bucket has 3 component forces, namely the total weight W of the bucket and materials, which is defined as a first component force; the gravity g1 of the push rod is defined as a second component, and the tensile forces F11 and F12 applied to the bucket by the wire rope before and after the bucket is opened are defined as a third component. The direction of the third component is opposite to the other direction, and can be counted as a negative number when calculating the sum of the component forces. Because the attitude of the shovel rod can be determined, the length of each moment arm can be determined: the first force arm of the first component is the horizontal distance between the bucket and the push rod shaft, the second force arm of the second component is the horizontal distance between the gravity center of the second shovel rod and the push rod shaft, and the third force arm of the third component is the horizontal distance between the bucket and the push rod shaft.

And S28, calculating the weight W2=W-Wx of the material.

The total weight W of the bucket and the materials before the bucket is opened and the total weight Wx of the bucket and the materials after the bucket is opened can be obtained according to the moment balance principle, and the difference between the total weight W and the total weight Wx of the bucket is the weight of the materials actually loaded into the truck by the bucket.

In one embodiment, the shovel rod posture detection device comprises a shovel rod push-pull sensor and a bucket lifting sensor, wherein the shovel rod push-pull sensor is used for detecting the displacement distance of the shovel rod on the push rod shaft, and the bucket lifting sensor is used for detecting the displacement distance of the lifting device driving the steel wire rope. Specifically, the shovel rod push-pull sensor and the bucket lifting sensor can be implemented by using an encoder, wherein the shovel rod push-pull sensor is arranged on the pushing mechanism at the push rod shaft, when the pushing mechanism drives the shovel rod to push and pull transversely, the shovel rod push-pull sensor can detect the distance that the pushing mechanism drives the shovel rod to move, for example, when the pushing mechanism drives the shovel rod to move through a motor, a gear and a rack, the encoder can be arranged on a rotating shaft of the gear, so that the displacement distance of the rack is calculated. Similarly, the bucket lifting sensor can be arranged on the lifting device for calculating the displacement distance of the steel wire rope, for example, the lifting device is a motor, a gear and a roller, the steel wire rope is wound on the roller, the roller is driven by the motor to rotate forwards and reversely to realize the winding and unwinding of the steel wire rope, and then the encoder can be arranged on the rotating shaft of the roller or the driving shaft of the motor.

In an alternative embodiment, in step "the tension forces F11, F12 of the wire rope before and after opening are calculated from the value of ≡1 and the two values Fs1 and Fs2 measured by the load cell before and after opening, respectively, the following formula is used:

F11=Fs1*cos(∠2)/ cos(∠1/2)/2；

F12=Fs2*cos(∠2)/ cos(∠1/2)/2；

wherein +.2 is the angle between the vertical downward direction of weighing sensor and the bisector of +.1.

In an alternative embodiment, in the step of calculating the first blade weight g1 of the putter shaft toward the side of the bucket and the second blade weight g2 of the putter shaft away from the side of the bucket based on the data detected by the blade posture detecting means, the following formula is adopted:

g1=k(L-d-e);

g2=k(d+e);

the shovel rod push-pull sensor is characterized in that k is the weight of the shovel rod in unit length, L is the total length of the shovel rod, d is the length of the shovel rod, which is far away from one side of the bucket, of the push rod shaft when the shovel rod push-pull sensor is in an initial position, and e is the numerical value measured by the shovel rod push-pull sensor.

In an alternative embodiment, before step S21, the following steps may be further included:

s210, calculating the height information of the bucket according to the attitude information of the shovel rod;

s211, judging whether the bucket height is larger than a preset height threshold value?

Because the attitude information of the shovel rod can be detected in real time, the specific position of the shovel can be calculated in real time, and when the height of the shovel is lower than the height of a vehicle to be loaded, the situation of opening the shovel can also exist, but the shovel is obviously not an actual loading process, and weighing calculation is not needed. The loading height of the vehicle to be loaded is thus set to a preset height threshold value, and the next weighing step is only possible when the bucket height is above this threshold value, and is not performed when this threshold value is exceeded. Thereby avoiding additional calculations that are of no value.

