Device and method for dynamically weighing materials in bucket of mining excavator based on lifting and pushing processes

Abstract

The invention discloses a device and a method for dynamically weighing materials in a bucket of a mining excavator based on lifting and pushing processes. The dynamic weighing device for the materials in the bucket comprises a data acquisition device and a dynamic material weighing calculation device. The data acquisition device comprises a push stroke sensor, a tilt angle sensor, a first acceleration sensor and a second acceleration sensor; the pushing stroke sensor is used for detecting the pushing stroke of a bucket rod of the mining excavator, the inclination angle sensor is used for detecting the inclination angle of the bucket rod of the mining excavator, the first acceleration sensor and the second acceleration sensor are used for detecting the acceleration of the positions A and B on the bucket rod, and the material dynamic weighing calculation device calculates the material dynamic weighing according to the obtained pushing stroke, inclination angle and acceleration. And the mass of the material in the bucket of the mining excavator and the coordinate value of the mass center of the material in the bucket can be calculated in real time. Therefore, the real-time measurement of the materials in the lifting and pushing dynamic operation process of the mining excavator is realized, and the continuity and the efficiency of the original operation are not reduced.

Description

Technical Field

[0001] The invention relates to a dynamic weighing device and method for materials in a bucket of a mining excavator. Background Art

[0002] Mining excavators are key equipment for excavating and loading materials in large open-pit mines. Their arm-buckets perform lifting, pushing and rotating actions under the action of motors and transmission devices to move materials. The material weighing system is the core of achieving mine production statistics and production capacity verification, and is also the basis for achieving the coordinated operation of "shoveling-loading-transporting-discharging" in mines.

[0003] Most of the existing mining excavator material weighing system designs are based on static balance, without considering the inertial force caused by the arm-bucket mechanism and material movement. The weighing calculation is only performed when the mechanism and material are in a static state, which affects the continuity of the whole machine operation, and therefore cannot achieve real-time and accurate measurement during the operation process. The existing dynamic weighing system introduces inertial force to establish a dynamic balance equation, but because it is impossible to determine the center of mass position of the material in the bucket, it is often assumed in advance based on experience about the parameters that affect the center of mass position, such as the full bucket rate and uniform distribution of the material in the bucket. Therefore, it is impossible to characterize the actual position of the center of mass of the material in the bucket during each operation. The center of mass position of the material has a great influence on the calculation result of the material mass, which will cause a large error. Summary of the invention

[0004] The technical purpose of the present invention is to provide a method for dynamically weighing materials in the bucket of a mining excavator based on the lifting and pushing process. The method of using the acceleration of any two points on the bucket arm to represent the acceleration of the center of mass is used to establish the particle point dynamic equation of the bucket arm-bucket mechanism and the material as a whole at any time, and provide a method for calculating the mass and center of mass position of the material in the bucket. Compared with the existing static weighing method and dynamic weighing method of materials in mining excavators, it can realize the real-time measurement of materials during the dynamic operation of mining excavators without reducing the continuity and efficiency of the original operation, and does not need to make assumptions about the material conditions in the bucket. Instead, it solves the problem by continuously constructing a set of equations. While solving the mass of the bucket material each time, the center of mass position of the material in the bucket each time can be accurately obtained, which can be used to estimate the actual distribution of the material in the bucket, and provide a basis for the coordinated unloading operation of the vehicle and shovel.

[0005] In order to achieve the above technical objectives, the present invention will adopt the following technical solutions:

[0006] A dynamic weighing device for materials in a mining excavator bucket based on a lifting and pushing process, comprising a data acquisition device and a dynamic weighing calculation device for materials, wherein:

[0007] The data acquisition device includes a push stroke sensor, an inclination sensor, and a first acceleration sensor and a second acceleration sensor;

[0008] The pushing stroke sensor is installed on the saddle of the mining excavator, and is used to detect the pushing stroke L of the bucket arm of the mining excavator, and can transmit the detected pushing stroke L to the material dynamic weighing calculation device;

[0009] The inclination sensor is installed on the saddle of the mining excavator, and is used to detect the inclination angle θ of the bucket arm of the mining excavator, and can transmit the detected inclination angle θ to the material dynamic weighing calculation device;

[0010] The first and second acceleration sensors are respectively installed at two different arbitrary positions A and B on the boom, and are used to detect the acceleration a at the positions A and B. A 、a B , and can detect the acceleration a A 、a B Transmit to the material dynamic weighing calculation device;

[0011] The material dynamic weighing calculation device receives the pushing stroke L, the inclination angle θ and the acceleration a A 、a B , calculate the mass of the material in the bucket of the mining excavator and the coordinate value of the center of mass of the material in the bucket in real time.

[0012] Preferably, the material dynamic weighing calculation device is constructed by the arm-bucket mechanism and the material overall particle dynamics equation at the initial moment and t i The mass m of the arm-bucket mechanism and the material as a whole and the coordinate value of the center of mass C of the arm-bucket mechanism and the material as a whole are calculated by the particle dynamics equation of the arm-bucket mechanism and the material at the moment, and then combined with the known mass and center of mass position of the arm-bucket mechanism when the bucket is unloaded, the mass and center of mass position of the material itself can be obtained.

[0013] Preferably, at the initial moment, the constructed arm-bucket mechanism and the material overall mass point dynamics equation are as follows:

[0014] m·[-(z c ' 2 +y c ' 2 )+z c ′A1+y c ′B1+C1]+D1=J c ;

[0015] In t i At the moment when ΔL i >L* When the bucket arm-bucket mechanism and the material overall mass dynamics equation are constructed as follows:

[0016] m{-[z c ' 2 +(y c ′+ΔL i ) 2 ]+z c 'A i +(y c ′+ΔL i )B i +C i}+D i =J c ;

[0017] In the above formula, L * is the preset pushing stroke threshold; m represents the mass of the bucket-bucket mechanism and the material as a whole; y' c 、z' c are the Y-axis coordinate and Z-axis coordinate of the center of mass of the bucket-arm mechanism and the material as a whole in the relative coordinate system O-y'z'; ΔL i Indicates that the arm-bucket mechanism is at t i The push stroke L of the bucket arm at the moment i The change relative to the last moment, the push stroke L i Obtained by detection of the push stroke sensor; coefficient A i , B i , C i and the constant D i At any t i The value at the moment is calculated by the following formula:

[0018]

[0019] In the above formula, The arm-bucket mechanism is i Relative acceleration at time, v ri The arm-bucket mechanism is i Relative speed at time, ω i The arm-bucket mechanism is i The angular velocity of rotation at any moment, α i The arm-bucket mechanism is i Angular acceleration of rotation; relative acceleration Relative speed v ri , angular velocity ω i and the angular acceleration α i The t obtained by the first and second acceleration sensors i The acceleration at a A 、aB Calculate and obtain;

[0020] r is the radius of the thrust axis in the saddle; g is the acceleration due to gravity; θ i is the feedback of the inclination sensor i The inclination angle at the moment; F syi 、F szi t i The y-direction component and z-direction component of the lifting force provided by the lifting wire rope at any time in the absolute coordinate system Oy z; (y si , z si ) are t i The Y-axis and Z-axis coordinates of the lifting point S of the lifting force of the wire rope at any moment in the absolute coordinate system Oyz; (y pi , z pi ) are t i The Y-axis and Z-axis coordinates of the point P of the saddle's pushing force on the bucket arm at the moment; the coordinate value of the point S in the absolute coordinate system Oyz (y si , z si ), the coordinate value of the action point P in the absolute coordinate system Oy z (y pi , z pi ) are calculated by the pushing stroke fed back by the pushing stroke sensor and the inclination angle fed back by the inclination sensor.

