Device and method for acquiring quantity of crushed materials of breaking hammer excavator

Abstract

The invention provides a device and method for obtaining the amount of crushed materials of a breaking hammer excavator, and relates to the technical field of breaking hammer excavators. The acquisition device comprises a controller, a display and a data acquisition assembly, the display and the data acquisition assembly are respectively in communication connection with the controller, and a calculation program is built in the controller; the data acquisition component is used for acquiring various working data of the breaking hammer excavator, the controller is used for calculating the amount of broken materials through a built-in calculation program, and the display is used for displaying a calculation result of the controller and performing man-machine interaction; in the obtaining method, the volume Vtotal of the crushed material is calculated to be equal to the volume VS1 of the direct crushing area S1 and the volume VS2 of the indirect crushing area S2 on the peripheral side of the S1. On the basis, the problems that in the prior art, when the amount of the materials crushed by the breaking hammer excavator is obtained, a manual measurement and calculation mode is often adopted, an efficient and accurate material amount obtaining device and method are lacked, and negative influences can be generated on the construction effect, efficiency and progress are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of breaker hammer excavators, and in particular to a device and method for obtaining the amount of crushed material of a breaker hammer excavator. Background Art

[0002] A breaker excavator is a kind of engineering machinery equipment that combines the functions of an excavator and a breaker. It is mainly composed of an excavator body and a breaker. It has been widely used in mining crushing construction, cement road crushing construction and other working conditions. In mining crushing construction, after the materials are crushed by a breaker excavator, they are generally used in conjunction with excavators and mining trucks for subsequent material transfer to put the crushed materials into processing or use.

[0003] At present, in the process of construction work of hammer excavators, the amount of crushed materials is often measured manually with the help of tools such as tape measures. This method is not only time-consuming and labor-intensive, but also has large errors in the data obtained for the irregular crushing areas and different crushing depths that often occur in mines. Based on this, in the process of loading with hammer excavators, excavators and mining trucks, it is very likely that the material quantity will not be perfectly matched, which will affect the construction effect and progress; and it is not conducive to accurately planning the number of vehicle drivers required, which will reduce construction efficiency.

[0004] In the prior art, although there are some devices for measuring the impact force of a breaker hammer, such as a breaker hammer impact force testing device provided by a device with publication number CN114001851A, most of these devices focus on the performance parameters of the breaker hammer itself, and cannot obtain or help to obtain the amount of material crushed by the breaker hammer excavator in each construction operation; therefore, the present invention specifically proposes a device and method for obtaining the amount of material crushed by a breaker hammer excavator. Summary of the invention

[0005] The purpose of the present invention is to provide a device and method for obtaining the amount of material crushed by a breaker hammer excavator, so as to solve the following problems mentioned in the above background technology part: In the prior art, when obtaining the amount of material crushed by a breaker hammer excavator, manual measurement is often adopted, and there is a lack of efficient and accurate material amount obtaining devices and methods, which will ultimately have a negative impact on the construction effect, efficiency and progress.

[0006] The present invention is achieved by adopting the following technical solutions:

[0007] A device for obtaining the amount of crushed materials of a breaker hammer excavator comprises a controller, a display and a data acquisition component, wherein the display and the data acquisition component are respectively connected to the controller for communication, and the controller has a built-in calculation program; the data acquisition component is used to collect various working data of the breaker hammer excavator, the controller calculates the amount of crushed materials through the built-in calculation program, and the display is used to display the calculation result of the controller and perform human-computer interaction; the various working data include pressure data, position data, displacement data, angle data and distance data.

[0008] Furthermore, the data acquisition component includes a vehicle data acquisition device, a secondary pressure sensor of a crushing pilot valve, two displacement sensors, a hammer pressure sensor, a gyroscope and two distance sensors; the hammer pressure sensor is connected to the crushing hammer oil inlet pipeline of the crushing hammer excavator, the two displacement sensors are respectively installed on the boom cylinder and bucket cylinder of the crushing hammer excavator, the vehicle data acquisition device is installed in the cab of the crushing hammer excavator, the crushing pilot valve secondary pressure sensor is arranged on the crushing pilot valve at the bottom of the cab of the crushing hammer excavator, the gyroscope is fixed on the side surface of the crushing hammer of the crushing hammer excavator, and the two distance sensors are respectively installed on the left and right side planes of the crushing hammer of the crushing hammer excavator.

[0009] A method for obtaining the amount of crushed material by a breaker hammer excavator, using the above-mentioned device for obtaining the amount of crushed material by a breaker hammer excavator, wherein the controller calculates the volume V of the crushed material through a built-in calculation program based on various working data of the breaker hammer excavator collected by the data collection component. 总 , V 总 =V S1 +V S2 , among which, when the breaker hammer excavator performs the crushing operation, several crushing points will be formed, V S1 is the volume of the direct crushing area S1 caused by several crushing points, V S2 It is the volume of the indirect crushing area S2 around S1, and the indirect crushing area S2 around S1 is caused by the vibration impact of the breaker.

