A method and apparatus for weighing a dragline

Abstract

This application provides a method and device for weighing electric shovels. The method includes: reading the value Fs of a weighing sensor; calculating the tension F1 of a wire rope based on the value of ∠1 and the value of the weighing sensor; calculating the weight g1 of a first shovel on the side of the push rod shaft facing the bucket and the weight g2 of a second shovel on the side of the push rod shaft away from the bucket based on data detected by a shovel shaft posture detection device; calculating the lever arm L4 of the second shovel weight g2 relative to the push rod shaft based on data detected by the shovel shaft posture detection device; calculating the first lever arm L1, the second lever arm L2, and the third lever arm L3 corresponding to the first component force, the second component force, and the third component force; calculating the total weight W of the bucket and material based on the torque balance principle with the push rod shaft as the center point; reading the weight W1 of the bucket and calculating the weight W2 of the material = W - W1. This application can realize dynamic weighing of electric shovels, allowing workers to obtain the actual weight of each scoop, thereby achieving more scientific and efficient management.

Description

Technical Field

[0001] This application belongs to the field of mining machinery technology, and in particular relates to a method and device for weighing electric shovels. Background Technology

[0002] In open-pit mining, electric shovels are the primary mining equipment, typically used in conjunction with large transport vehicles such as dump trucks. However, in actual production, due to the limited load capacity of trucks, drivers cannot know the weight of material in each bucket and must rely on experience, making precise control of loading quality difficult. This cannot meet the needs of modern open-pit mining enterprises, therefore, there is an urgent need to invent a method that can calculate the weight of material in the bucket in real time. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a method and apparatus for weighing materials in an electric shovel, which can weigh the materials inside the bucket during the loading process of the electric shovel.

[0004] Firstly, this application provides a method for weighing electric shovels, including:

[0005] Read the value Fs of the load cell, wherein the load cell is set below the wire rope above the electric shovel lifting device, the lifting device is a device for driving the wire rope to retract and extend, the roller of the load cell lifts the wire rope, so that the ∠1 formed by the point of tangency between the wire rope and the lifting device, the point of tangency between the wire rope and the load cell roller, and the point of tangency between the wire rope and the sheave is an obtuse angle;

[0006] Calculate the tension F1 of the wire rope based on the value of ∠1 and the value of the weighing sensor.

[0007] The weight g1 of the first shovel shaft facing the bucket and the weight g2 of the second shovel shaft away from the bucket are calculated based on the data detected by the shovel shaft posture detection device.

[0008] The lever arm L4 of the second shovel weight g2 relative to the push rod shaft is calculated based on the data detected by the shovel attitude detection device.

[0009] Let the total weight of the bucket and material be W. Define the total weight of the bucket and material W as the first component force, g1 as the second component force, and the tension of the wire rope F1 as the third component force. Calculate the first lever arm L1, the second lever arm L2, and the third lever arm L3 corresponding to the first, second, and third components force based on the data detected by the shovel attitude detection device.

[0010] With the push rod shaft as the center point, according to the principle of torque balance, the product of the resultant force g1 on the side of the push rod shaft away from the bucket and its lever arm L4 is equal to the sum of the products of all component forces on the side of the push rod shaft close to the bucket and their lever arms. The total weight W of the bucket and the material can be calculated.

[0011] Read the weight W1 of the bucket and calculate the weight W2 of the material = W - W1.

[0012] Furthermore, the shovel attitude detection device includes a shovel push-pull sensor and a bucket lifting sensor. The shovel push-pull sensor is used to detect the displacement distance of the shovel on the push rod shaft, and the bucket lifting sensor is used to detect the displacement distance of the lifting device driving wire rope.

[0013] Furthermore, in the step "Calculate the tension F1 of the wire rope based on the value of ∠1 and the value Fs of the weighing sensor", the following method is used for calculation:

[0014] 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.

[0015] Furthermore, in the step of "calculating the weight g1 of the first shovel shaft facing the bucket and the weight g2 of the second shovel shaft away from the bucket based on the data detected by the shovel shaft posture detection device", the following formula is used for calculation:

[0016] g1=k(Lde);

[0017] g2=k(d+e);

[0018] Wherein, k is the weight per unit length of the shovel, L is the total length of the shovel, d is the length of the shovel on the side of the push rod shaft away from the bucket when the shovel push-pull sensor is in the initial position, and e is the value measured by the shovel push-pull sensor.

[0019] Secondly, this application provides another method for weighing electric shovels, including the following steps:

[0020] Read the value F measured by the weighing sensor before opening the bucket. s1 The value F measured by the weighing sensor after the bucket is opened s2 The weighing sensor is located below the wire rope above the electric shovel lifting device. The lifting device is a device that drives the wire rope to be retracted and extended. The roller of the weighing sensor lifts the wire rope, so that the angle ∠1 formed by the point of tangency between the wire rope and the lifting device, the point of tangency between the wire rope and the roller of the weighing sensor, and the point of tangency between the wire rope and the sheave is obtuse.

