Dynamic weighing method for high precision underground load-haul-dump machine

A technology of dynamic weighing and underground shoveling, which is applied in the direction of weighing, measuring devices, instruments, etc., and can solve the problems of complex process and lack of theoretical basis for physical analysis in the correction method of speed compensation

Active Publication Date: 2015-06-24
BEIJING GENERAL RES INST OF MINING & METALLURGY +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Disadvantages: 1. The correction method of speed compensation lacks the theoretical basis of physical analysis, and it is only corrected at the data level; 2. The determination of the parameters of speed compensation requires more experiments, and it is necessary to conduct multiple experiments at different calibration speeds to determine The parameters of speed compensation, the process is complicated

Method used

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  • Dynamic weighing method for high precision underground load-haul-dump machine
  • Dynamic weighing method for high precision underground load-haul-dump machine
  • Dynamic weighing method for high precision underground load-haul-dump machine

Examples

Experimental program
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Effect test

specific Embodiment approach

[0025] The dynamic weighing method of high-precision underground scraper of the present invention, its preferred embodiment is:

[0026] Weighing is performed by the following formula:

[0027] m = K 1 P 1 + K 2 P 2 + K 3 ( dθ dt ) 2 + K 4 · d 2 θ dt 2 + c ;

[0028] In the formula:

[0029] m is the material mass;

[0030] P 1 ,P 2 are the oil pressure at both ends of the lift cylinder;

[0031] θ is the hinge center of boom and frame (O...

specific Embodiment

[0055] 1) Device:

[0056] Use a pressure sensor to measure the inlet and outlet oil pressure of the boom to express the value F; use a two-dimensional inclination sensor to measure the vertical and horizontal angle values ​​θ and γ respectively; use a controller for dynamic weighing calculation; use a display screen for weighing display of re-results. Such as figure 1Shown is a schematic diagram of the workflow of the dynamic weighing method.

[0057] 2) Algorithms

[0058] The working mechanism of the underground scraper and the wheel loader are similar. The mechanical model of the working mechanism of the loader is used for reference, and the mechanical analysis and modeling of the working mechanism of the underground scraper is carried out. See figure 2 , deduce the general calculation formula of ore quality:

[0059] m = F · | O 1 ...

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PUM

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Abstract

The invention discloses a dynamic weighing method for a high precision underground load-haul-dump machine, the machine is weighed according to the formula (the formula can be found in the specification), wherein m is mass of materials; P1 and P2 are oil pressures of the two ends of a lifting oil cylinder respectively; theta is the included angle between an imaginary line O1G and the gravity direction, wherein the O1G is located between the hinge center O1 of an upper arm and a stand and the common gravity center G of the upper arm, a bucket and the materials; t is lifting time; K1, K2, K3 and K4 are coefficients, and c is a constant. By means of the method, the clear function relationship between the squared value of lifting speed and the mass of materials is found for the first time, more reasonable physical interpretation is provided for the error of dynamic weighing, mathematical treatment methods such as interval interpolation are no longer used for reducing the error, and the precision of dynamic weighing can be stabilized within 1%.

Description

technical field [0001] The invention relates to a dynamic weighing method of an underground scraper, in particular to a dynamic weighing method of a high-precision underground scraper. Background technique [0002] Since the working mechanism of the underground scraper is similar to that of the loader, the dynamic weighing of the scraper is the same as that of the loader in the technical field of dynamic weighing. [0003] The current implementation method is to measure the extension force of the oil cylinder by installing a pressure sensor on the oil cylinder of the lifting boom, and to measure the angle of the boom by installing an angle sensor or an inclination sensor on the boom. With a certain algorithm, the algorithm deduces the weighing formula as m = F · | O 1 O 2 | ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01G19/08
Inventor 郭鑫战凯顾洪枢李恒通石峰冯孝华
Owner BEIJING GENERAL RES INST OF MINING & METALLURGY
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