[0010] Furthermore, the V S1 The steps to obtain are as follows:

[0011] Step SV S1 -1: As the crushing operation proceeds, the controller's built-in program identifies each crushing point in turn, and calculates the horizontal position of the breaker hammer rod tip and the immersion depth H0 of the breaker hammer rod tip corresponding to each crushing point;

[0012] Step SV S1-2: When the number of broken points is ≥3, the built-in program automatically builds a model to construct the direct broken area S1 caused by several broken points into several equivalent triangular prism models;

[0013] Step SV S1 -3: The built-in program calculates the volumes of several equivalent triangular prism models respectively, and then sums up the volumes to obtain the volume V of the direct crushing area S1 S1 .

[0014] Furthermore, the step SV S1 -1 includes the following sub-steps:

[0015] Step SV S1 -1-1: After the breaker excavator starts working, the data acquisition component continuously collects the corresponding working data and transmits it to the controller;

[0016] Among them, the crushing pilot valve secondary pressure sensor and the hammer head pressure sensor collect crushing pilot valve secondary pressure data and hammer head pressure data respectively. When the crushing pilot valve secondary pressure data and hammer head pressure data are respectively greater than or equal to the corresponding upper limit values, the built-in program recognizes that this is the beginning of the crushing state;

[0017] Step SV S1 -1-2: When the secondary pressure data of the crushing pilot valve and the hammer pressure data are reduced to less than or equal to the corresponding lower limit values, the built-in program recognizes that this is the end of crushing;

[0018] Step SV S1 -1-3: The position of the breaker rod tip at the end of the crushing is the crushing point.

[0019] At this time, the controller reads the position data of the breaker hammer excavator located by the vehicle data acquisition device, the displacement data of the arm cylinder and bucket cylinder of the breaker hammer excavator respectively collected by the two displacement sensors, and the angle data of the breaker hammer azimuth and pitch angle of the breaker hammer excavator collected by the gyroscope, and then the built-in program calculates the horizontal distance between the breaker hammer drill tip and the center of the boom fixed pin shaft hole based on the above data, and locates the horizontal position of the breaker hammer drill tip according to the horizontal distance;

[0020] On the other hand, the controller reads the distance to the upper surface of the material collected by the two distance sensors, and then the built-in program calculates the immersion depth H0 of the breaker hammer drill tip based on the distance from the ground;

[0021] Step SV S1 -1-4: When the built-in program recognizes the crushing state again and the position of the breaker rod changes, the above steps are repeated SV S1 -1-2 to step SV S1-1-3, to identify the next breaking point and obtain the corresponding horizontal position of the breaker hammer drill tip and the immersion depth H0 of the breaker hammer drill tip;

[0022] In this cycle, several crushing points are identified and the corresponding horizontal position of the breaker hammer drill rod tip and the immersion depth H0 of the breaker hammer drill rod tip are obtained until the breaker hammer excavator completes the crushing operation.

[0023] Furthermore, the step SV 11 -2 includes the following sub-steps:

[0024] Step SV S1 -2-1: When the number of broken points is ≥3, the built-in program models every three adjacent broken points into a triangle;

[0025] Step SV S1 -2-2: Extend the three crushing points on each triangle in a direction perpendicular to the triangle according to their respective crushing depths H, and form three corresponding extended positioning points after extension. The three extended positioning points are modeled into another extended triangle;

[0026] Step SV S1 -2-3: Combine the above triangle and the extended triangle to construct an equivalent triangular prism model;

[0027] Step SV S1 -2-4: When the number of broken points continues to increase, the newly added broken points and the broken points that have been modeled are modeled into new triangles according to the principle of proximity, non-overlapping and non-overlapping, and then step SV is repeated. S1 -2-2 and step SV S1 -2-3, construct several equivalent triangular prism models until the breaker excavator completes the current crushing operation.

[0028] Furthermore, the step SV S1 -2: The crushing depth H includes the immersion depth H0 of the breaker hammer drill tip, and also includes the indirect crushing depth d1 below the breaker hammer drill tip caused by impact, that is, H=H0+d1.

[0029] Furthermore, the step SV S1 -2: When the crushing depth H of a certain crushing point is less than the set value, this crushing point will no longer be identified as a crushing point, nor will it participate in subsequent modeling; when the newly added crushing point is located in the modeled triangle area, this newly added crushing point will no longer be identified as a crushing point, nor will it participate in subsequent modeling.

[0030] Furthermore, the V S2 The steps to obtain are as follows:

[0031] Step SV S2 -1: The built-in program identifies the outer contour boundary line B1 of the direct crushing area S1, and each crushing point located on the outer contour boundary line B1;

[0032] Step SV S2 -2: The distance between the outer contour boundary line B2 of the indirect crushing area S2 around S1 and the outer contour boundary line B1 is set as the boundary distance d2. According to the position data between each crushing point on the outer contour boundary line B1 and the boundary distance d2, the horizontal area S of the indirect crushing area S2 around S1 is calculated. S2 ;

[0033] Step SV S2 -3: The crushing depth of the indirect crushing area S2 on the side of S1 is set to the depth d4, and the volume V of the indirect crushing area S2 on the side of S1 is calculated S2 =S S2 *d4.