[0021] Based on the value of ∠1 and the two values ​​Fs1 and Fs2 measured by the weighing sensor before and after the bucket is opened, calculate the tension F11 and F12 of the wire rope before and after the bucket is opened, respectively.

[0022] The weight g1 of the first shovel shaft facing the bucket and the weight g2 of the second shovel shaft away from the bucket are calculated based on the data detected by the shovel shaft posture detection device.

[0023] The lever arm L4 of the second shovel weight g2 relative to the push rod shaft is calculated based on the data detected by the shovel posture detection device. The shovel posture detection device is used to detect the distance of displacement of the shovel driven by the push-pull device and the distance of displacement of the wire rope driven by the lifting device.

[0024] Let the total weight of the bucket and material be W. Define the total weight of the bucket and material W as the first component force, g1 as the second component force, and the tension F11 and F12 of the wire rope before and after opening the bucket as the third component force. Calculate the first lever arm L1, the second lever arm L2, and the third lever arm L3 corresponding to the first, second, and third components force based on the data detected by the shovel attitude detection device.

[0025] With the push rod shaft as the center point, according to the principle of torque balance, the product of the resultant force g1 on the side of the push rod shaft away from the bucket and its lever arm L4 before opening the bucket is equal to the sum of the products of all component forces on the side of the push rod shaft close to the bucket and their lever arms before opening the bucket. The total weight W of the bucket and the material can be calculated.

[0026] With the push rod shaft as the center point, according to the principle of torque balance, the product of the resultant force g1 on the side of the push rod shaft away from the bucket and its lever arm L4 after the bucket is opened is equal to the sum of the products of all component forces on the side of the push rod shaft close to the bucket and their lever arms after the bucket is opened. The weight Wx of the bucket after the bucket is opened can be calculated.

[0027] Calculate the weight of the material: W2 = W - Wx.

[0028] Furthermore, the shovel attitude detection device includes a shovel push-pull sensor and a bucket lifting sensor. The shovel push-pull sensor is used to detect the displacement distance of the shovel on the push rod shaft, and the bucket lifting sensor is used to detect the displacement distance of the lifting device driving wire rope.

[0029] Furthermore, in the step "calculate the tension F11 and F12 of the wire rope before and after the bucket is opened based on the value of ∠1 and the two values ​​Fs1 and Fs2 measured by the weighing sensor before and after the bucket is opened", the following method is used for calculation:

[0030] F11=Fs1*cos(∠2) / cos(∠1 / 2) / 2;

[0031] F12=Fs2*cos(∠2) / cos(∠1 / 2) / 2;

[0032] Where ∠2 is the angle between the vertical downward direction of the load cell and the bisector of ∠1.

[0033] Furthermore, in the step of "calculating the weight g1 of the first shovel shaft facing the bucket and the weight g2 of the second shovel shaft away from the bucket based on the data detected by the shovel shaft posture detection device", the following formula is used for calculation:

[0034] g1=k(Lde);

[0035] g2=k(d+e);

[0036] Wherein, k is the weight per unit length of the shovel, L is the total length of the shovel, d is the length of the shovel on the side of the push rod shaft away from the bucket when the shovel push-pull sensor is in the initial position, and e is the value measured by the shovel push-pull sensor.

[0037] Thirdly, this application provides an electric shovel weighing device, comprising:

[0038] A load cell is used to detect the pressure applied to the wire rope by the load cell. It is installed below the wire rope above the electric shovel lifting device. The lifting device is a device that drives the wire rope to be raised and lowered. The roller of the load cell lifts the wire rope so that the angle ∠1 formed by the point of tangency between the wire rope and the lifting device, the point of tangency between the wire rope and the load cell roller, and the point of tangency between the wire rope and the sheave is obtuse.

[0039] The shovel attitude detection device is used to detect the displacement distance of the shovel on the push rod shaft, as well as the displacement distance of the wire rope driven by the lifting device;

[0040] The calculation module includes a wire rope tension calculation unit, used to calculate the tension of the wire rope based on the value of the weighing sensor; a component force calculation unit, used to calculate the magnitude of all component forces on both sides of the push rod shaft based on the shovel attitude data and the wire rope tension; a lever arm calculation unit, used to calculate the lever arm length corresponding to all component forces on both sides of the push rod shaft based on the shovel attitude data; and a material weight calculation unit, used to calculate the weight of the material based on the torque balance principle.

[0041] Fourthly, this application provides another electric shovel weighing device, comprising:

[0042] A load cell is used to detect the pressure applied to the load cell by the wire rope before and after the bucket is opened. It is installed below the wire rope above the electric shovel lifting device. The lifting device is a device that drives the wire rope to be retracted and extended. The roller of the load cell lifts the wire rope so that the angle ∠1 formed by the point of tangency between the wire rope and the lifting device, the point of tangency between the wire rope and the load cell roller, and the point of tangency between the wire rope and the sheave is obtuse.

