Online weighing method for materials in hydraulic excavator bucket

Abstract

The invention discloses an online weighing method for materials in a bucket of a hydraulic excavator. The online weighing method comprises the steps that the pressure value P1 of a bucket rod hydraulic cylinder and the pressure value P2 of a hydraulic cylinder of the bucket are obtained in real time; the center of a hinge point of an excavator base and a movable arm is used as an original point, the horizontal advancing direction is used as an x axis, the direction perpendicular to the x axis is used as a y axis, the inclination angle theta of a bucket rod relative to the horizontal plane is obtained in real time, and theta is positive above the X axis and negative below the X axis; the length lAB of a bucket rod hydraulic cylinder and the length lDE of a bucket hydraulic cylinder are obtained in real time; and then the data processor of the material weighing module substitutes the obtained data into a formula, so that the weight of the materials in the bucket can be obtained. According to the weighing method, the influence of gravity centers of all parts and materials of the excavator and the influence of a non-horizontal working surface on online weight metering of the materials in the bucket are considered, so that a material weight metering result is more accurate; therefore, online metering of the weight of the materials excavated by the excavator bucket in the construction process and statistical metering of the total amount of the materials excavated by the excavator in engineering construction are achieved, and a foundation is laid for achieving digital and intelligent construction.

Description

technical field [0001] The invention relates to an online weighing method for materials in a bucket of a hydraulic excavator, in particular to a weighing device and method for accurately measuring the weight of materials in the bucket of a hydraulic excavator online in real time. Background technique [0002] Hydraulic excavators are widely used in construction, resource mining and other fields. During the use of the hydraulic excavator, when the construction party has weight requirements for the materials excavated by the hydraulic excavator, the traditional hydraulic excavator does not have the function of online real-time and accurate weighing of the excavated materials in the bucket. The traditional method of this problem is to load the materials excavated by the hydraulic excavator each time, and weigh them through devices such as weighbridges. This method not only wastes human resources, but also often causes underload or overload due to the inability to measure the w...

AI Technical Summary

Problems solved by technology

This method not only wastes human resources, but also often causes underload or overload due to the inability to realize real-time measurement of the material weight in the bucket, which leads to rework and wastes a lot of time

[0003] There are currently some weighing devices and methods for materials in buckets that are applied to hydraulic excavators on the market, the publication number of the Chinese invention patent published on June 22, 2021 CN 113008345A relates to a weighing system and method for an excavator, which collects data through a boom position sensor, a stick position sensor, a bucket position sensor and an oil pressure sensor, and utilizes the oil pressure of the main oil tank to communicate with the excavator excavator through a controller. The function relationship of the weight is used to calculate the excavated weight. Although this method is simple and practical, it needs to run the excavator to a fixed posture when weighing, so that real-time online measurement of material weight cannot be realized.

A Chinese invention patent published on November 05, 2014 with the publication number CN 104132721A is a mining excavator material automatic weighing method, which uses an angle sensor to collect the rotation angle between each component to calculate the real-time position between each component , and then calculate the kinematic parameters of each component such as speed and acceleration through differential calculation. Although this method has good dynamic stability, it will introduce a large amount of error when using the rotation angle for primary and secondary integration, and it does not consider the material center of gravity. Impact

A Chinese invention patent published on June 22, 2021 with the publication number CN 113010979A is an excavator weighing method and its system, which uses angle sensors and cylinder pressure sensors to detect the inclination angle of the stick, the inclination angle of the connecting rod and the bucket cylinder. The thrust of the material can be calculated simply and accurately by using the triangular geometric parameters, but it only considers the working condition of the excavator on the horizontal working surface, and does not consider the working condition of the excavator on the working surface with a certain slope. Therefore, the scope of application is greatly limited

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