[0034] Furthermore, the boundary distance d2 is obtained by taking the average value of the side lengths of several triangles modeled in the direct crushing area S1 and dividing it by 2; the depth d4 is obtained by taking the average value of the crushing depths H of several crushing points in the direct crushing area S1.

[0035] The beneficial effects achieved by the present invention are:

[0036] A device for obtaining the amount of crushed materials of a breaker hammer excavator is provided. By setting a data acquisition component and a controller, various working data of the breaker hammer excavator can be collected, and the volume of the crushed materials can be calculated through a calculation program built into the controller; on this basis, a method for obtaining the amount of crushed materials of a breaker hammer excavator is provided. The volume of the direct crushing area S1 and the indirect crushing area S2 around S1 is calculated respectively, and then the total volume of the crushed materials can be obtained by summing them. Compared with the prior art, the present invention can automatically, efficiently and accurately obtain the amount of crushed materials, thereby facilitating the subsequent material docking and planning the number of personnel required, thereby helping to improve the construction effect and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic diagram of the arrangement of the acquisition device described in Example 1 of the present invention on a breaker hammer excavator;

[0038] Figure 2 is a schematic diagram of a control framework of an acquisition device according to Embodiment 1 of the present invention;

[0039] Figure 3 is a schematic flow chart of the steps of the acquisition method described in Example 1 of the present invention;

[0040] Figure 4 It is a schematic diagram of the direct crushing area S1 and the indirect crushing area S2 around S1 according to Example 1 of the present invention;

[0041] Figure 5 is a schematic diagram of the distribution relationship of the reference points described in Example 1 of the present invention;

[0042] Figure 6 is a schematic diagram of the equivalent triangular prism model described in Example 1 of the present invention;

[0043] Figure 7 Schematic diagram of the moving trajectory of the drill rod tip of the breaker hammer according to Embodiment 1 of the present invention;

[0044] Figure 8 This is a schematic diagram of pressure data changes of a certain breaker hammer excavator according to Example 1 of the present invention;

[0045] In the figure: 1. Breaker hammer excavator; 2. Controller; 3. Vehicle data acquisition equipment; 4. Display; 5. Secondary pressure sensor of crusher pilot valve; 6. Displacement sensor; 7. Hammer head pressure sensor; 8. Gyroscope; 9. Distance sensor. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0047] Example 1

[0048] The first aspect of this embodiment provides a device for obtaining the amount of crushed material of a breaker hammer excavator. Figure 1 to Figure 2 , including a controller 2, a display 4 and a data acquisition component. The display 4 and the data acquisition component are respectively connected to the controller 2 for communication. The controller 2 has a built-in calculation program. The data acquisition component is used to collect various working data of the breaker hammer excavator 1. The controller 2 calculates the amount of crushed materials through the built-in calculation program. The display 4 is used to display the calculation results of the controller 2 and perform human-computer interaction.

[0049] Specifically:

[0050] The various working data collected by the data acquisition component include pressure data, position data, displacement data, angle data and distance data. The data acquisition component includes a vehicle data acquisition device 3, a crushing pilot valve secondary pressure sensor 5, two displacement sensors 6, a hammer head pressure sensor 7, a gyroscope 8 and two distance sensors 9; wherein, the vehicle data acquisition device 3 in this embodiment specifically adopts a Vehicle Box instrument (VBOX instrument for short), which can realize the positioning function and accurately collect various key parameters such as the vehicle's speed, distance, time, acceleration, deceleration, etc.

[0051] The vehicle data acquisition device 3, the controller 2 and the display 4 are installed in the cab of the breaker hammer excavator 1; the hammer head pressure sensor 7 is connected to the breaker hammer oil inlet pipeline of the breaker hammer excavator 1; the two displacement sensors 6 are respectively installed on the dipper rod cylinder and the bucket cylinder of the breaker hammer excavator 1; the secondary pressure sensor 5 of the breaker pilot valve is provided by the breaker hammer excavator 1 and is arranged on the breaker pilot valve at the bottom of the cab of the breaker hammer excavator 1; the gyroscope 8 is fixed on the side surface of the breaker hammer of the breaker hammer excavator 1, and the installation angle must be parallel to the axis of the breaker hammer drill rod, and the gyroscope 8 is arranged in the protective cover of the gyroscope 8; the two distance sensors 9 are respectively installed on the left and right side planes of the breaker hammer of the breaker hammer excavator 1, and the signal transmission angles of the two distance sensors 9 must be parallel to the axis of the breaker hammer drill rod, and the front and rear directions are aligned with the axis of the breaker hammer drill rod, and the two distance sensors 9 are respectively arranged in the protective covers of the two distance sensors 9.