In the embodiment of the application, the specific calculation method for calculating the moment arm according to the posture of the shovel rod is a process of solving the inner angle of the triangle according to the known three side lengths of the triangle and solving the horizontal distance between each center of gravity point and one vertex of the triangle according to the inner angle of the triangle, and the specific mathematical operation involved in the solving process is known in the art and is not repeated in detail in the application.

According to the electric shovel weighing method provided by the embodiment, the weight of materials in the shovel bucket can be calculated according to the data detected by the weighing sensor and the shovel rod gesture detection device, so that the specific weight value loaded by each shovel can be accurately known in practical application, loading work can be more efficiently and accurately carried out, and in the process, the accuracy is higher than that of other detection modes in the prior art and the obtained result is more reliable because the detection of the tensile force of the steel wire rope is calculated through the numerical value of the weighing sensor and the geometric relation.

Examples

The present embodiment provides an electric shovel weighing device, as shown in fig. 4, including:

the weighing sensor 10 is used for detecting a pressure value applied by the steel wire rope symmetrical weight sensor 10, and is arranged below the steel wire rope above the electric shovel lifting device 40, the lifting device 40 is a device for driving the steel wire rope to be wound and unwound, and the rolling shaft of the weighing sensor 10 jacks up the steel wire rope, so that an obtuse angle 1 formed from the tangential point of the steel wire rope and the lifting device 40 to the tangential point of the steel wire rope and the rolling shaft of the weighing sensor 10 to the tangential point of the steel wire rope and the head sheave is an obtuse angle;

A shovel bar posture detecting device 20 for detecting a displacement distance of the shovel bar on the push bar shaft 50 and a distance of the lifting device 40 for driving the wire rope to displace;

a calculation module 30, including a wire rope tension calculation unit 301, for calculating the tension of the wire rope according to the value of the load cell; a component force calculating unit 302, configured to calculate the magnitudes of all component forces on both sides of the push rod shaft 50 according to the shovel shaft posture data and the wire rope tension; a moment arm calculating unit 303, configured to calculate moment arm lengths corresponding to all component forces on both sides of the push rod shaft 50 according to the shovel shaft posture data; the material weight calculating unit 304 is used for calculating the weight of the material according to the moment balance principle.

Examples

This embodiment provides another electric shovel weighing device, as shown in fig. 4, comprising:

the weighing sensor 10 is used for detecting pressure values applied by the weighing sensor 10 before and after the bucket is opened, and is arranged below the steel wire rope above the electric shovel lifting device 40, the lifting device 40 is a device for driving the steel wire rope to be wound and unwound, the rolling shaft of the weighing sensor 10 jacks up the steel wire rope, and an angle 1 formed from the tangential point of the steel wire rope and the lifting device 40 to the tangential point of the steel wire rope and the roller of the weighing sensor 10 to the tangential point of the steel wire rope and the crown sheave is an obtuse angle;

A shovel bar posture detecting device 20 for detecting a displacement distance of the shovel bar on the push bar shaft 50 and a distance of the lifting device 40 for driving the wire rope to displace;

specifically, the blade posture detecting device 20 includes a blade push-pull sensor and a bucket lift sensor,

the shovel rod push-pull sensor and the shovel lifting sensor are both realized by using an encoder, wherein the shovel rod push-pull sensor is arranged on a pushing mechanism at the push rod shaft 50, when the pushing mechanism drives the shovel rod to push and pull transversely, the shovel rod push-pull sensor can detect the displacement distance of the pushing mechanism driving the shovel rod, for example, when the pushing mechanism drives the shovel rod to move through a motor, a gear and a rack, the encoder can be arranged on a rotating shaft of the gear, so that the displacement distance of the rack is calculated. Similarly, the bucket lifting sensor may be disposed on the lifting device 40 to calculate a displacement distance of the wire rope, for example, the lifting device 40 is a motor, a gear and a drum, the wire rope is wound on the drum, and the winding and unwinding of the wire rope are achieved by driving the drum to rotate forward and backward through the motor, and then the encoder may be disposed on a rotating shaft of the drum or a driving shaft of the motor.