[0021] Preferably, in the material dynamic weighing calculation device, the arm-bucket mechanism is i Angular acceleration of rotation α i , angular velocity ω i Calculated by the following formula:

[0022]

[0023] The arm-bucket mechanism is i Relative acceleration at time Relative speed v ri Calculated by the following formula:

[0024]

[0025] In the above formula: (y′ A , z′ A ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site A of the first acceleration sensor in the relative coordinate system O-y'z'; (y' B , z′ B ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site B of the second acceleration sensor in the relative coordinate system O-y'z'; represents the y-direction component and the z-direction component of the acceleration value detected by the first acceleration sensor in the relative coordinate system O-y'z', It represents the y-direction component and the z-direction component of the acceleration value detected by the second acceleration sensor in the relative coordinate system O-y'z'.

[0026] Preferably, the material dynamic weighing calculation device calculates the mass m of the arm-bucket mechanism and the material as a whole and the coordinate value of the center of mass C of the arm-bucket mechanism and the material as a whole in real time by the following formula:

[0027] Tx = b;

[0028] In the above formula:

[0029]

[0030]

[0031] In the above formula, ΔL i Indicates that the arm-bucket mechanism is at t i The push stroke L of the bucket arm at the moment i The change relative to the last moment, the push stroke L i It is detected by the push stroke sensor. At this time, ΔL i >L * , L * is the preset push stroke threshold; coefficient A i , B i , C i and the constant D i At any t i The value at the moment is calculated by the following formula:

[0032]

[0033] In the above formula, The arm-bucket mechanism is i Relative acceleration at time, v ri The arm-bucket mechanism is i Relative speed at time, ω i The arm-bucket mechanism is i The angular velocity of rotation at any moment, α i The arm-bucket mechanism is i The angular acceleration of the rotation at the moment; r is the radius of the thrust axis in the saddle; g is the gravitational acceleration; θ i is the feedback of the inclination sensor i The inclination angle at the moment; F syi 、F szi t iThe y-direction component and z-direction component of the lifting force provided by the lifting wire rope at any time in the absolute coordinate system Oy z; (y si , z si ) are t i The Y-axis and Z-axis coordinates of the lifting point S of the lifting force of the wire rope at any moment in the absolute coordinate system Oyz; (y pi , z pi ) are t i The Y-axis and Z-axis coordinates of the point P of the saddle's pushing force on the bucket arm at the moment; the coordinate value (y si , z si ), the coordinate value of the action point P in the absolute coordinate system Oy z (y pi , z pi ) are respectively calculated by the pushing stroke fed back by the pushing stroke sensor and the inclination angle fed back by the inclination sensor;

[0034] The arm-bucket mechanism is i Angular acceleration of rotation α i , angular velocity ω i And the arm-bucket mechanism in t i Relative acceleration at time Relative speed v ri satisfy:

[0035]

[0036] In the above formula: (y′ A , z′ A ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site A of the first acceleration sensor in the relative coordinate system O-y'z'; (y' B , z′ B ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site B of the second acceleration sensor in the relative coordinate system O-y'z'; represents the y-direction component and the z-direction component of the acceleration value detected by the first acceleration sensor in the relative coordinate system O-y'z', It represents the y-direction component and the z-direction component of the acceleration value detected by the second acceleration sensor in the relative coordinate system O-y'z'.

[0037] Another technical object of the present invention is to provide a method for dynamically weighing materials in a mining excavator bucket based on a lifting and pushing process, which is achieved by implementing the above-mentioned device for dynamically weighing materials in a mining excavator bucket based on a lifting and pushing process, and comprises the following steps:

[0038] S101, respectively establish the dynamic equations of the bucket arm-bucket mechanism and the material mass point at the initial moment and t i The dynamic equation of the arm-bucket mechanism and the overall material mass at the moment:

[0039] The initial moment is the moment when the bucket leaves the pile, denoted as t1;

[0040] t i The time is the change of the pushing stroke ΔL during the bucket lifting and pushing process i Exceeding the preset push stroke threshold L * The time corresponding to time, where i≥1 and i is an integer;

[0041] At the initial moment, the dynamic equations of the bucket-bucket mechanism and the overall material mass are as follows:

[0042] m·[-(z c ' 2 +y c ' 2 )+z c ′A1+y c ′B1+C1]+D1=J c ;

[0043] t i At this moment, the dynamic equations of the bucket-bucket mechanism and the overall material mass are as follows:

[0044] m{-[z c ' 2 +(y c ′+ΔL i ) 2 ]+z c 'A i +(y c ′+ΔL i )B i +C i}+D i =J c ;

[0045] Coefficient A i , B i , C i and the constant D i At any t i The value at the moment is calculated by the following formula:

[0046]

[0047] In the above formula, The arm-bucket mechanism is i Relative acceleration at time, v riThe arm-bucket mechanism is i Relative speed at time, ω i The arm-bucket mechanism is i The angular velocity of rotation at any moment, α i The arm-bucket mechanism is i Angular acceleration of rotation; relative acceleration Relative speed v ri , angular velocity ω i and the angular acceleration α i The t obtained by the first and second acceleration sensors i The acceleration at a A 、a B Calculate and obtain;

[0048] r is the radius of the thrust axis in the saddle; g is the acceleration due to gravity; θ i is the feedback of the inclination sensor i The inclination angle at the moment; F syi 、F szi t i The y-direction component and z-direction component of the lifting force provided by the lifting wire rope at any time in the absolute coordinate system Oy z; (y si , z si ) are t i The Y-axis and Z-axis coordinates of the lifting point S of the lifting force of the wire rope at any moment in the absolute coordinate system Oyz; (y pi , z pi ) are t i The Y-axis and Z-axis coordinates of the point P of the saddle's pushing force on the bucket arm at the moment; the coordinate value of the point S in the absolute coordinate system Oyz (y si , z si ), the coordinate value of the action point P in the absolute coordinate system Oy z (y pi , z pi ) are respectively calculated by the pushing stroke fed back by the pushing stroke sensor and the inclination angle fed back by the inclination sensor;

[0049] S102, obtaining the lifting force, pushing stroke, inclination angle, and acceleration of point A and point B of the lifting wire rope at four different times:

[0050] 4 different moments, one of which is t1, and the remaining three moments, each of which satisfies ΔL i >L * ;

[0051] The lifting force of the lifting wire rope is acquired through the force sensor installed on the lifting wire rope; the pushing stroke is acquired through the pushing stroke sensor; the inclination angle is acquired through the inclination sensor; the acceleration of point A is acquired through the first acceleration sensor; the acceleration of point B is acquired through the second acceleration sensor;

[0052] S103: Using the sliding time window method, the arm-bucket mechanism and the material mass point dynamics equations at four different times are solved to obtain the mass m and the center of mass position (y' c ,z',);

[0053] S104: Based on the overall mass m and the center of mass position (y' c ,z' c ), combined with the known mass and center of mass position of the dipper arm-bucket mechanism in the no-load state, the mass and center of mass position of the material itself can be obtained.

[0054] Preferably, in step S101, the arm-bucket mechanism is i Angular acceleration of rotation α i , angular velocity ω i Calculated by the following formula:

[0055]

[0056] The arm-bucket mechanism is i Relative acceleration at time Relative speed v ri Calculated by the following formula:

[0057]

[0058] In the above formula: (y′ A , z ′ A ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site A of the first acceleration sensor in the relative coordinate system O-y'z'; (y' B , z′ B ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site B of the second acceleration sensor in the relative coordinate system O-y'z'; represents the y-direction component and the z-direction component of the acceleration value detected by the first acceleration sensor in the relative coordinate system O-y'z', It represents the y-direction component and the z-direction component of the acceleration value detected by the second acceleration sensor in the relative coordinate system O-y'z'.