[0052] The second aspect of this embodiment provides a method for obtaining the amount of material crushed by a breaker hammer excavator. The method uses the above-mentioned obtaining device. Please refer to Figures 3 to 8 In this acquisition method, the controller calculates the volume V of the crushed material through a built-in calculation program based on various working data of the crushing hammer excavator 1 collected by the data acquisition component. 总 , V 总 =V S1 +V S2 ; Volume of crushed material V 总 and the broken area is shown on the display;

[0053] When the breaker hammer excavator 1 performs the crushing operation, several crushing points are formed. S1 is the volume of the direct crushing area S1 caused by several crushing points, V S2 It is the volume of the indirect crushing area S2 around S1, and the indirect crushing area S2 around S1 is caused by the vibration impact of the breaker.

[0054] Specifically:

[0055] Volume V of direct crushing area S1 S1 The steps to obtain are as follows:

[0056] Step SV S1 -1: As the crushing operation proceeds, each crushing point is identified in turn through the built-in program of the controller 2, and the horizontal position of the breaker hammer drill tip and the immersion depth H0 of the breaker hammer drill tip corresponding to each crushing point are calculated;

[0057] Step SV S1-2: When the number of broken points is ≥3, the built-in program automatically builds a model to construct the direct broken area S1 caused by several broken points into several equivalent triangular prism models;

[0058] Step SV S1 -3: The built-in program calculates the volumes of several equivalent triangular prism models respectively, and then sums up the volumes to obtain the volume V of the direct crushing area S1 S1 .

[0059] in:

[0060] Step SV S1 -1 includes the following sub-steps:

[0061] Step SV S1 -1-1: After the breaker excavator 1 starts working, the data acquisition component continuously collects the corresponding working data and transmits it to the controller;

[0062] Among them, the crushing pilot valve secondary pressure sensor 5 and the hammer head pressure sensor 7 collect crushing pilot valve secondary pressure data and hammer head pressure data respectively. When the crushing pilot valve secondary pressure data and hammer head pressure data are respectively greater than or equal to the corresponding upper limit values, the built-in program recognizes that this is the beginning of the crushing state;

[0063] Step SV S1 -1-2: When the secondary pressure data of the crushing pilot valve and the hammer pressure data are reduced to less than or equal to the corresponding lower limit values, the built-in program recognizes that this is the end of crushing;

[0064] Step SV S1 -1-3: The position of the breaker rod tip at the end of the crushing is the crushing point.

[0065] At this time, the controller reads the position data of the breaker hammer excavator 1 located by the vehicle data acquisition device 3, the displacement data of the arm cylinder and the bucket cylinder of the breaker hammer excavator 1 respectively collected by the two displacement sensors 6, and the angle data of the breaker hammer azimuth and pitch angle of the breaker hammer excavator 1 collected by the gyroscope 8, and then the built-in program calculates the horizontal distance between the breaker hammer drill rod tip and the center of the boom fixed pin shaft hole based on the above data and the distance between the built-in working device pins and the breaker hammer size, and locates the horizontal position of the breaker hammer drill rod tip according to the horizontal distance;

[0066] On the other hand, the controller reads the distances to the upper surface of the material respectively collected by the two distance sensors 9, and then the built-in program calculates the immersion depth H0 of the breaker hammer drill tip based on the distance from the ground and the fixed installation distance of the built-in distance sensor from the breaker hammer drill tip;

[0067] In the process from the initial crushing state to the final crushing state, the breaker hammer drill rod may repeatedly move up and down, thereby generating multiple breaker hammer drill rod tip immersion depths H0; in this embodiment, the maximum value of the breaker hammer drill rod tip immersion depth H0 and the horizontal distance between the breaker hammer drill rod tip and the center of the boom fixed pin shaft hole corresponding to the maximum value are taken.

[0068] Step SV S1 -1-4: When the built-in program recognizes the crushing state again and the position of the breaker rod changes, the above steps are repeated SV S1 -1-2 to step SV S1 -1-3, to identify the next breaking point and obtain the corresponding horizontal position of the breaker hammer drill tip and the immersion depth H0 of the breaker hammer drill tip;

[0069] In this way, several crushing points are identified and the corresponding horizontal position of the hammer drill tip and the immersion depth H0 of the hammer drill tip are obtained until the hammer excavator 1 completes the current crushing operation. The current crushing operation refers to the crushing of materials in a certain area by the hammer excavator 1 at a certain site; when the hammer excavator 1 changes the site or area, it means that a new crushing operation has started, and the process will be re-executed from the beginning.

[0070] Step SV S1 -2 includes the following sub-steps:

[0071] Step SV S1 -2-1: When the number of broken points is ≥3, the built-in program models every three adjacent broken points into a triangle;

[0072] Step SV S1 -2-2: Extend the three crushing points on each triangle in a direction perpendicular to the triangle according to their respective crushing depths H, and form three corresponding extended positioning points after extension. The three extended positioning points are modeled into another extended triangle;

[0073] Step SV S1 -2-3: Combine the above triangle and the extended triangle to construct an equivalent triangular prism model;

[0074] Step SV S1 -2-4: When the number of broken points continues to increase, the newly added broken points and the broken points that have been modeled are modeled into new triangles according to the principle of proximity, non-overlapping and non-overlapping, and then step SV is repeated. S1 -2-2 and step SV S1 -2-3, construct several equivalent triangular prism models until the breaker excavator 1 completes the current crushing operation.