The calculation module 30 comprises a steel wire rope tension calculation unit 301, and is used for calculating the tension of the steel wire rope before and after opening the hopper according to the value of the weighing sensor; a component force calculating unit 302, configured to calculate the magnitudes of all component forces on both sides of the push rod shaft 50 before and after opening the bucket according to the shovel bar posture data and the wire rope tension; a moment arm calculating unit 303, configured to calculate moment arm lengths corresponding to all component forces on both sides of the push rod shaft 50 according to the shovel shaft posture data; the material weight calculating unit 304 is configured to calculate the total weight of the material and the bucket after the bucket is opened and closed respectively according to a moment balance principle, thereby calculating the actual weight of the material.

In one embodiment, the electric shovel weighing device further comprises a storage unit, wherein the storage unit is at least used for storing a computer program, the computer program can execute any method in the embodiment when being executed, and the storage unit is also used for storing various parameters of the electric shovel, such as the weight of a shovel rod in unit length, the empty bucket weight of a shovel bucket, the values of angle 1 and 2, and the like.

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 embodiment of the application also provides a network device, which comprises: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, which when executed by the processor performs the steps of any of the various method embodiments described above.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps for implementing the various method embodiments described above.

Embodiments of the present application provide a computer program product which, when run on a mobile terminal, causes the mobile terminal to perform steps that enable the implementation of the method embodiments described above.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

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 (10)

1. An electric shovel weighing method is characterized in that: the method comprises the following steps:

reading a numerical value Fs of a weighing sensor, wherein the weighing sensor is arranged below a steel wire rope above an electric shovel lifting device, the lifting device is used for driving the steel wire rope to be wound and unwound, a roller of the weighing sensor jacks up the steel wire rope, and an angle 1 formed from a tangent point of the steel wire rope and the lifting device to a tangent point of the steel wire rope and the roller of the weighing sensor to a tangent point of the steel wire rope and a crown block is an obtuse angle;

Calculating the tension F1 of the steel wire rope according to the value of < 1 > and the value of the weighing sensor;

calculating the weight g1 of the first shovel rod of the push rod shaft facing the side of the bucket and the weight g2 of the second shovel rod of the push rod shaft facing away from the side of the bucket according to the data detected by the shovel rod posture detection device;

calculating a moment arm L4 of the second shovel rod weight g2 relative to the push rod shaft according to the data detected by the shovel rod posture detection device;

the total weight of the bucket and the materials is W, the total weight W of the bucket and the materials is defined as a first component, g1 is defined as a second component, the pulling force F1 of the steel wire rope is defined as a third component, and a first force arm L1, a second force arm L2 and a third force arm L3 corresponding to the first component, the second component and the third component are calculated according to the data detected by the shovel rod posture detecting device;

taking the push rod shaft as a center point, according to a moment balance principle, calculating the total weight W of the bucket and materials by taking the product of the resultant force g1 of the push rod shaft on the side far from the bucket and the force arm L4 thereof as the sum of the products of all component forces of the push rod shaft on the side close to the bucket and the force arm thereof;

the weight of the bucket, W1, is read and the weight of the material, w2=w-W1, is calculated.

2. The electric shovel weighing method according to claim 1, wherein the shovel bar posture detecting device comprises a shovel bar push-pull sensor for detecting a displacement distance of the shovel bar on the push bar shaft and a shovel lifting sensor for detecting a distance of a lifting device driving the displacement of the wire rope.