[0059] Preferably, in step S103, the order of the four different moments selected is: i ,ti+1 ,t i+2 and t i+3 ; By combining the arm-bucket mechanism and the material mass point dynamics equations at four different times, the following mass m and center of mass position (y') containing only the arm-bucket mechanism and the material as a whole can be constructed. c ,z' c ) equation:

[0060] Tx = b;

[0061] In the above formula:

[0062]

[0063] In the above formula, ΔL i Indicates that the arm-bucket mechanism is at t i The push stroke L of the bucket arm at the moment i The change relative to the last moment, the push stroke L i It is detected by the push stroke sensor. At this time, ΔL i >L * , L * is the preset push stroke threshold; coefficient A i , B i , C i and the constant D i At any t i The value at the moment is calculated by the following formula:

[0064]

[0065] In the above formula, The arm-bucket mechanism is i Relative acceleration at time, v ri The arm-bucket mechanism is i Relative speed at time, ω i The arm-bucket mechanism is i The angular velocity of rotation at any moment, α i The arm-bucket mechanism is i The angular acceleration of the rotation at the moment; r is the radius of the thrust axis in the saddle; g is the gravitational acceleration; θ i is the feedback of the inclination sensor i The inclination angle at the moment; F syi 、F szi t i The y-direction component and z-direction component of the lifting force provided by the lifting wire rope at any time in the absolute coordinate system Oy z; (y si , z si ) are t iThe Y-axis and Z-axis coordinates of the lifting point S of the lifting force of the wire rope at any moment in the absolute coordinate system Oyz; (y pi , z pi ) are t i The Y-axis and Z-axis coordinates of the point P of the saddle's pushing force on the bucket arm at the moment; the coordinate value (y si , z si ), the coordinate value of the action point P in the absolute coordinate system Oy z (y pi , z pi ) are respectively calculated by the pushing stroke fed back by the pushing stroke sensor and the inclination angle fed back by the inclination sensor;

[0066] The arm-bucket mechanism is i Angular acceleration of rotation a i , angular velocity ω i And the arm-bucket mechanism in t i Relative acceleration at time Relative speed v ri satisfy:

[0067]

[0068] In the above formula: (y′ A , z′ A ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site A of the first acceleration sensor in the relative coordinate system O-y'z'; (y' B , z′ B ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site B of the second acceleration sensor in the relative coordinate system O-y'z'; represents the y-direction component and the z-direction component of the acceleration value detected by the first acceleration sensor in the relative coordinate system O-y'z', It represents the y-direction component and the z-direction component of the acceleration value detected by the second acceleration sensor in the relative coordinate system O-y'z'.

[0069] Preferably, the dynamic equation of the arm-bucket mechanism and the material mass as a whole is established by the following steps:

[0070] Step 1: Use the accelerations at points A and B on the arm to represent the acceleration of the center of mass of the arm-bucket mechanism and the material as a whole:

[0071] Step 1.1: The relative acceleration of the center of mass of the arm-bucket mechanism and the material as a whole is calculated by the following formula:

[0072]

[0073] In the above formula, Represents the y- and z-components of the absolute acceleration of the center of mass of the arm-bucket mechanism and the material as a whole in the relative coordinate system O-y'z'; y' C , z′ C It represents the y-direction component and the z-direction component of the center of mass of the bucket-arm mechanism and the material as a whole in the relative coordinate system O-y'z';

[0074] Angular acceleration α and square of angular velocity ω of arm-bucket rotation 2 Calculated by the following formula:

[0075]

[0076] In the above formula, y′ B , z′ B Indicates the y-direction component and z-direction component of point B on the boom in the relative coordinate system O-y'z'; represents the y-direction component and the z-direction component of the absolute acceleration directly measured by the second acceleration sensor in the relative coordinate system O-y'z'; y' A , z′ A Indicates the y-direction component and z-direction component of point A on the boom in the relative coordinate system O-y'z'; represents the y-direction component and the z-direction component of the absolute acceleration directly measured by the first acceleration sensor in the relative coordinate system O-y'z'; ω is the angular velocity of the arm-bucket rotation, and α is the angular acceleration of the arm-bucket rotation;

[0077] Step 1.2: The acceleration of the center of mass of the arm-bucket mechanism and the material as a whole in the absolute coordinate system is:

[0078]

[0079] In the above formula: It represents the y-direction component and the z-direction component of the center of mass of the bucket-arm mechanism and the material as a whole in the absolute coordinate system; θ represents the inclination angle, which is obtained by the inclination sensor;

[0080] Step 2: Establish the dynamic equation of the arm-bucket mechanism and the overall material mass at any time:

[0081] Step 2.1, establish the dynamic equilibrium equations in the y-axis and z-axis directions as follows:

[0082]

[0083] In the formula, F py and F pz are the components of the pushing force on the y-axis and z-axis, respectively, sy and F szare the components of the lifting force of the lifting wire rope in the y-axis and z-axis respectively; m represents the mass of the arm-bucket mechanism and the material as a whole; It represents the y-direction component and the z-direction component of the center of mass of the bucket-arm mechanism and the material as a whole in the absolute coordinate system;

[0084] Step 2.2: According to the law of conservation of angular momentum in rigid body dynamics, the moment of the center of mass of the bucket-arm mechanism and the material as a whole is obtained:

[0085] F py (z c -z p )-F pz (y c -y p )+F sy (z c -z s )-F sz (y c -y s )=J c α;

[0086] Where: y c 、z c It represents the y-component and z-component of the center of mass of the bucket-arm mechanism and the material as a whole in the absolute coordinate system; s 、z s It represents the y-direction component and z-direction component of the lifting force of the lifting wire rope at the point S in the absolute coordinate system; p 、z p Indicates the y-direction component and the z-direction component of the point P of the saddle's pushing force on the stick in the absolute coordinate system; J c It represents the center of mass moment of inertia of the arm-bucket mechanism and the material as a whole; α represents the angular acceleration of the arm-bucket rotation;

[0087] Step 2.3: Construct the dynamic equation of the arm-bucket mechanism and the overall material mass:

[0088] Combining the acceleration expression of the center of mass of the bucket-bucket mechanism and the material as a whole in the absolute coordinate system established in step 1.2 and the moment expression of the center of mass of the bucket-bucket mechanism and the material as a whole established in step 2.2, the dynamic equation of the bucket-bucket mechanism and the material as a whole can be obtained as follows:

[0089] m[-(z c ' 2 +y c ' 2 )+z c ′A+y c ′B+C]+D=J c ;

[0090]

[0091]

[0092] In the above formula, at any time, A, B, C, and D can be calculated based on the structural parameters and sensor readings; r is the radius of the push shaft in the saddle.