[0043] The shovel attitude detection device is used to detect the displacement distance of the shovel on the push rod shaft, as well as the displacement distance of the wire rope driven by the lifting device;

[0044] The calculation module includes a wire rope tension calculation unit, used to calculate the tension of the wire rope before and after bucket opening based on the values ​​of the weighing sensor; a component force calculation unit, used to calculate the magnitude of all component forces on both sides of the push rod shaft before and after bucket opening based on the shovel attitude data and the wire rope tension; a lever arm calculation unit, used to calculate the lever arm length corresponding to all component forces on both sides of the push rod shaft based on the shovel attitude data; and a material weight calculation unit, used to calculate the total weight of the material and the bucket before and after bucket opening based on the torque balance principle, and then calculate the actual weight of the material.

[0045] The beneficial effects of the embodiments of this application compared with the prior art are as follows:

[0046] The electric shovel weighing method provided in this application can weigh the material in the bucket during the loading process of the electric shovel, allowing workers to obtain the actual weight of each load, thereby achieving more scientific and efficient management. Furthermore, the weighing method provided in this application is more scientific, with more accurate data collection and calculation, and more reliable calculation results. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a flowchart of a method provided in an embodiment of this application;

[0049] Figure 2 This is a schematic diagram of the mechanical model involved in this application;

[0050] Figure 3 This is a flowchart of a method provided in another embodiment of this application;

[0051] Figure 4 This is a schematic diagram of the device structure according to an embodiment of this application.

[0052] 20. Weighing sensor; 30. Shovel attitude detection device; 30. Calculation module; 301. Wire rope tension calculation unit; 302. Component force calculation unit; 303. Lever arm calculation unit; 304. Material weight calculation unit; 40. Lifting device; 50. Push rod shaft. Implementation

[0053] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0054] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0055] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0056] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0057] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0058] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0059] The technical solutions provided in the embodiments of this application will be described below through specific examples. Example

[0060] This embodiment provides a method for weighing electric shovels, such as... Figure 1 As shown, it includes the following steps:

[0061] S1. Read the value Fs from the weighing sensor, wherein the weighing sensor is installed below the wire rope above the electric shovel lifting device (e.g., Figure 2 As shown), the lifting device is a device for driving the wire rope to be wound up and down. The roller of the weighing sensor lifts the wire rope, so that the angle ∠1 formed by the point of tangency between the wire rope and the lifting device, the point of tangency between the wire rope and the roller of the weighing sensor, and the point of tangency between the wire rope and the sheave is obtuse.

[0062] Specifically, in some models of electric shovels, the lifting device is a winch, with the wire rope wound around it. The winch rotates forward and backward to raise and lower the wire rope. The load cell is a roller type, with both ends fixed to the frame of the electric shovel. The wire rope rests on the middle roller, which lifts the wire rope to measure the pressure exerted by the wire rope on the roller.

[0063] S2. Calculate the tension F1 of the wire rope based on the value of ∠1 and the value of the weighing sensor.

[0064] Specifically, depending on the model of the electric shovel, after the load cell is installed, the value of ∠1 is a fixed value and will not change with the raising or lowering of the wire rope or the pushing or pulling of the shovel handle. Therefore, ∠1 can be considered a known quantity. Based on this, combined with... Figure 2 As shown, the value measured by the load cell is the vertical component of the pressure applied by the load cell to the wire rope, while the direction of the resultant force caused by the load cell is the direction pointed to by the bisector of ∠1. Based on the geometric relationship and the value measured by the load cell, combined with the parallelogram law, the tension of the wire rope can be determined.

[0065] S3. Calculate the weight g1 of the first shovel on the side of the push rod shaft facing the bucket and the weight g2 of the second shovel on the side of the push rod shaft away from the bucket based on the data detected by the shovel posture detection device.

[0066] Specifically, since the shovel attitude detection device can detect the displacement distance of the shovel relative to the push rod axis and the displacement distance of the wire rope in real time, the specific attitude of the shovel can be determined when these two data are determined. Therefore, the length of the shovel part on both sides of the push rod axis can be calculated. In this embodiment, the shovel is regarded as a uniform density object, and the weight of the shovel on both sides can be calculated based on the length of the shovel on both sides of the push rod axis.

[0067] S4. Calculate the lever arm L4 of the second shovel weight g2 relative to the push rod shaft based on the data detected by the shovel attitude detection device.

[0068] For specific references Figure 2As shown, the weight g2 of the second shovel refers to the portion of the push rod shaft away from the bucket, with the push rod shaft as the balance point. Figure 2 The solid black circle in the diagram represents the push rod axis. The center of gravity of the second shovel is at its geometric center. The horizontal distance from the shovel to the push rod axis can be calculated based on the shovel's posture, which is the lever arm L4.

[0069] S5. Let the total weight of the bucket and material be W. Define the total weight of the bucket and material W as the first component force, g1 as the second component force, and the tension of the wire rope F1 as the third component force. Calculate the first lever arm L1, the second lever arm L2, and the third lever arm L3 corresponding to the first component force, the second component force, and the third component force based on the data detected by the shovel attitude detection device.

[0070] S6. Taking the push rod shaft as the center point, according to the principle of torque balance, the product of the resultant force g1 on the side of the push rod shaft away from the bucket and its lever arm L4 is equal to the sum of the products of all component forces on the side of the push rod shaft close to the bucket and their lever arms. The total weight W of the bucket and the material can be calculated.