3. The method for weighing an electric shovel according to claim 1, wherein in the step of calculating the pulling force F1 of the wire rope according to the value of # -1 and the value Fs of the weighing sensor, the following method is adopted:

f1 =fs×cos (+.2)/cos (+.1/2)/2, where+.2 is the angle between the vertical downward direction of the load cell and the bisector of+.1.

4. The method of weighing an electric shovel according to claim 2, wherein in the step of calculating the first shovel bar weight g1 of the push bar shaft toward the side of the bucket and the second shovel bar weight g2 of the push bar shaft away from the side of the bucket from the data detected by the shovel bar posture detecting device, the following formula is adopted:

g1=k(L-d-e);

g2=k(d+e);

the shovel rod push-pull sensor is characterized in that k is the weight of the shovel rod in unit length, L is the total length of the shovel rod, d is the length of the shovel rod, which is far away from one side of the bucket, of the push rod shaft when the shovel rod push-pull sensor is in an initial position, and e is the numerical value measured by the shovel rod push-pull sensor.

5. The electric shovel weighing method is characterized by comprising the following steps of:

reading the value F measured by the weighing sensor before opening the bucket _s1 And the value F measured by the weighing sensor after opening the bucket _s2 The method comprises the steps of carrying out a first treatment on the surface of the The weighing sensor is arranged below the steel wire rope above the electric shovel lifting device, the lifting device is a device for driving the steel wire rope to be wound and unwound, the steel wire rope is jacked up by the roller of the weighing sensor, and an obtuse angle 1 is formed from the tangential point of the steel wire rope and the lifting device to the tangential point of the steel wire rope and the roller of the weighing sensor to the tangential point of the steel wire rope and the head sheave;

According to the value of < 1 > and two values Fs1 and Fs2 measured by the weighing sensor before and after opening, respectively calculating the tensile forces F11 and F12 of the steel wire rope before and after opening;

calculating the weight g1 of the first shovel rod of the push rod shaft facing the side of the bucket and the weight g2 of the second shovel rod of the push rod shaft facing away from the side of the bucket according to the data detected by the shovel rod posture detection device;

calculating a moment arm L4 of the second shovel rod weight g2 relative to the push rod shaft according to the data detected by the shovel rod posture detection device, wherein the shovel rod posture detection device is used for detecting the distance of the shovel rod driven to displace by the push-pull device and the distance of the lifting device driven to displace by the steel wire rope;

the total weight of the bucket and the materials is W, the total weight W of the bucket and the materials is defined as a first component, g1 is defined as a second component, the pulling forces F11 and F12 of the steel wire ropes before and after the bucket is opened are defined as a third component, and a first force arm L1, a second force arm L2 and a third force arm L3 corresponding to the first component, the second component and the third component are calculated according to the data detected by the shovel rod posture detecting device;

taking the push rod shaft as a center point, according to a moment balance principle, calculating the total weight W of the bucket and materials by taking the product of the resultant force g1 of the push rod shaft at the side far from the bucket and the moment arm L4 of the push rod shaft before opening the bucket as the sum of the products of all component forces of the push rod shaft at the side close to the bucket and the moment arm of the push rod shaft before opening the bucket;

Taking the push rod shaft as a center point, according to a moment balance principle, calculating to obtain the bucket weight Wx after bucket opening, wherein the product of the resultant force g1 of the push rod shaft at the side far away from the bucket and the moment arm L4 thereof is equal to the sum of the products of all component forces of the push rod shaft at the side close to the bucket and the moment arm thereof after bucket opening;

the weight of the material w2=w-Wx is calculated.

6. The electric shovel weighing method according to claim 5, wherein the shovel bar posture detecting device comprises a shovel bar push-pull sensor for detecting a displacement distance of the shovel bar on the push bar shaft and a shovel lifting sensor for detecting a distance of a lifting device driving the displacement of the wire rope.