[0075] Among them: the crushing depth H includes the immersion depth H0 of the breaker hammer rod tip, and also includes the indirect crushing depth d1 below the breaker hammer rod tip caused by impact, that is, H=H0+d1. The indirect crushing depth d1 is determined by factors such as the material, hardness and strength of the breaker hammer rod tip, and can be input as a parameter from the display into the built-in program. When the crushing depth H of a certain crushing point is less than the set value, it means that this crushing point cannot be crushed and needs to be replaced at a new position for crushing. In this case, this crushing point will not be identified as a crushing point and will not participate in subsequent modeling; when the newly added crushing point is located in the triangle area that has been modeled, this newly added crushing point will not be identified as a crushing point and will not participate in subsequent modeling.

[0076] The volume V of the indirect crushing area S2 around S1 S2 The steps to obtain are as follows:

[0077] Step SV S2 -1: The direct crushing area S1 is the total contour area formed by several equivalent triangular prism models. The built-in program identifies the outer contour boundary line B1 of the direct crushing area S1 and each crushing point located on the outer contour boundary line B1;

[0078] Step SV S2 -2: The distance between the outer contour boundary line B2 of the indirect crushing area S2 around S1 and the outer contour boundary line B1 is set as the boundary distance d2. According to the position data between each crushing point on the outer contour boundary line B1 and the boundary distance d2, the horizontal area S of the indirect crushing area S2 around S1 is calculated. S2 ;

[0079] Step SV S2 -3: The crushing depth of the indirect crushing area S2 on the side of S1 is set to the depth d4, and the volume V of the indirect crushing area S2 on the side of S1 is calculated S2 =S S2 *d4.

[0080] The boundary distance d2 is obtained by taking the average value of the side lengths of several triangles modeled in the direct crushing area S1 and dividing it by 2; the depth d4 is obtained by taking the average value of the crushing depths H of several crushing points in the direct crushing area S1.

[0081] Below, combined with the attached Figure 1 , 4 , 5, 6, 7, specifically explain the calculation method of the above steps:

[0082] Please refer to Figure 1 and Figure 5In this embodiment, the center point of the rear pin hole of the boom is recorded as point M; the center point of the front pin hole of the boom coincides with the center point of the rear pin hole of the bucket arm, which is recorded as point B; the center point of the front pin hole of the bucket arm coincides with the center point of the rear pin hole of the breaker hammer, which is recorded as point C; the center point of the front pin hole of the bucket cylinder and the center point of the rear pin hole are recorded as point D and point E respectively; the center point of the rear pin hole of the bucket cylinder is recorded as point X; the center point of the front pin hole of the bucket cylinder coincides with the center point of the upper pin hole of the rocker arm and the center point of the upper pin hole of the connecting rod, which are recorded as Point P; the center point of the middle pin hole of the boom coincides with the center point of the lower pin hole of the connecting rod, which is recorded as point N; the center point of the front pin hole of the rocker arm coincides with the center point of the front pin hole of the breaker hammer, which is recorded as point O; the intersection of the center line of the breaker hammer drill rod and the lower tip is recorded as point W; a vertical extension line is made from the center line of the drill rod from point W, and the intersection of the vertical extension line and the upper surface of the breaker hammer is recorded as point Z; a vertical extension line is made vertically downward from point M, and a horizontal extension line is made from point W along the horizontal direction, and the intersection between the vertical extension line and the horizontal extension line is recorded as point H.

[0083] 1) Step SV Si -1-3 The horizontal distance between the tip of the breaker hammer drill rod and the center of the fixed pin hole of the boom that needs to be calculated is the horizontal distance between point W and point M, which is WH. The calculation formula is as follows:

[0084] WH=MW×cos∠MWH,

[0085] For MW:

[0086] From the cosine theorem, we know that

[0087]

[0088] For MC:

[0089]

[0090] Specifically, from the cosine theorem, we know that

[0091]

[0092] but:

[0093] ∠MBC=360-∠DBC-∠DBE-∠EBM. For ∠MCW:

[0094] ∠MCW=360-∠OCW-∠MCN-∠NCP-∠PCO,

[0095]

[0096] For MN:

[0097]

[0098] Specifically, from the cosine theorem, we know that

[0099]

[0100] but:

[0101] ∠MCN=∠BCN+∠MCB.

[0102] For PC:

[0103]

[0104] Specifically, from the cosine theorem we know that:

[0105]

[0106] but:

[0107] ∠PNC=360-∠XNP-∠XNB-∠BNC.

[0108] For ∠MWH:

[0109] ∠MWH=180-∠MWC-∠CWZ-∠θ,

[0110]

[0111] Among them, θ is the pitch angle of the breaker.