[0071] That is, the sum of the product of the first component force and the first lever arm L1, the product of the second component force and the second lever arm L2, and the product of the third component force and the third lever arm L3 (since the direction of the third component force is opposite to that of the other components force, the sign of the third component force is negative here) is equal to the product of g2 and the lever arm L4, and the total weight W of the bucket and the material can be calculated.

[0072] S7. Read the weight W1 of the bucket and calculate the weight W2 of the material = W - W1.

[0073] refer to Figure 2 As shown, a force analysis of the push rod is performed. On the side of the push rod shaft furthest from the bucket, there is only one force: the push rod's own weight, g2. On the side of the push rod shaft closest to the bucket, there are three component forces: the total weight W of the bucket and material, defined as the first component force; the push rod's own weight, g1, defined as the second component force; and the tension F1 exerted by the wire rope on the bucket, defined as the third component force. The direction of the third component force is opposite to the other directions, and it can be recorded as a negative number when calculating the sum of the component forces. Since the posture of the shovel can be determined, the lengths of each lever arm can also be determined: the first lever arm of the first component force is the horizontal distance between the bucket and the push rod shaft; the second lever arm of the second component force is the horizontal distance between the center of gravity of the second shovel and the push rod shaft; and the third lever arm of the third component force is the horizontal distance between the bucket and the push rod shaft.

[0074] In the step of calculating the weight of the material based on torque balance, the total weight of the bucket and the material can be set as W. The first component force can then be represented by an expression containing W. Substituting W into the torque balance formula yields the value of W. Since the weight of the bucket is known, subtracting the bucket weight W1 from W gives the weight of the material in the bucket, W2.

[0075] In one embodiment, the shovel attitude detection device includes a shovel push-pull sensor and a bucket lifting sensor. The shovel push-pull sensor is used to detect the displacement distance of the shovel on the push rod shaft, and the bucket lifting sensor is used to detect the displacement distance of the wire rope driven by the lifting device.

[0076] Specifically, both the boom push-pull sensor and the bucket lifting sensor utilize encoders. The boom push-pull sensor is mounted on the pushing mechanism at the push rod shaft. When the pushing mechanism drives the boom to push or pull laterally, the boom push-pull sensor detects the distance the pushing mechanism displaces the boom. For example, when the pushing mechanism drives the boom via a motor, gears, and racks, the encoder can be mounted on the gear shaft to calculate the rack's displacement. Similarly, the bucket lifting sensor can be mounted on the lifting device to calculate the wire rope's displacement. For instance, if the lifting device consists of a motor, gears, and a drum, and the wire rope is wound around the drum, its rotation is controlled by the motor. In this case, the encoder can be mounted on the drum's shaft or the motor's drive shaft.

[0077] In one embodiment, the step "calculate the tension F1 of the wire rope based on the value of ∠1 and the value Fs of the weighing sensor" is calculated using the following formula:

[0078] 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.

[0079] In one embodiment, the step of "calculating the weight g1 of the first shovel shaft facing the bucket and the weight g2 of the second shovel shaft away from the bucket based on the data detected by the shovel shaft posture detection device" is calculated using the following formula:

[0080] g1=k(Lde);

[0081] g2=k(d+e);

[0082] Wherein, k is the weight per unit length of the shovel handle (related to the model of the electric shovel, and is a known quantity), L is the total length of the shovel handle (a known quantity), d is the length of the shovel handle on the side of the push rod shaft furthest from the bucket when the shovel handle push-pull sensor is in the initial position, and e is the value measured by the shovel handle push-pull sensor. d can be set according to actual conditions; for example, pushing the push rod to its furthest point may cause the reading of the shovel handle push-pull sensor to be 0. This embodiment does not make a specific setting. Example

[0083] This embodiment provides another method for weighing electric shovels, such as... Figure 3 As shown, it includes the following steps:

[0084] S21. Read the value F measured by the weighing sensor before the bucket is opened. s1 The value F measured by the weighing sensor after the bucket is opened s2 The weighing sensor is located below the wire rope above the electric shovel lifting device. The lifting device is a device that drives the wire rope to be retracted and extended. The roller of the weighing sensor lifts the wire rope, so that the angle ∠1 formed by the point of tangency between the wire rope and the lifting device, the point of tangency between the wire rope and the roller of the weighing sensor, and the point of tangency between the wire rope and the sheave is obtuse.

[0085] Specifically, in some models of electric shovels, the lifting device is a winch, with the wire rope wound around it. The winch rotates forward and backward to raise and lower the wire rope. The load cell is a roller type, with both ends fixed to the frame of the electric shovel. The wire rope rests on the middle roller, which lifts the wire rope to measure the pressure exerted by the wire rope on the roller.

[0086] S22. Based on the value of ∠1 and the two values ​​Fs1 and Fs2 measured by the weighing sensor before and after the bucket is opened, calculate the tension F11 and F12 of the wire rope before and after the bucket is opened, respectively.