[0093] Based on the above technical objectives, the present invention has the following advantages over the prior art:

[0094] The dynamic weighing method of materials in the bucket of a mining excavator based on the lifting and pushing process described in the present invention uses the method of using the acceleration of any two points on the bucket arm to represent the acceleration of the center of mass. Based on this, the particle dynamics equation of the bucket arm-bucket mechanism and the material as a whole at any time is established, and the calculation steps and methods of the mass and center of mass position of the material in the bucket are given. Compared with the static weighing method and dynamic weighing method of existing mining excavator materials, it can realize the real-time measurement of materials during the dynamic operation of the mining excavator without reducing the continuity and efficiency of the original operation, and does not need to make assumptions about the material conditions in the bucket. Instead, it solves the problem by continuously constructing a set of equations. While solving the mass of the bucket material each time, the center of mass position of the material in the bucket each time can be accurately obtained, which can be used to estimate the actual distribution of the material in the bucket and provide basic data for the coordinated unloading operation of the vehicle and shovel. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] Figure 1 It is a structural schematic diagram of a dynamic weighing device for materials in a mining excavator bucket based on a lifting and pushing process according to the present invention;

[0096] Figure 2 yes Figure 1 Force analysis diagram of the middle dipper arm-bucket mechanism and the material as a whole;

[0097] In the figure: 1. bucket, 2. arm, 3. saddle, 4. first acceleration sensor, 5. push stroke sensor, 6. inclination sensor, 7. second acceleration sensor;

[0098] In the absolute coordinate system O-yz, the origin O is the center of rotation of the saddle, the y-axis is the horizontal direction, and the z-axis is the vertical direction;

[0099] In the relative coordinate system O-y'z', the origin O is the rotation center of the saddle, the y' axis is the direction of the boom extension, and the z' axis is perpendicular to the direction of the boom extension;

[0100] Point P is the point where the saddle applies pressure to the dipper arm, and point S is the point where the lifting force of the lifting wire rope applies pressure; py and F pz are the y-axis component and z-axis component of the pushing force in the absolute coordinate system O-yz, Fsy and F sz They are respectively the y-axis component and z-axis component of the lifting force of the lifting wire rope in the absolute coordinate system O-yz. DETAILED DESCRIPTION

[0101] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means any limitation to the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Unless otherwise specified, the relative arrangement, expressions and numerical values ​​of the components and steps described in these embodiments do not limit the scope of the present invention. The techniques, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but in appropriate cases, the techniques, methods and equipment should be regarded as part of the specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0102] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations).

[0103] Example 1

[0104] like Figure 1 and Figure 2 As shown, this embodiment discloses a dynamic weighing device for materials in a mining excavator bucket based on a lifting and pushing process, including a data acquisition device and a dynamic weighing calculation device for materials.

[0105] Considering that during each excavation operation of a mining excavator, after the bucket leaves the material pile and before the rotation unloading, the mass of the material in the bucket and its distribution relative to the arm-bucket mechanism remain unchanged. Therefore, the material dynamic weighing calculation device described in this embodiment can regard the arm-bucket mechanism and the material in this process as a whole, and in the lifting and pushing process, various motion parameters and the lifting force of the lifting wire rope are used to establish a set of equations containing three physical quantities to be calculated, namely, the mass of the material in the bucket (m0) and the center of mass position C0 (y0 and z0), based on Newton's second law of motion and the theorem of conservation of angular momentum, and solve them.

[0106] Specifically, in order to obtain the motion parameters of the bucket-arm mechanism and the material as a whole, the data acquisition device described in this embodiment includes a push stroke sensor, a tilt sensor and two acceleration sensors, and the two acceleration sensors correspond to the first and second acceleration sensors. Figure 1 As shown, the push stroke sensor 5 and the inclination sensor 6 are both installed on the saddle 4. The push stroke sensor 5 is used to measure the push stroke L of the bucket arm and can transmit the detected push stroke L to the material dynamic weighing calculation device; the inclination sensor 6 is used to detect the inclination angle θ of the bucket arm of the mining excavator, and can transmit the detected inclination angle θ to the material dynamic weighing calculation device; the first acceleration sensor 4 and the second acceleration sensor 7 are respectively installed at any point A and point B of the bucket arm 2, and are used to detect the acceleration a at the positions A and B. A 、a B , and can detect the acceleration a A 、a B The dynamic weighing calculation device of the material is transmitted to the dynamic weighing calculation device of the material. The dynamic weighing calculation device of the material is based on the received pushing stroke L, inclination angle θ and acceleration a A 、a B , and calculates the mass of the material in the bucket of the mining excavator and the coordinate value of the center of mass of the material in the bucket in real time. Specifically, the material dynamic weighing calculation device uses the constructed initial moment bucket-bucket mechanism and material overall mass point dynamics equation and t i The mass m of the arm-bucket mechanism and the material as a whole and the coordinate value of the center of mass C of the arm-bucket mechanism and the material as a whole are calculated by the particle dynamics equation of the arm-bucket mechanism and the material at the moment, and then combined with the known mass and center of mass position of the arm-bucket mechanism when the bucket is unloaded, the mass and center of mass position of the material itself can be obtained.

[0107] In this embodiment, Figure 1As shown, with the rotation center of the saddle 4 as the origin O, the horizontal direction as the y-axis and the vertical direction as the z-axis, an absolute coordinate system O-yz is established; similarly, with the rotation center of the saddle 4 as the origin O, the y' axis along the dipper arm extension direction and the z' axis perpendicular to the dipper arm extension direction are established. During the operation of the mining excavator, the relative coordinate system rotates around the origin O, and the dipper arm-bucket translates along the y' axis in the relative coordinate system.

[0108] At the initial moment, the constructed arm-bucket mechanism and the overall material mass dynamics equation are as follows:

[0109] m·[-(z c ' 2 +y c ' 2 )+z c ′A1+y c ′B1+C1]+D i1 =J c ;

[0110] In t i At the moment when ΔL i >L * When the bucket arm-bucket mechanism and the material overall mass dynamics equation are constructed as follows:

[0111] m{-[z c ' 2 +(y c ′+ΔL i ) 2 ]+z c 'A i +(y c ′+ΔL i )B i +C i}+D i =J c ;

[0112] In the above formula: L * is the preset pushing stroke threshold; m represents the mass of the bucket-bucket mechanism and the material as a whole; y' c 、z' c are the Y-axis coordinate and Z-axis coordinate of the center of mass of the bucket-arm mechanism and the material as a whole in the relative coordinate system O-y'z'; ΔL i Indicates that the arm-bucket mechanism is at t i The push stroke L of the bucket arm at the moment i The change relative to the last moment, the push stroke L i Obtained by detection of the push stroke sensor; coefficient A i , B i , C iand the constant D i At any t i The value at the moment is calculated by the following formula:

[0113]

[0114] In the above formula: The arm-bucket mechanism is i Relative acceleration at time, v ri The arm-bucket mechanism is i Relative speed at time, ω i The arm-bucket mechanism is i The angular velocity of rotation at any moment, α i The arm-bucket mechanism is i The angular acceleration of the rotation at the moment; r is the radius of the thrust axis in the saddle; g is the gravitational acceleration; θ i is the feedback of the inclination sensor i The inclination angle at the moment; F syi 、F szi t i The y-direction component and z-direction component of the lifting force provided by the lifting wire rope at any time in the absolute coordinate system Oy z; (y si , z si ) are t i The Y-axis and Z-axis coordinates of the lifting point S of the lifting force of the wire rope at any moment in the absolute coordinate system Oyz; (y pi , z pi ) are t i The Y-axis and Z-axis coordinates of the point P of the saddle's pushing force on the bucket arm at the moment in the absolute coordinate system O-yz; the coordinate value (y si , z si ), the coordinate value of the action point P in the absolute coordinate system Oy z (y pi , z pi ) are calculated by the pushing stroke fed back by the pushing stroke sensor and the inclination angle fed back by the inclination sensor. si , z si ), the coordinate value of the point of action P (y pi , z pi ) can be obtained through simple geometric operations, which will not be elaborated in detail in this embodiment.