[0112] 2) Step SV S1 -1-3 The calculation method of the immersion depth H0 of the hammer drill tip required is as follows:

[0113] Assume that the fixed installation distance between the two distance sensors and the tip of the breaker hammer rod in the vertical direction is H1. At a certain crushing point, suppose the distances from the upper surface of the material collected by the two distance sensors are h1 and h2 respectively, then H0=H1-(h1+h2) / 2.

[0114] Among them, the tip of the breaker hammer drill rod will wear out in actual use, and then the length of the breaker hammer drill rod will gradually shorten with use; however, the wear rate is very slow. For example, materials with normal hardness will usually wear out 1 to 2 mm after 100 to 300 hours of use, and materials with higher hardness will usually wear out 1 to 2 mm after 50 to 80 hours of use. Therefore, the change in the length of the breaker hammer drill rod caused by wear can usually be ignored; but if the wear is really serious, the fixed installation distance H1 can be re-measured and the built-in program can be input from the display; when the wear affects the use, a new drill rod can be replaced.

[0115] 3) When the breaker hammer excavator 1 adjusts the crushing position, the position of the breaker hammer rod tip is obtained by the following calculation method:

[0116] Please refer to Figure 7 , assuming that when the breaker hammer excavator 1 is at a certain crushing position L, the angle of the horizontal azimuth of the breaker hammer collected by the gyroscope 8 is α, and after moving to another crushing position U, the angle of the horizontal azimuth of the breaker hammer collected by the gyroscope 8 is β. The vehicle data acquisition device 3 can locate the point where the breaker hammer excavator 1 is located, and the gyroscope 8 obtains the horizontal azimuth angle of the breaker hammer. Suppose the fixed point of the vehicle data acquisition device 3 in the cab is point T, and a vertical line is drawn from point T to the WM direction in the top view direction. The vertical line intersects with WM or the extension line of WM at point J, then the lateral distance between point T and point J is TJ, and the longitudinal distance is JM. Based on this, combined with the calculated horizontal distance WH, the position of the breaker hammer rod tip in the top view direction can be located.

[0117] 4) Step SV S1 -3, the volume of several equivalent triangular prism models to be calculated is calculated as follows:

[0118] Taking an equivalent triangular prism model as an example, assuming that the immersion depths H0 of the hammer drill tip corresponding to three adjacent crushing points are h3, h4, and h5 respectively, then the crushing depths H corresponding to these three crushing points are h3+d1=h4+d1=h5+d1 respectively; the value of d1 can be referred to the following table:

[0119] Table 1 Reference for the value of indirect crushing depth d1

[0120]

[0121] ①Please refer to Figure 6 In (a), if the penetration depth H0 of the drill rod tip of the three crushing points is equal, that is, the lengths of the three sides of the triangular prism are equal, that is, h3+d1=h4+d1=h5+d1, then the equivalent triangular prism model is a standard triangular prism shape, at this time:

[0122] V = S × h, the bottom area S is calculated according to Heron's formula, and the semi-circumference s = (GF + GQ + FQ) / 2,

[0123]

[0124] h=GG′, GG′=h3+d1=h4+d1=h5+d1.

[0125] ②Please refer to Figure 6In (b), if the immersion depth H0 of the breaker hammer drill tip at two of the crushing points is equal and less than the immersion depth H0 of the breaker hammer drill tip at the other crushing point, that is, the length of two sides of the triangular prism is equal and less than the length of the other side, that is, h3+d1=h4+d1<h5+d1, then the equivalent triangular prism model is a triangular prism shape with non-parallel upper and lower surfaces. For this, the fractal method is used to first form a standard triangular prism according to the height of the shortest side, and then add a triangular pyramid. At this time:

[0126] V=V 三棱柱 +V 三棱锥 ; V 三棱柱 =S×h, the solution of the bottom area S refers to ①,

[0127] h=QQ′=h3+d1=h4+d1;V 三棱锥 =1 / 3×S×G′G″.

[0128] ③Please refer to Figure 6 In (c), if the immersion depth H0 of the breaker hammer drill tip at two of the crushing points is equal and greater than the immersion depth H0 of the breaker hammer drill tip at the other crushing point, that is, the length of two sides of the triangular prism is equal and greater than the length of the other side, that is, h3+d1=h4+d1>h5+d1, then the equivalent triangular prism model is a triangular prism shape with non-parallel upper and lower surfaces. For this, the complementary method is used to first form a standard triangular prism according to the height of the longest side, and then subtract a triangular pyramid. At this time:

[0129] V=V 三棱柱 -V 三棱锥 ; V 三棱柱 =S×h, the solution of the bottom area S refers to ①,

[0130] h=QQ′=h3+d1=h4+d1;V 三棱锥 =1 / 3×S×G′G″.