[0087] Specifically, the weighing sensor is on throughout the entire operation of the electric shovel, monitoring the pressure of the wire rope in real time. During dynamic weighing, only the values ​​of the weighing sensor before and after the bucket is opened are taken. Then, the actual weight of the material loaded into the truck by the bucket is calculated based on the bucket weight before and after the bucket is opened.

[0088] S23. Calculate the weight g1 of the first shovel on the side of the push rod shaft facing the bucket and the weight g2 of the second shovel on the side of the push rod shaft away from the bucket based on the data detected by the shovel shaft posture detection device.

[0089] Specifically, since the shovel attitude detection device can detect the displacement distance of the shovel relative to the push rod axis and the displacement distance of the wire rope in real time, the specific attitude of the shovel can be determined when these two data are determined. That is, the length of the shovel part on both sides of the push rod axis can be calculated. In this embodiment, the shovel is regarded as a uniform density object, and the weight of the shovel on both sides can be calculated based on the length of the shovel on both sides of the push rod axis.

[0090] S24. Calculate the lever arm L4 of the second shovel weight g2 relative to the push rod shaft based on the data detected by the shovel posture detection device, wherein the shovel posture detection device is used to detect the distance of displacement of the shovel driven by the push-pull device and the distance of displacement of the wire rope driven by the lifting device.

[0091] For specific references Figure 2As shown, the weight g2 of the second shovel refers to the part of the push rod shaft away from the bucket. With the push rod shaft as the balance point, the center of gravity of the second shovel is at its geometric center point. Based on the shovel posture, the horizontal distance from it to the push rod shaft can be calculated, which is the lever arm L4.

[0092] S25. Let the total weight of the bucket and material be W. Define the total weight of the bucket and material W as the first component force, g1 as the second component force, and the tension of the wire rope F11 and F12 before and after opening the bucket as the third component force. Calculate the first lever arm L1, the second lever arm L2, and the third lever arm L3 corresponding to the first component force, the second component force, and the third component force based on the data detected by the shovel attitude detection device.

[0093] S26. Taking the push rod shaft as the center point, according to the principle of torque balance, the product of the resultant force g1 on the side of the push rod shaft away from the bucket before opening and its lever arm L4 is equal to the sum of the products of all component forces on the side of the push rod shaft close to the bucket and their lever arms before opening. The total weight W of the bucket and the material can be calculated.

[0094] S27. Taking the push rod shaft as the center point, according to the principle of torque balance, the product of the resultant force g1 on the side of the push rod shaft away from the bucket after opening and its lever arm L4 is equal to the sum of the products of all component forces on the side of the push rod shaft close to the bucket and their lever arms after opening. The weight Wx of the bucket after opening can be calculated.

[0095] refer to Figure 2 As shown, a force analysis of the push rod is performed. On the side of the push rod shaft furthest from the bucket, there is only one force: the push rod's own weight, g2. On the side of the push rod shaft closest to the bucket, there are three component forces: the total weight W of the bucket and material, defined as the first component force; the push rod's own weight, g1, defined as the second component force; and the tensions F11 and F12 exerted by the wire rope on the bucket before and after opening the bucket, defined as the third component force. The direction of the third component force is opposite to the other directions, and it can be recorded as a negative number when calculating the sum of the component forces. Since the posture of the shovel can be determined, the lengths of each lever arm can also be determined: the first lever arm of the first component force is the horizontal distance between the bucket and the push rod shaft; the second lever arm of the second component force is the horizontal distance between the center of gravity of the second shovel and the push rod shaft; and the third lever arm of the third component force is the horizontal distance between the bucket and the push rod shaft.

[0096] S28. Calculate the weight of the material W2 = W - Wx.

[0097] Based on the principle of torque balance, the total weight W of the bucket and material before opening and the total weight Wx of the material and bucket after opening can be calculated. The difference between the two is the weight of the material actually loaded into the truck by the bucket.

[0098] In one embodiment, the shovel attitude detection device includes a shovel push-pull sensor and a bucket lifting sensor. The shovel push-pull sensor detects the displacement distance of the shovel on the push rod shaft, and the bucket lifting sensor detects the displacement distance of the wire rope driven by the lifting device. Specifically, both the shovel push-pull sensor and the bucket lifting sensor can be implemented using encoders. The shovel push-pull sensor is installed on the pushing mechanism at the push rod shaft. When the pushing mechanism drives the shovel to push and pull laterally, the shovel push-pull sensor can detect the displacement distance of the shovel driven by the pushing mechanism. For example, when the pushing mechanism drives the shovel to move through a motor, gears, and racks, the encoder can be installed on the shaft of the gears to calculate the displacement distance of the racks. Similarly, the bucket lifting sensor can be installed on the lifting device to calculate the displacement distance of the wire rope. For example, if the lifting device consists of a motor, gears, and a drum, and the wire rope is wound around the drum, the motor drives the drum to rotate forward and backward to achieve the winding and unwinding of the wire rope. In this case, the encoder can be installed on the shaft of the drum or the drive shaft of the motor.