[0115] Relative acceleration Relative speed v ri , angular velocity ω i and the angular acceleration α i The t obtained by the first and second acceleration sensors iThe acceleration at a A 、a B Specifically, in the material dynamic weighing calculation device, the arm-bucket mechanism is at t i Angular acceleration of rotation α i , angular velocity ω i Calculated by the following formula:

[0116]

[0117] The arm-bucket mechanism is i Relative acceleration at time Relative speed v ri Calculated by the following formula:

[0118]

[0119] In the above formula: (y′ A , z′ A ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site A of the first acceleration sensor in the relative coordinate system O-y'z'; (y' B , z′ B ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site B of the second acceleration sensor in the relative coordinate system O-y'z'; represents the y-direction component and the z-direction component of the acceleration value detected by the first acceleration sensor in the relative coordinate system O-y'z', It represents the y-direction component and the z-direction component of the acceleration value detected by the second acceleration sensor in the relative coordinate system O-y'z'.

[0120] In the present invention, the material dynamic weighing calculation device adopts the sliding time window method to continuously solve the particle dynamics equations of the bucket-bucket mechanism and the material as a whole at four different times, so as to obtain the mass m and the center of mass position (y' c ,z' c ); Among them: 4 different moments, one of which is t1, and the remaining three moments, each of which satisfies ΔL i >L * At this time, the material dynamic weighing calculation device can calculate the mass m and the center of mass position (y') of the entire bucket-bucket mechanism and the material by the following formula: c ,z' c ):

[0121] Tx = b;

[0122] In the above formula:

[0123]

[0124] In the above formula, ΔL i Indicates that the arm-bucket mechanism is at t i The push stroke L of the bucket arm at the moment i The change relative to the last moment, the push stroke L i It is detected by the push stroke sensor. At this time, ΔL i >L * , L * It is the preset pushing stroke threshold.

[0125] Example 2

[0126] This embodiment discloses a method for dynamically weighing materials in a mining excavator bucket based on a lifting and pushing process, which is realized by implementing the above-mentioned device for dynamically weighing materials in a mining excavator bucket based on a lifting and pushing process, and specifically includes the following steps:

[0127] S101, respectively establish the dynamic equations of the bucket arm-bucket mechanism and the material mass point at the initial moment and t i The dynamic equation of the arm-bucket mechanism and the overall material mass at the moment:

[0128] The initial moment is the moment when the bucket leaves the pile, denoted as t1;

[0129] t i The time is the change of the pushing stroke ΔL during the bucket lifting and pushing process i Exceeding the preset push stroke threshold L * The time corresponding to time, where i≥1 and i is an integer;

[0130] At the initial moment, the dynamic equations of the bucket-bucket mechanism and the overall material mass are as follows:

[0131] m·[-(z′ c 2 +y′ c 2 )+z′ c A1+y′ c B1+C1]+D1=J c ;

[0132] t i At this moment, the dynamic equations of the bucket-bucket mechanism and the overall material mass are as follows:

[0133] m{-[z′ c 2 +(y′ c +ΔL i ) 2 ]+z′ c A i +(y′c +ΔL i )B i +C i}+D i =J c ;

[0134] Coefficient A i , B i , C i and the constant D i At any t i The value at the moment is calculated by the following formula:

[0135]

[0136]

[0137] In the above formula: The arm-bucket mechanism is i Relative acceleration at time, v ri The arm-bucket mechanism is i Relative speed at time, ω i The arm-bucket mechanism is i The angular velocity of rotation at any moment, α i The arm-bucket mechanism is i Angular acceleration of rotation; relative acceleration Relative speed v ri , angular velocity ω i and the angular acceleration α i The t obtained by the first and second acceleration sensors i The acceleration at the moment α A , α B Calculate and obtain;

[0138] r is the radius of the thrust axis in the saddle; g is the acceleration due to gravity; θ i is the feedback of the inclination sensor i The inclination angle at the moment; F syi 、F szi t i The y-direction component and z-direction component of the lifting force provided by the lifting wire rope at any time in the absolute coordinate system Oy z; (y si , z si ) are t i The Y-axis and Z-axis coordinates of the lifting point S of the lifting force of the wire rope at any moment in the absolute coordinate system Oyz; (y pi , z pi ) are t iThe Y-axis and Z-axis coordinates of the point P of the saddle's pushing force on the bucket arm at the moment; the coordinate value of the point S in the absolute coordinate system Oyz (y si , z si ), the coordinate value of the action point P in the absolute coordinate system Oy z (y pi , z pi ) are calculated by the pushing stroke fed back by the pushing stroke sensor and the inclination angle fed back by the inclination sensor.

[0139] S102, obtaining the lifting force, pushing stroke, inclination angle, and acceleration of point A and point B of the lifting wire rope at four different times:

[0140] 4 different moments, one of which is t1, and the remaining three moments, each of which satisfies ΔL i >L * ;

[0141] The lifting force of the lifting wire rope is acquired through the force sensor installed on the lifting wire rope; the pushing stroke is acquired through the pushing stroke sensor; the inclination angle is acquired through the inclination sensor; the acceleration of point A is acquired through the first acceleration sensor; the acceleration of point B is acquired through the second acceleration sensor;

[0142] S103: Using the sliding window method, the mass point dynamics equations of the bucket mechanism and the material as a whole at four different times are solved continuously to obtain the mass m and the center of mass position (y' c ,z' c );

[0143] S104: Based on the overall mass m and the center of mass position (y' c ,z' c ), combined with the known mass and center of mass position of the dipper arm-bucket mechanism in the no-load state, the mass and center of mass position of the material itself can be obtained.

[0144] In order to establish the dynamic equation of the bucket-bucket mechanism and the overall mass point of the material, this embodiment proposes a method of using the acceleration at point A and point B on the bucket 2 to represent the overall center of mass acceleration, and the process is as follows:

[0145] The relative coordinates of the installation positions of the first acceleration sensor 4 and the second acceleration sensor 7, point A and point B, are expressed by equation (1), which can be determined when the sensors are installed.

[0146] A(y′ A , z′ A ), B(y′ B , z′ B ) (1)

[0147] Assume that the relative coordinates and absolute coordinates of the center of mass C can be expressed by formula (2):

[0148] C(y′ C , z′ C )、C(y C , z C ) (2)

[0149] The first acceleration sensor 4 and the second acceleration sensor 7 can directly measure the components of the absolute acceleration of point A and point B in the relative coordinate system:

[0150]

[0151] Considering the rotational motion relative to the coordinate system, using the acceleration composition theorem, the absolute accelerations of point A and point B can be expressed by equations (4) and (5).

[0152]

[0153] Where: a r is the relative acceleration, v r is the relative velocity, ω is the angular velocity, and α is the angular acceleration.

[0154] The angular acceleration α and the square of the angular velocity ω of the arm-bucket rotation can be calculated by equation (6): 2 :

[0155]

[0156] Using formula (7), we can get a r and 2ωv r . Then the acceleration of the center of mass C in the relative coordinate system can be determined by its relative coordinates.

[0157]

[0158] The acceleration of the center of mass C in the relative coordinate system is:

[0159]

[0160] According to the inclination angle θ of the inclination sensor 6, the acceleration of the center of mass C in the absolute coordinate system can be calculated by equation (8).