7. The method according to claim 5, wherein in the step of calculating the pulling forces F11, F12 of the wire rope before and after opening the bucket according to the value of # -1 and the two values Fs1 and Fs2 measured by the weighing sensor before and after opening the bucket, respectively, the following method is adopted:

F11=Fs1*cos(∠2)/ cos(∠1/2)/2；

F12=Fs2*cos(∠2)/ cos(∠1/2)/2；

wherein +.2 is the angle between the vertical downward direction of weighing sensor and the bisector of +.1.

8. The method of weighing an electric shovel according to claim 6, wherein in the step of calculating the first shovel bar weight g1 of the push bar shaft toward the side of the bucket and the second shovel bar weight g2 of the push bar shaft away from the side of the bucket from the data detected by the shovel bar posture detecting device, the following formula is adopted:

g1=k(L-d-e);

g2=k(d+e);

The shovel rod push-pull sensor is characterized in that k is the weight of the shovel rod in unit length, L is the total length of the shovel rod, d is the length of the shovel rod, which is far away from one side of the bucket, of the push rod shaft when the shovel rod push-pull sensor is in an initial position, and e is the numerical value measured by the shovel rod push-pull sensor.

9. An electric shovel weighing device, characterized by comprising:

the weighing sensor is used for detecting the pressure value applied by the steel wire rope symmetrical weight sensor and is arranged below the steel wire rope above the electric shovel lifting device, the lifting device is a device for driving the steel wire rope to be wound and unwound, and the rolling shaft of the weighing sensor jacks up the steel wire rope so that an obtuse angle 1 formed from the tangential point of the steel wire rope and the lifting device to the tangential point of the steel wire rope and the rolling shaft of the weighing sensor to the tangential point of the steel wire rope and the head sheave is an obtuse angle;

the shovel rod posture detection device is used for detecting the displacement distance of the shovel rod on the push rod shaft and the displacement distance of the steel wire rope driven by the lifting device;

the calculation module comprises a steel wire rope tension calculation unit and is used for calculating the tension of the steel wire rope according to the value of the weighing sensor; the component force calculation unit is used for calculating the magnitude of all component forces on two sides of the push rod shaft according to the attitude data of the shovel rod and the tension of the steel wire rope; the arm calculation unit is used for calculating the arm length corresponding to all component forces on two sides of the push rod shaft according to the shovel rod attitude data; the material weight calculating unit is used for calculating the weight of the material according to the moment balance principle.

10. An electric shovel weighing device, characterized by comprising:

the weighing sensor is used for detecting pressure values applied by the weighing sensors before and after the bucket is opened, the weighing sensor is arranged below the steel wire rope above the electric shovel lifting device, the lifting device is a device for driving the steel wire rope to be wound and unwound, the rolling shaft of the weighing sensor jacks up the steel wire rope, and an obtuse angle 1 is formed from the tangential point of the steel wire rope and the lifting device to the tangential point of the steel wire rope and the rolling shaft of the weighing sensor to the tangential point of the steel wire rope and the head sheave;

the shovel rod posture detection device is used for detecting the displacement distance of the shovel rod on the push rod shaft and the displacement distance of the steel wire rope driven by the lifting device;

the calculation module comprises a steel wire rope tension calculation unit and is used for calculating the tension of the steel wire rope before and after the bucket is opened according to the value of the weighing sensor; the component force calculation unit is used for calculating the magnitude of all component forces on two sides of the push rod shaft after the bucket is opened and closed before the bucket is opened according to the attitude data of the shovel rod and the tensile force of the steel wire rope; the arm calculation unit is used for calculating the arm length corresponding to all component forces on two sides of the push rod shaft according to the shovel rod attitude data; and the material weight calculation unit is used for calculating the total weight of the material and the bucket after the bucket is opened and closed before the bucket is opened according to the moment balance principle, so as to calculate the actual weight of the material.