[0099] In an optional embodiment, in the step "calculate the tension F11 and F12 of the wire rope before and after the bucket is opened based on the value of ∠1 and the two values ​​Fs1 and Fs2 measured by the weighing sensor before and after the bucket is opened", the following formula is used for calculation:

[0100] F11=Fs1*cos(∠2) / cos(∠1 / 2) / 2;

[0101] F12=Fs2*cos(∠2) / cos(∠1 / 2) / 2;

[0102] Where ∠2 is the angle between the vertical downward direction of the load cell and the bisector of ∠1.

[0103] In an optional embodiment, the step "calculating the weight g1 of the first shovel shaft facing the bucket and the weight g2 of the second shovel shaft away from the bucket based on the data detected by the shovel shaft posture detection device" is calculated using the following formula:

[0104] g1=k(Lde);

[0105] g2=k(d+e);

[0106] Wherein, k is the weight per unit length of the shovel, L is the total length of the shovel, d is the length of the shovel on the side of the push rod shaft away from the bucket when the shovel push-pull sensor is in the initial position, and e is the value measured by the shovel push-pull sensor.

[0107] In an optional embodiment, the following steps may be included before step S21:

[0108] S210. Calculate the bucket height information based on the shovel arm posture information;

[0109] S211. Determine whether the bucket height is greater than the preset height threshold.

[0110] Since the boom posture information can be detected in real time, the bucket's exact position can be calculated in real time. Even if the bucket height is lower than the height of the vehicle to be loaded, the bucket may still open, but this is clearly not an actual loading process and does not require weighing calculation. Therefore, the loading height of the vehicle to be loaded is set to a preset height threshold. Weighing can only proceed to the next step when the bucket height is higher than this threshold; otherwise, it is not performed. This avoids unnecessary additional calculations.

[0111] The specific calculation method for calculating the lever arm based on the posture of the shovel in this application embodiment is actually the process of finding the interior angles of a triangle based on the known three side lengths of the triangle, and solving the horizontal distance from each centroid point to a vertex of the triangle based on the interior angles of the triangle. The specific mathematical operations involved in this solution process are all prior art known in the art and will not be described in detail in this application.

[0112] The electric shovel weighing method provided in this embodiment can calculate the weight of the material in the bucket based on the data detected by the weighing sensor and the shovel attitude detection device. In practical applications, the specific weight value loaded in each shovel can be accurately known, thus enabling more efficient and accurate loading operations. In this process, since the detection of the wire rope tension is calculated by combining the values ​​of the weighing sensor with geometric relationships, its accuracy is higher than other detection methods in the prior art, and the results obtained are more reliable. Example

[0113] This embodiment provides a weighing device for an electric shovel, such as Figure 4 As shown, it includes:

[0114] A load cell 10 is used to detect the pressure applied to the wire rope by the load cell 10. It is installed below the wire rope above the electric shovel lifting device 40. The lifting device 40 is a device for driving the wire rope to be retracted and extended. The roller of the load cell 10 lifts the wire rope so that the angle ∠1 formed by the point of tangency between the wire rope and the lifting device 40, the point of tangency between the wire rope and the roller of the load cell 10, and the point of tangency between the wire rope and the sheave is obtuse.

[0115] The shovel attitude detection device 20 is used to detect the displacement distance of the shovel on the push rod shaft 50, as well as the displacement distance of the wire rope driven by the lifting device 40.

[0116] The calculation module 30 includes a wire rope tension calculation unit 301, used to calculate the tension of the wire rope based on the value of the weighing sensor; a component force calculation unit 302, used to calculate the magnitude of all component forces on both sides of the push rod shaft 50 based on the shovel attitude data and the wire rope tension; a lever arm calculation unit 303, used to calculate the lever arm length corresponding to all component forces on both sides of the push rod shaft 50 based on the shovel attitude data; and a material weight calculation unit 304, used to calculate the weight of the material based on the torque balance principle. Example

[0117] This embodiment provides another electric shovel weighing device, such as Figure 4 As shown, it includes:

[0118] Weighing sensor 10 is used to detect the pressure value applied to the wire rope before and after the bucket is opened. It is set below the wire rope above the electric shovel lifting device 40. The lifting device 40 is a device for driving the wire rope to be retracted and extended. The roller of the weighing sensor 10 lifts the wire rope so that the ∠1 formed by the point of tangency between the wire rope and the lifting device 40, the point of tangency between the wire rope and the roller of the weighing sensor 10, and the point of tangency between the wire rope and the sheave is an obtuse angle.

[0119] The shovel attitude detection device 20 is used to detect the displacement distance of the shovel on the push rod shaft 50, as well as the displacement distance of the wire rope driven by the lifting device 40.

[0120] Specifically, the boom posture detection device 20 includes a boom push-pull sensor and a bucket lifting sensor.

[0121] Both the boom push-pull sensor and the bucket lifting sensor are implemented using encoders. The boom push-pull sensor is installed on the pushing mechanism at the push rod shaft 50. When the pushing mechanism drives the boom to push or pull laterally, the boom push-pull sensor can detect the distance of displacement of the boom driven by the pushing mechanism. For example, when the pushing mechanism drives the boom to move through a motor, gears, and racks, the encoder can be installed on the gear shaft to calculate the displacement distance of the rack. Similarly, the bucket lifting sensor can be installed on the lifting device 40 to calculate the displacement distance of the wire rope. For example, if the lifting device 40 consists of a motor, gears, and a drum, and the wire rope is wound on the drum, the motor drives the drum to rotate forward and backward to achieve the winding and unwinding of the wire rope, then the encoder can be installed on the drum shaft or the motor drive shaft.