[0161]

[0162] The dynamic equation of the bucket arm-bucket mechanism and the overall material point at any time is established, and the derivation process is as follows:

[0163] The force analysis is carried out in the absolute coordinate system, such as Figure 2 shown. Figure 2 In the figure, point P is the point of action of the pushing force of the saddle 3 on the bucket 2, and point S is the point of action of the lifting force of the lifting wire rope, which can be determined according to the readings and structural dimensions of the pushing stroke sensor 5 and the inclination sensor 6. py and F pz are the components of the pushing force on the y-axis and z-axis, respectively, sy and F sz are the components of the lifting force of the lifting wire rope in the y-axis and z-axis respectively. According to Newton's second law, the dynamic equilibrium equations in the y-axis and z-axis directions are established, see equations (9) and (10).

[0164]

[0165] Where: g = -9.806m / s 2 .

[0166] According to the conservation theorem of angular momentum in rigid body dynamics, the moment of the center of mass can be obtained as equation (11).

[0167] F py (z c -z p )-F pz (y c -y p )+F sy (z c -z s )-F sz (y c -y s )=J c α (11)

[0168] Lifting wire rope lifting force (F sy and F sz ) can be measured by force sensor or other methods and is easy to obtain. The pushing force is difficult to measure directly, so substitute equations (9) and (10) into equation (11) and get equation (12) after rearrangement.

[0169]

[0170] Substituting into formula (8), we can get:

[0171] m[-(z c ' 2 +y c ' 2 )+z c ′A+y c ′B+C]+D=J c (13)

[0172] Where:

[0173]

[0174] r is the radius of the push shaft in the saddle 4.

[0175] At any time, A, B, C, and D can be calculated based on structural parameters and sensor readings.

[0176] Formula (13) includes mass m, center of mass relative coordinate z' c ,y' c and the moment of inertia of the center of mass J c There are 4 unknowns in total. In a single excavation cycle of a mining excavator, after the bucket leaves the material pile and before it rotates to unload, the material mass and distribution remain fixed. Therefore, in each lifting and pushing process, the mass m and the relative coordinates of the center of mass z' c , center of mass moment of inertia J c For a specific value, only the center of mass relative coordinate y' c Changes with the push of the stick. Center of mass relative coordinate y' c The change in can be measured by the push stroke sensor 5 on the saddle 3.

[0177] The method for combining and solving the kinetic equations involved in step S103 is as follows:

[0178] The dynamic equation at the initial moment can be expressed by equation (14):

[0179] m[-(z c ' 2 +y c ' 2 )+z c ′A1+y c ′B1+C1]+D1=J c (14)

[0180] Where: A1, B1, C1, D1 are calculated by substituting the sensor readings at the initial moment into formula (13).

[0181] When the push stroke changes from the last record, ΔL i Greater than L * (L * is pre-set according to the bucket and arm structure), this time is recorded as t i , at this time, the center of mass remains unchanged in the z' axis direction of the relative coordinate system, that is, the coordinate z' c The change in the y' axis direction of the relative coordinate system is ΔL i , its relative coordinate becomes (y' c +ΔL i ), equation (15) can be constructed based on the sensor readings.

[0182] m{-[z' c2 +(y' c +ΔL i ) 2 ]+z′ c A i +(y′ c +ΔL i )B i +C i}+D i =J c (15)

[0183] Continuously select 4 different moments (t i ,t i+1 ,t i+2 ,t i+3 ), by addition and subtraction, we construct a system that only contains mass m and the relative coordinates of the center of mass z' c ,y' c The system of three linear equations with three unknown variables is shown in equation (16).

[0184] Tx=b (16)

[0185] Where:

[0186]

[0187] The mass (m) and the relative position coordinates of the center of mass (z') of the bucket arm-bucket mechanism and the material as a whole can be calculated according to formula (17). c ,y' c ).

[0188] x=T -1 b (17)

[0189] When the bucket is running without load, the mass and relative coordinates of the center of mass of the boom-bucket mechanism are determined by its own structure and are determined at the factory. Using the known mass and center of mass position, the sensors involved in this weighing method can be tested based on the above method.

Claims

1. A dynamic weighing device for materials in a mining excavator bucket based on the lifting and pushing process, It is characterized in that It includes a data acquisition device and a material dynamic weighing calculation device, wherein: The data acquisition device includes a push stroke sensor, an inclination sensor, and first and second acceleration sensors; the push stroke sensor is installed on the saddle of the mining excavator, and is used to detect the push stroke L of the bucket arm of the mining excavator, and can transmit the detected push stroke L to the material dynamic weighing calculation device; The inclination sensor is installed on the saddle of the mining excavator and is used to detect the inclination angle θ of the bucket arm of the mining excavator. And it can transmit the detected inclination angle θ to the material dynamic weighing calculation device; The first and second acceleration sensors are respectively installed at two different arbitrary positions A and B on the boom, and are used to detect the acceleration a at the positions A and B. A 、a B , and can detect the acceleration a A 、a B Transmit to the material dynamic weighing calculation device; The material dynamic weighing calculation device receives the pushing stroke L, the inclination angle θ and the acceleration a A 、a B , calculate the mass of the material in the bucket of the mining excavator and the coordinate value of the center of mass of the material in the bucket in real time.

2. The dynamic weighing device for materials in a mining excavator bucket based on the lifting and pushing process according to claim 1, It is characterized in that The material dynamic weighing calculation device is constructed by the bucket arm-bucket mechanism and the material overall particle dynamics equation at the initial moment and t i The mass m of the arm-bucket mechanism and the material as a whole and the coordinate value of the center of mass C of the arm-bucket mechanism and the material as a whole are calculated by the particle dynamics equation of the arm-bucket mechanism and the material at the moment, and then combined with the known mass and center of mass position of the arm-bucket mechanism when the bucket is unloaded, the mass and center of mass position of the material itself can be obtained.

3. The dynamic weighing device for materials in a mining excavator bucket based on the lifting and pushing process according to claim 2, It is characterized in that At the initial moment, the constructed arm-bucket mechanism and the overall material mass dynamics equation are as follows: m·[-(z c ′ 2 +y c ′2 )+z′ c A 1 +y c B 1 +C 1 ]+D 1 =J c ; In t i At the moment when ΔL i >L * When the bucket arm-bucket mechanism and the material overall mass dynamics equation are constructed as follows: m{-[z′ c 2 +(and′ c +ΔL i ) 2 ]+z′ c TO i +(and′ c +ΔL i )B i +C i }+D i =J c ; In the above formula, L * is the preset pushing stroke threshold; m represents the mass of the bucket-bucket mechanism and the material as a whole; y' c 、z' c are the Y-axis coordinate and Z-axis coordinate of the center of mass of the bucket-arm mechanism and the material as a whole in the relative coordinate system O-y'z'; ΔL i Indicates that the arm-bucket mechanism is at t i The push stroke L of the bucket arm at the moment i The change relative to the last moment, the push stroke L i Obtained by detection of the push stroke sensor; coefficient A i , B i , C i and the constant D i At any t i The value at the moment is calculated by the following formula: In the above formula, a ri The arm-bucket mechanism is i Relative acceleration at time, v ri The arm-bucket mechanism is i Relative speed at time, ω i The arm-bucket mechanism is i The angular velocity of rotation at any moment, α i The arm-bucket mechanism is i Angular acceleration of rotation at a moment; relative acceleration a ri , relative speed v ri , angular velocity ω i and the angular acceleration α i The t obtained by the first and second acceleration sensors i The acceleration at a A 、a B Calculate and obtain; r is the radius of the thrust axis in the saddle; g is the acceleration due to gravity; θ i is the feedback of the inclination sensor i The inclination angle at the moment; F syi 、F szi t i The y-direction component and z-direction component of the lifting force provided by the lifting wire rope at any time in the absolute coordinate system Oy z; (y si , z si ) are t i The Y-axis and Z-axis coordinates of the lifting point S of the lifting force of the wire rope at any moment in the absolute coordinate system Oyz; (y pi , z pi ) are t i The Y-axis and Z-axis coordinates of the point P of the saddle's pushing force on the bucket arm at the moment; the coordinate value of the point S in the absolute coordinate system Oyz (y si , z si ), the coordinate value of the action point P in the absolute coordinate system O-yz (y pi , z pi ) are calculated by the pushing stroke fed back by the pushing stroke sensor and the inclination angle fed back by the inclination sensor.