[0131] ④Please refer to Figure 6 In (d), if the penetration depths H0 of the drill rod tips of the three crushing points are not equal, that is, the lengths of the three sides of the triangular prism are not equal, for example, h3+d1>h4+d1>h5+d1, then the equivalent triangular prism model is a triangular prism shape with non-parallel upper and lower surfaces. For this, the complementary method is used to form a standard triangular prism according to the longest height; this is equivalent to complementing a quadrangular pyramid, which is composed of two triangular pyramids, one of which has the vertex G′ of the shortest side as the vertex, and the corresponding bottom triangle is G″F′Q′, and the other triangular pyramid has the vertex F′ of the middle length side as the vertex, and the corresponding bottom triangle is G″F″Q′. At this time:

[0132] V=V 三棱柱 -V 四棱锥 , V三棱柱 =S×h, the solution of the bottom area S refers to the above, h=QQ′=h3+d1; V 四棱锥 =V 三棱锥F′-G″F″Q′ +V 三棱锥G′-G″F′Q′ , V 三棱锥F′-G″F″Q′ =1 / 3×S×F′F″, V 三棱锥G′-G″F′Q′ =1 / 3×S 三角形G″F′Q′ ×G′R;

[0133] Bottom area S 三角形G″F′Q′ According to Heron's formula,

[0134] Half circumference 三角形G″F′Q′ =(G″F′+F′Q′+G″Q′) / 2, ; R is the perpendicular point of G′ to the bottom surface G″F′Q′, G″R=2 / 3×G″I; According to the triangle median theorem, G′G″=GG″-GG′, F′F″=FF″-FF′, where GG″=FF″=QQ′; G′ is the vertex of the triangular pyramid G′-G″F′Q′, G′R is the height of the triangular pyramid G′-G″F′Q′, and R is the centroid of the triangle G″F′Q′.

[0135] According to the order of formation, let the volumes of several equivalent triangular prism models be v1, v2, ..., vn, respectively. Then V S1 =v1+v2+……vn.

[0136] 5) Step SV S2 -3 The volume V of the indirect crushing area S2 around S1 that needs to be calculated S2 , the calculation method is as follows:

[0137] Please refer to Figure 4 The built-in program identifies the outer contour boundary line B1 of the direct crushing area S1 and each crushing point on the outer contour boundary line B1. Taking the crushing point f as an example, the angle formed by the outer contour boundary line B1 at the intersection is automatically calculated, taking ∠efg as an example; because the outer contour boundary line B2 of the indirect crushing area S2 on the side of S1 is parallel to the outer contour boundary line B1 of the direct crushing area S1, the corresponding angle ∠jkl = ∠efg;

[0138]

[0139] but

[0140] ∠jkl=∠efg=∠ifg+∠efi,

[0141]

[0142] jk=jf*cot∠jkf=d2*cot∠jkf;

[0143] Similarly, calculate the length of on;

[0144] S 梯形enkf =1 / 2*(on+oj+jk+ef)*d2;

[0145] The area of ​​other trapezoids is calculated in the same way. The horizontal area of ​​the indirect crushing area S2 around S1 is S S2 is the sum of the areas of each trapezoid;

[0146] v S2 =S S2 *d4.

[0147] It should be noted that: first, there is still an error between the material quantity value finally obtained by the present invention and the actual material quantity value. The error comes from factors such as the vertical extension of the default crushing depth in the equivalent triangular prism model. However, after experimental verification, the error is within the allowable range and will not have a substantial impact on the technical effect to be achieved; second, the parts that are not described in detail or in detail in the above scheme, such as the specific implementation method of the communication connection, the specific content and working principle of the built-in program, etc., are all prior art, and do not belong to the improvements made by the present invention on the prior art, nor do they belong to the protection scope of the technical scheme of the present invention, and therefore will not be repeated in this article.

[0148] Of course, the above contents are only preferred embodiments of the present invention and cannot be considered to limit the scope of the embodiments of the present invention. The present invention is not limited to the above examples, and equal changes and improvements made by ordinary technicians in the technical field within the essential scope of the present invention should all fall within the scope of the patent coverage of the present invention.

Claims

1. A device for obtaining the amount of crushed material of a breaker hammer excavator, characterized in that: It comprises a controller (2), a display (4) and a data acquisition component, wherein the display (4) and the data acquisition component are respectively connected to the controller (2) for communication, and the controller (2) has a built-in computing program; The data acquisition component is used to collect various working data of the breaker hammer excavator (1); the controller (2) calculates the amount of crushed materials through a built-in calculation program; the display (4) is used to display the calculation result of the controller (2) and perform human-computer interaction; the various working data include pressure data, position data, displacement data, angle data and distance data.

2. The device for obtaining the amount of crushed material of a breaker hammer excavator according to claim 1, characterized in that: The data acquisition component comprises a vehicle data acquisition device (3), a crushing pilot valve secondary pressure sensor (5), two displacement sensors (6), a hammer head pressure sensor (7), a gyroscope (8) and two distance sensors (9); The hammer head pressure sensor (7) is connected to the oil inlet pipeline of the breaker hammer of the breaker hammer excavator (1); the two displacement sensors (6) are respectively installed on the boom cylinder and the bucket cylinder of the breaker hammer excavator (1); the vehicle data acquisition device (3) is installed in the cab of the breaker hammer excavator (1); the breaker pilot valve secondary pressure sensor (5) is arranged on the breaker pilot valve at the bottom of the cab of the breaker hammer excavator (1); the gyroscope (8) is fixed on the side surface of the breaker hammer of the breaker hammer excavator (1); and the two distance sensors (9) are respectively installed on the left and right side planes of the breaker hammer of the breaker hammer excavator (1).