[0122] The calculation module 30 includes a wire rope tension calculation unit 301, used to calculate the tension of the wire rope before and after opening the bucket based on the values ​​of the weighing sensor; a component force calculation unit 302, used to calculate the magnitude of all component forces on both sides of the push rod shaft 50 before and after opening the bucket based on the shovel attitude data and the wire rope tension; a lever arm calculation unit 303, used to calculate the lever arm length corresponding to all component forces on both sides of the push rod shaft 50 based on the shovel attitude data; and a material weight calculation unit 304, used to calculate the total weight of the material and the bucket before and after opening the bucket based on the torque balance principle, and then calculate the actual weight of the material.

[0123] In one embodiment, the electric shovel weighing device further includes a storage unit, which is at least used to store a computer program. When the computer program is executed, it can perform any of the methods described in the above embodiments. The storage unit is also used to store various parameters of the electric shovel, such as the weight per unit length of the shovel handle, the empty weight of the bucket, and the values ​​of ∠1 and ∠2.

[0124] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0125] This application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor executes the computer program to implement the steps in any of the above method embodiments.

[0126] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0127] This application provides a computer program product that, when run on a mobile terminal, enables the mobile terminal to implement the steps described in the above-described method embodiments.

[0128] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0129] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0130] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0131] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0132] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0133] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for weighing electric shovels, characterized in that: Includes the following steps: Read the value Fs of the load cell, wherein the load cell is set below the wire rope above the electric shovel lifting device, the lifting device is a device for driving the wire rope to retract and extend, the roller of the load cell lifts the wire rope, so that the ∠1 formed by the point of tangency between the wire rope and the lifting device, the point of tangency between the wire rope and the load cell roller, and the point of tangency between the wire rope and the sheave is an obtuse angle; Calculate the tension F1 of the wire rope based on the value of ∠1 and the value of the weighing sensor. The weight g1 of the first shovel shaft facing the bucket and the weight g2 of the second shovel shaft away from the bucket are calculated based on the data detected by the shovel shaft posture detection device. The lever arm L4 of the second shovel weight g2 relative to the push rod shaft is calculated based on the data detected by the shovel attitude detection device. Let the total weight of the bucket and material be W. Define the total weight of the bucket and material W as the first component force, g1 as the second component force, and the tension of the wire rope F1 as the third component force. Calculate the first lever arm L1, the second lever arm L2, and the third lever arm L3 corresponding to the first, second, and third components force based on the data detected by the shovel attitude detection device. With the push rod shaft as the center point, according to the principle of torque balance, the product of the resultant force g2 on the side of the push rod shaft away from the bucket and its lever arm L4 is equal to the sum of the products of all component forces on the side of the push rod shaft close to the bucket and their lever arms. The total weight W of the bucket and the material can be calculated. Read the weight W1 of the bucket and calculate the weight W2 of the material = W - W1.

2. The electric shovel weighing method according to claim 1, characterized in that, The shovel attitude detection device includes a shovel push-pull sensor and a bucket lifting sensor. The shovel push-pull sensor is used to detect the displacement distance of the shovel on the push rod shaft, and the bucket lifting sensor is used to detect the displacement distance of the wire rope driven by the lifting device.

3. The electric shovel weighing method according to claim 1, characterized in that, In the step "Calculate the tension F1 of the wire rope based on the value of ∠1 and the value Fs of the weighing sensor", the following method is used 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.

4. The method of claim 2, wherein, In the step "Calculate the weight g1 of the first shovel shaft facing the bucket and the weight g2 of the second shovel shaft away from the bucket based on the data detected by the shovel shaft posture detection device", the following formula is used for calculation: g1=k(Lde); g2=k(d+e); Wherein, k is the weight per unit length of the shovel, L is the total length of the shovel, d is the length of the shovel on the side of the push rod shaft away from the bucket when the shovel push-pull sensor is in the initial position, and e is the value measured by the shovel push-pull sensor.