4. The dynamic weighing device for materials in a mining excavator bucket based on the lifting and pushing process according to claim 3, It is characterized in that In the material dynamic weighing calculation device, the arm-bucket mechanism is i Angular acceleration of rotation α i , angular velocity ω i Calculated by the following formula: The arm-bucket mechanism is i Relative acceleration at time a ri , relative speed v ri Calculated by the following formula: In the above formula: (y′ A , z′ A ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site A of the first acceleration sensor in the relative coordinate system O-y'z'; (y' B , z′ B ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site B of the second acceleration sensor in the relative coordinate system O-y'z'; represents the y-direction component and the z-direction component of the acceleration value detected by the first acceleration sensor in the relative coordinate system O-y'z', It represents the y-direction component and the z-direction component of the acceleration value detected by the second acceleration sensor in the relative coordinate system O-y'z'.

5. The dynamic weighing device for materials in a mining excavator bucket based on the lifting and pushing process according to claim 2, It is characterized in that The material dynamic weighing calculation device calculates the mass m of the arm-bucket mechanism and the material as a whole and the coordinate value of the center of mass C of the arm-bucket mechanism and the material as a whole in real time through the following formula: Tx = b; In the above formula: In the above formula, ΔL i Indicates that the arm-bucket mechanism is at t i The push stroke L of the bucket arm at the moment i The change relative to the last moment, the push stroke L i It is detected by the push stroke sensor. At this time, ΔL i >L * , L * is the preset push stroke threshold; coefficient A i , B i , C i and the constant D i At any t i The value at the moment is calculated by the following formula: In the above formula, a ri The arm-bucket mechanism is i Relative acceleration at time, v ri The arm-bucket mechanism is i Relative speed at time, ω i The arm-bucket mechanism is i The angular velocity of rotation at any moment, α i The arm-bucket mechanism is i The angular acceleration of the rotation at the moment; r is the radius of the thrust axis in the saddle; g is the gravitational acceleration; θ i is the feedback of the inclination sensor i The inclination angle at the moment; F syi 、F szi t i The y-direction component and z-direction component of the lifting force provided by the lifting wire rope at any time in the absolute coordinate system Oy z; (y si , z si ) are t i The Y-axis and Z-axis coordinates of the lifting point S of the lifting force of the wire rope at any moment in the absolute coordinate system Oyz; (y pi , z pi ) are t i The Y-axis and Z-axis coordinates of the point P of the saddle's pushing force on the bucket arm at the moment; the coordinate value of the point S in the absolute coordinate system Oyz (y si , z si ), the coordinate value of the action point P in the absolute coordinate system Oy z (y pi , z pi ) are respectively calculated by the pushing stroke fed back by the pushing stroke sensor and the inclination angle fed back by the inclination sensor; The arm-bucket mechanism is i Angular acceleration of rotation α i , angular velocity ω i And the arm-bucket mechanism in t i Relative acceleration at time a ri , relative speed v ri satisfy: In the above formula: (y′ A , z′ A ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site A of the first acceleration sensor in the relative coordinate system O-y'z'; (y' B , z′ B ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site B of the second acceleration sensor in the relative coordinate system O-y'z'; represents the y-direction component and the z-direction component of the acceleration value detected by the first acceleration sensor in the relative coordinate system O-y'z', It represents the y-direction component and the z-direction component of the acceleration value detected by the second acceleration sensor in the relative coordinate system O-y'z'.

6. A method for dynamically weighing materials in a mining excavator bucket based on a lifting and pushing process, which is achieved by implementing the device for dynamically weighing materials in a mining excavator bucket based on a lifting and pushing process as claimed in claim 2, It is characterized in that The steps include: S101, respectively establish the dynamic equations of the bucket arm-bucket mechanism and the material mass point at the initial moment and t i The dynamic equation of the arm-bucket mechanism and the overall material mass at the moment: The initial moment is the moment when the bucket leaves the pile, denoted as t 1 ; t i The time is the change of the pushing stroke ΔL during the bucket lifting and pushing process i Exceeding the preset push stroke threshold L * The time corresponding to time, where i≥1 and i is an integer; At the initial moment, the dynamic equations of the bucket-bucket mechanism and the overall material mass are as follows: m·[-(z′ c 2 +y′ c 2 )+z′ c A 1 +y′ c B 1 +C 1 ]+D 1 =J c ; t i At this moment, the dynamic equations of the bucket-bucket mechanism and the overall material mass are as follows: m{-[z′ c 2 +(and′ c +ΔL i ) 2 ]+z′ c TO i +(and′ c +ΔL i )B i +C i }+D i =J c ; Coefficient A i , B i , C i and the constant D i At any t i The value at the moment is calculated by the following formula: In the above formula, a ri The arm-bucket mechanism is i Relative acceleration at time, v ri The arm-bucket mechanism is i Relative speed at time, ω i The arm-bucket mechanism is i The angular velocity of rotation at any moment, α i The arm-bucket mechanism is i Angular acceleration of rotation at a moment; relative acceleration a ri , relative speed v ri , angular velocity ω i and the angular acceleration α i The t obtained by the first and second acceleration sensors i The acceleration at a A 、a B Calculate and obtain; r is the radius of the thrust axis in the saddle; g is the acceleration due to gravity; θ i is the feedback of the inclination sensor i The inclination angle at the moment; F syi 、F szi t i The y-direction component and z-direction component of the lifting force provided by the lifting wire rope at any time in the absolute coordinate system Oy z; (y si , z si ) are t i The Y-axis and Z-axis coordinates of the lifting point S of the lifting force of the wire rope at any moment in the absolute coordinate system Oyz; (y pi , z pi ) are t i The Y-axis and Z-axis coordinates of the point P of the saddle's pushing force on the bucket arm at the moment; the coordinate value of the point S in the absolute coordinate system Oyz (y si , z si ), the coordinate value of the action point P in the absolute coordinate system O-yz (y pi , z pi ) are respectively calculated by the pushing stroke fed back by the pushing stroke sensor and the inclination angle fed back by the inclination sensor; S102, obtaining the lifting force, pushing stroke, inclination angle, and acceleration of point A and point B of the lifting wire rope at four different times: 4 different moments, one of which is t 1 moment, and each of the remaining three moments satisfies ΔL i >L * The lifting force of the lifting wire rope is acquired through the force sensor installed on the lifting wire rope; the pushing stroke is acquired through the pushing stroke sensor; the inclination angle is acquired through the inclination sensor; the acceleration of point A is acquired through the first acceleration sensor; the acceleration of point B is acquired through the second acceleration sensor; S103: Using the sliding time window method, the arm-bucket mechanism and the material mass point dynamics equations at four different times are solved to obtain the mass m and the center of mass position (y' c ,z' c ); S104: Based on the overall mass m and the center of mass position (y' c ,z' c ), combined with the known mass and center of mass position of the dipper arm-bucket mechanism in the no-load state, the mass and center of mass position of the material itself can be obtained.

