Automatic material weighing method for mine excavator

An automatic weighing and excavator technology, applied in the direction of earth mover/shovel, weighing, special scale, etc., can solve the problems of low calculation accuracy and poor dynamic characteristics, and achieve high calculation accuracy and good dynamic stability. , The effect of low requirements on operation stability

Inactive Publication Date: 2014-11-05
SANYI ROBOT TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of this, the present invention proposes an automatic weighing method for mining excavator materials to so

Method used

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  • Automatic material weighing method for mine excavator
  • Automatic material weighing method for mine excavator
  • Automatic material weighing method for mine excavator

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Experimental program
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Effect test

Embodiment 1

[0025] In this embodiment, the angle sensor 10 is used as a tool for detecting the attitude of the working device, that is, on the slewing bearing 12 of the excavator, the hinge of the upper vehicle 2 and the boom 3, the hinge of the boom 3 and the arm 4, the bucket An angle sensor 10 is installed at the joint between the rod 4 and the bucket 5 .

[0026] Please combine Figure 1 to Figure 3 As shown, a method for automatically weighing materials of a mining excavator in this embodiment includes the following steps:

[0027] Step 1: With the center of rotation of the slewing support 12 as the origin, a rectangular coordinate system is established. The coordinate system is fixed on the X-axis direction of the upper vehicle and points horizontally to the direction of the working device, and the Y-axis direction is the vertical upward direction with the center of rotation as the origin. The building coordinate system is fixed on the upper vehicle. Set the coordinates (x, y) of ...

Embodiment 2

[0039] Please continue to see figure 1 As shown, in this embodiment, the inclination sensor 9 is used as a tool for attitude detection of the working device, that is, the inclination sensor 9 is installed on the excavator upper vehicle 2, the boom 3, the arm 4 and the bucket 5. Its material automatic weighing method is basically the same as embodiment one, the difference is that step 2 is modified to:

[0040] Step 2: The main engine calculates the absolute angle between the boom 3, arm 4 and bucket 5 and the horizontal plane through the inclination sensor 9, and then calculates the real-time position, speed, acceleration and other motion state parameters of each component through kinematic differentiation.

[0041] It can also achieve the same technical effect as that of the first embodiment, and its implementation mode is the same as that of the first embodiment, which will not be repeated here.

Embodiment 3

[0043] Please continue to see figure 1 As shown, in this embodiment, the displacement sensor is used as a tool for attitude detection of the working device, that is, the displacement sensor 11 is installed on the arm cylinder 6 , arm cylinder 7 and bucket cylinder 8 of the excavator. Its material automatic weighing method is basically the same as embodiment one, the difference is that step 2 is modified to:

[0044]Step 2: The host calculates the elongation of the boom cylinder 6, arm cylinder 7 and bucket cylinder 8 through the displacement sensor 11, and then calculates the real-time position, speed, acceleration and other motion state parameters of each component through kinematic differentiation.

[0045] It can also achieve the same technical effect as that of the first embodiment, and its implementation mode is the same as that of the first embodiment, which will not be repeated here.

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Abstract

The invention discloses an automatic material weighing method for a mine excavator. Rotating angles of all components are obtained through measurement of an angle sensor, real-time positions of all the components are calculated, then the kinematics parameters such as the speed and the accelerated speed of all the components are calculated through differential, the pressure of a big cavity and the pressure of a small cavity of an oil cylinder are measured through a pressure sensor, the real-time thrust pressure of the oil cylinder is calculated to obtain force parameters, kinematics equilibrium equations of all the components of the working device are set up by using the Alembert principle, the kinematics parameters and the force parameters are substituted into the equations, an equation set is solved in a simultaneous mode to obtain the total mass of materials and a bucket, the mass of the bucket is subtracted from the total mass to obtain the mass of the materials, the mass center of the materials is corrected according to the calculation results, the material density and the stacking state, and the accurate mass of the materials is finally obtained through iterative calculation. According to the automatic material weighing method for the mine excavator, calculation is performed according to the Alembert principle, the influence on measurement by various factors such as surface slope and rotation is considered, and therefore the automatic material weighing method has the advantages of being high in calculation accuracy and dynamic stability.

Description

technical field [0001] The invention relates to an excavator, in particular to a material automatic weighing method for a mining excavator. Background technique [0002] During mining, the operator does not know the quality of the material in the bucket during the operation of the excavator, which may easily cause the mine car to be overloaded / underloaded. Overloading the mine cart is extremely detrimental to the life of the mine cart, and the underload of the mine cart reduces the utilization rate of the mine cart and the efficiency is low. The calculation principle of traditional dynamic weighing technology adopts the principle of static balance, without considering the influence of acceleration. It is applied in single-degree-of-freedom structure (loader) or two-degree-of-freedom structure (electric shovel), and the error is small by using certain compensation methods. However, the excavator is a three-degree-of-freedom structure with implicated motion, and the accelerat...

Claims

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Application Information

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IPC IPC(8): G01G19/00E02F9/26
Inventor 王建明柳江坤孔锐
Owner SANYI ROBOT TECH CO LTD
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