5. A method for weighing electric shovels, characterized in that, Includes the following steps: The weighing sensor reads the value Fs1 before the bucket is opened and the weighing sensor reads the value Fs2 after the bucket is opened; wherein, the weighing sensor is set under the wire rope above the electric shovel lifting device, the lifting device is a device that drives the wire rope to retract and extend, the roller of the weighing sensor lifts the wire rope, so that the ∠1 formed by the point of tangency between the wire rope and the lifting device, the point of tangency between the wire rope and the roller of the weighing sensor, and the point of tangency between the wire rope and the sheave is an obtuse angle; Based on the value of ∠1 and the two values ​​Fs1 and Fs2 measured by the weighing sensor before and after the bucket is opened, calculate the tension F11 and F12 of the wire rope before and after the bucket is opened, respectively. The weight g1 of the first shovel shaft facing the bucket and the weight g2 of the second shovel shaft away from the bucket are calculated based on the data detected by the shovel shaft posture detection device. The lever arm L4 of the second shovel weight g2 relative to the push rod shaft is calculated based on the data detected by the shovel posture detection device. The shovel posture detection device is used to detect the distance of displacement of the shovel driven by the push-pull device and the distance of displacement of the wire rope driven by the lifting device. Let the total weight of the bucket and material be W. Define the total weight of the bucket and material W as the first component force, g1 as the second component force, and the tension F11 and F12 of the wire rope before and after opening the bucket as the third component force. Calculate the first lever arm L1, the second lever arm L2, and the third lever arm L3 corresponding to the first, second, and third components force based on the data detected by the shovel attitude detection device. With the push rod shaft as the center point, according to the principle of torque balance, the product of the resultant force g2 on the side of the push rod shaft away from the bucket before opening and its lever arm L4 is equal to the sum of the products of all component forces on the side of the push rod shaft close to the bucket and their lever arms before opening. The total weight W of the bucket and the material can be calculated. With the push rod shaft as the center point, according to the principle of torque balance, the product of the resultant force g2 on the side of the push rod shaft away from the bucket after opening and its lever arm L4 is equal to the sum of the products of all component forces on the side of the push rod shaft close to the bucket and their lever arms after opening. The weight Wx of the bucket after opening can be calculated. Calculate the weight of the material: W2 = W - Wx.

6. The electric shovel weighing method according to claim 5, characterized in that, The shovel attitude detection device includes a shovel push-pull sensor and a bucket lifting sensor. The shovel push-pull sensor is used to detect the displacement distance of the shovel on the push rod shaft, and the bucket lifting sensor is used to detect the displacement distance of the wire rope driven by the lifting device.

7. The method of claim 5, wherein, In the step "Calculate the tension F11 and F12 of the wire rope before and after the bucket is opened based on the value of ∠1 and the two values ​​Fs1 and Fs2 measured by the weighing sensor before and after the bucket is opened", the following method is used for calculation: F11=Fs1*cos(∠2) / cos(∠1 / 2) / 2; F12=Fs2*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.

8. The method of claim 6, wherein, In the step "Calculate the weight g1 of the first shovel shaft facing the bucket and the weight g2 of the second shovel shaft away from the bucket based on the data detected by the shovel shaft posture detection device", the following formula is used for calculation: g1=k(Lde); g2=k(d+e); Wherein, k is the weight per unit length of the shovel, L is the total length of the shovel, d is the length of the shovel on the side of the push rod shaft away from the bucket when the shovel push-pull sensor is in the initial position, and e is the value measured by the shovel push-pull sensor.

9. A load weighing device for an electric shovel, characterized by include: A load cell is used to detect the pressure applied to the wire rope by the load cell. It is installed below the wire rope above the electric shovel lifting device. The lifting device is a device that drives the wire rope to be raised and lowered. The roller of the load cell lifts the wire rope so that the angle ∠1 formed by the point of tangency between the wire rope and the lifting device, the point of tangency between the wire rope and the load cell roller, and the point of tangency between the wire rope and the sheave is obtuse. The shovel attitude detection device is used to detect the displacement distance of the shovel on the push rod shaft, as well as the displacement distance of the wire rope driven by the lifting device; The calculation module includes a wire rope tension calculation unit, which is used to calculate the tension of the wire rope based on the values ​​of the weighing sensor. The component force calculation unit is used to calculate the magnitude of all component forces on both sides of the push rod shaft based on the shovel attitude data and the wire rope tension; the lever arm calculation unit is used to calculate the lever arm length corresponding to all component forces on both sides of the push rod shaft based on the shovel attitude data; the material weight calculation unit is used to calculate the weight of the material based on the torque balance principle.

10. A load weighing device for an electric shovel, characterized by comprising: include: A load cell is used to detect the pressure applied to the load cell by the wire rope before and after the bucket is opened. It is installed below the wire rope above the electric shovel lifting device. The lifting device is a device that drives the wire rope to be retracted and extended. The roller of the load cell lifts the wire rope so that the angle ∠1 formed by the point of tangency between the wire rope and the lifting device, the point of tangency between the wire rope and the load cell roller, and the point of tangency between the wire rope and the sheave is obtuse. The shovel attitude detection device is used to detect the displacement distance of the shovel on the push rod shaft, as well as the displacement distance of the wire rope driven by the lifting device; The calculation module includes a wire rope tension calculation unit, which is used to calculate the tension of the wire rope before and after the bucket is opened based on the values ​​of the weighing sensor. The component force calculation unit is used to calculate the magnitude of all component forces on both sides of the push rod shaft before and after opening the bucket, based on the shovel attitude data and the wire rope tension; the lever arm calculation unit is used to calculate the lever arm length corresponding to all component forces on both sides of the push rod shaft, based on the shovel attitude data; the material weight calculation unit is used to calculate the total weight of the material and the bucket before and after opening the bucket, based on the torque balance principle, and then calculate the actual weight of the material.

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