7. The method for dynamically weighing materials in a mining excavator bucket based on a lifting and pushing process according to claim 6, It is characterized in that In step S101, the arm-bucket mechanism is i Angular acceleration of rotation α i , angular velocity ω i Calculated by the following formula: The arm-bucket mechanism is i Relative acceleration at time a ri , relative speed v ri Calculated by the following formula: In the above formula: (y′ A , z′ A ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site A of the first acceleration sensor in the relative coordinate system O-y'z'; (y' B , z′ B ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site B of the second acceleration sensor in the relative coordinate system O-y'z'; represents the y-direction component and the z-direction component of the acceleration value detected by the first acceleration sensor in the relative coordinate system O-y'z', It represents the y-direction component and the z-direction component of the acceleration value detected by the second acceleration sensor in the relative coordinate system O-y'z'.

8. The method for dynamically weighing materials in a mining excavator bucket based on a lifting and pushing process according to claim 6, It is characterized in that In step S103, the order of the four different moments selected is: i ,t i+1 ,t i+2 and t i+3 ; By combining the arm-bucket mechanism and the material mass point dynamics equations at four different times, the following mass m and center of mass position (y') containing only the arm-bucket mechanism and the material as a whole can be constructed. c ,z' c ) equation: Tx = b; In the above formula: In the above formula, ΔL i Indicates that the arm-bucket mechanism is at t i The push stroke L of the bucket arm at the moment i The change relative to the last moment, the push stroke L i It is detected by the push stroke sensor. At this time, ΔL i >L * , L * is the preset push stroke threshold; coefficient A i , B i , C i and the constant D i At any t i The value at the moment is calculated by the following formula: In the above formula, a ri The arm-bucket mechanism is i Relative acceleration at time, v ri The arm-bucket mechanism is i Relative speed at time, ω i The arm-bucket mechanism is i The angular velocity of rotation at any moment, α i The arm-bucket mechanism is i The angular acceleration of the rotation at the moment; r is the radius of the thrust axis in the saddle; g is the gravitational acceleration; θ i is the feedback of the inclination sensor i The inclination of the moment; F syi 、F szi t i The y-direction component and z-direction component of the lifting force provided by the lifting wire rope at any time in the absolute coordinate system Oy z; (y si , z si ) are t i The Y-axis and Z-axis coordinates of the lifting point S of the lifting force of the wire rope at any moment in the absolute coordinate system Oyz; (y pi , z pi ) are t i The Y-axis and Z-axis coordinates of the point P of the saddle's pushing force on the bucket arm at the moment; the coordinate value of the point S in the absolute coordinate system Oyz (y si , z si ), the coordinate value of the action point P in the absolute coordinate system Oy z (y pi , z pi ) are respectively calculated by the pushing stroke fed back by the pushing stroke sensor and the inclination angle fed back by the inclination sensor; The arm-bucket mechanism is i Angular acceleration of rotation a i , angular velocity ω i And the arm-bucket mechanism in t i Relative acceleration at time a ri , relative speed v ri satisfy: In the above formula: (y′ A , z′ A ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site A of the first acceleration sensor in the relative coordinate system O-y'z'; (y' B , z′ B ) represents the Y-axis coordinate and the Z-axis coordinate of the installation site B of the second acceleration sensor in the relative coordinate system O-y'z'; represents the y-direction component and the z-direction component of the acceleration value detected by the first acceleration sensor in the relative coordinate system O-y'z', It represents the y-direction component and the z-direction component of the acceleration value detected by the second acceleration sensor in the relative coordinate system O-y'z'.

9. The method for dynamically weighing materials in a mining excavator bucket based on a lifting and pushing process according to claim 6, It is characterized in that The dynamic equations of the arm-bucket mechanism and the material mass are established by the following steps: Step 1. Use the accelerations at points A and B on the bucket arm to represent the acceleration of the center of mass of the bucket arm-bucket mechanism and the material as a whole: Step 1.

1. The relative acceleration of the center of mass of the bucket arm-bucket mechanism and the material as a whole is calculated by the following formula: In the above formula, Represents the y- and z-components of the absolute acceleration of the center of mass of the arm-bucket mechanism and the material as a whole in the relative coordinate system O-y'z'; y' C , z′ C It represents the y-direction component and the z-direction component of the center of mass of the bucket-arm mechanism and the material as a whole in the relative coordinate system O-y'z'; Angular acceleration α and square of angular velocity ω of arm-bucket rotation 2 Calculated by the following formula: In the above formula, y′ B , z′ B Indicates the y-direction component and z-direction component of point B on the boom in the relative coordinate system O-y'z'; represents the y-direction component and the z-direction component of the absolute acceleration directly measured by the second acceleration sensor in the relative coordinate system O-y'z'; y' A , z′ A Indicates the y-direction component and z-direction component of point A on the boom in the relative coordinate system O-y'z'; represents the y-direction component and the z-direction component of the absolute acceleration directly measured by the first acceleration sensor in the relative coordinate system O-y'z'; ω is the angular velocity of the arm-bucket rotation, and α is the angular acceleration of the arm-bucket rotation; Step 1.2: The acceleration of the center of mass of the arm-bucket mechanism and the material as a whole in the absolute coordinate system is: In the above formula: It represents the y-direction component and the z-direction component of the center of mass of the bucket-arm mechanism and the material as a whole in the absolute coordinate system; θ represents the inclination angle, which is obtained by the inclination sensor; Step 2: Establish the dynamic equation of the arm-bucket mechanism and the overall material mass at any time: Step 2.1, establish the dynamic equilibrium equations in the y-axis and z-axis directions as follows: In the formula, F py and F pz are the components of the pushing force on the y-axis and z-axis, respectively, sy and F sz are the components of the lifting force of the lifting wire rope in the y-axis and z-axis respectively; m represents the mass of the arm-bucket mechanism and the material as a whole; It represents the y-direction component and the z-direction component of the center of mass of the bucket-arm mechanism and the material as a whole in the absolute coordinate system; Step 2.2: According to the law of conservation of angular momentum in rigid body dynamics, the moment of the center of mass of the bucket-arm mechanism and the material as a whole is obtained: F py (z c -z p )-F pz (y c -y p )+F sy (z c -z s )-F sz (y c -y s )=J c α; Where: y c 、z c It represents the y-component and z-component of the center of mass of the bucket-arm mechanism and the material as a whole in the absolute coordinate system; s 、z s It represents the y-direction component and z-direction component of the lifting force of the lifting wire rope at the point S in the absolute coordinate system; p 、z p Indicates the y-direction component and the z-direction component of the point P of the saddle's pushing force on the stick in the absolute coordinate system; J c It represents the center of mass moment of inertia of the arm-bucket mechanism and the material as a whole; α represents the angular acceleration of the arm-bucket rotation; Step 2.3: Construct the dynamic equation of the arm-bucket mechanism and the overall material mass: Combining the acceleration expression of the center of mass of the bucket-bucket mechanism and the material as a whole in the absolute coordinate system established in step 1.2 and the moment expression of the center of mass of the bucket-bucket mechanism and the material as a whole established in step 2.2, the dynamic equation of the bucket-bucket mechanism and the material as a whole can be obtained as follows: m[-(z′ c 2 +y′ c 2 )+z′ c A+y′ c B+C]+D=J c ; In the above formula, at any time, A, B, C, and D can be calculated based on the structural parameters and sensor readings; r is the radius of the push shaft in the saddle.

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