3. A method for obtaining the amount of crushed material by a breaker hammer excavator, using the device for obtaining the amount of crushed material by a breaker hammer excavator according to any one of claims 1 to 2, characterized in that: The controller (2) calculates the volume V of the crushed material through a built-in calculation program based on various working data of the crushing hammer excavator (1) collected by the data collection component. 总 , V 总 =V S1 +V S2 , When the breaker hammer excavator (1) performs the crushing operation, several crushing points are formed, V S1 is the volume of the direct crushing area S1 caused by several crushing points, V S2 It is the volume of the indirect crushing area S2 around S1, and the indirect crushing area S2 around S1 is caused by the vibration impact of the breaker.

4. The method for obtaining the amount of crushed material by a breaker hammer excavator according to claim 3, characterized in that: The V S1 The steps to obtain are as follows: Step SV S1 -1: As the crushing operation proceeds, each crushing point is identified in turn through the built-in program of the controller (2), and the horizontal position of the crushing hammer drill tip and the immersion depth H0 of the crushing hammer drill tip corresponding to each crushing point are calculated; Step SV S1 -2: When the number of broken points is ≥3, the built-in program automatically builds a model to construct the direct broken area S1 caused by several broken points into several equivalent triangular prism models; Step SV S1 -3: The built-in program calculates the volumes of several equivalent triangular prism models respectively, and then sums up the volumes to obtain the volume V of the direct crushing area S1 S1 .

5. The method for obtaining the amount of crushed material by a breaker hammer excavator according to claim 4, characterized in that: Step SV S1 -1 includes the following sub-steps: Step SV S1 -1-1: After the breaker excavator (1) starts working, the data acquisition component continuously collects corresponding working data and transmits it to the controller; The crushing pilot valve secondary pressure sensor (5) and the hammer head pressure sensor (7) respectively collect crushing pilot valve secondary pressure data and hammer head pressure data. When the crushing pilot valve secondary pressure data and the hammer head pressure data are respectively greater than or equal to the corresponding upper limit values, the built-in program recognizes that this is the crushing start state. Step SV v1 -1-2: When the secondary pressure data of the crushing pilot valve and the hammer pressure data are reduced to less than or equal to the corresponding lower limit values, the built-in program recognizes that this is the end of crushing; Step SV S1 -1-3: The position of the breaker rod tip at the end of the crushing is the crushing point. At this time, the controller reads the position data of the breaker hammer excavator (1) located by the vehicle data acquisition device (3), the displacement data of the arm cylinder and the bucket cylinder of the breaker hammer excavator (1) respectively collected by the two displacement sensors (6), and the angle data of the azimuth and pitch angle of the breaker hammer of the breaker hammer excavator (1) collected by the gyroscope (8), and then the built-in program calculates the horizontal distance between the breaker hammer drill rod tip and the center of the boom fixed pin shaft hole based on the above data, and locates the horizontal position of the breaker hammer drill rod tip according to the horizontal distance; On the other hand, the controller (2) reads the distances to the upper surface of the material respectively collected by the two distance sensors (9), and then the built-in program calculates the immersion depth H0 of the breaker hammer drill tip based on the distance from the ground; Step SV S1 -1-4: When the built-in program recognizes the crushing state again and the position of the breaker rod changes, the above steps are repeated SV S1 -1-2 to step SV S1 -1-3, to identify the next crushing point and obtain the corresponding horizontal position of the breaker hammer drill tip and the immersion depth G0 of the breaker hammer drill tip; In this way, a number of crushing points are identified and the corresponding horizontal position of the breaker hammer rod tip and the immersion depth H0 of the breaker hammer rod tip are obtained until the breaker hammer excavator (1) completes the crushing operation.

6. The method for obtaining the amount of crushed material by a breaker hammer excavator according to claim 4, characterized in that: Step SV S1 -2 includes the following sub-steps: Step SV S1 -2-1: When the number of broken points is ≥3, the built-in program models every three adjacent broken points into a triangle; Step SV S1 -2-2: Extend the three crushing points on each triangle in a direction perpendicular to the triangle according to their respective crushing depths H, and form three corresponding extended positioning points after extension. The three extended positioning points are modeled into another extended triangle; Step SV S1 -2-3: Combine the above triangle and the extended triangle to construct an equivalent triangular prism model; Step SV v1 -2-4: When the number of broken points continues to increase, the newly added broken points and the broken points that have been modeled are modeled into new triangles according to the principle of proximity, non-overlapping and non-overlapping, and then step SV is repeated. S1 -2-2 and step SV S1 -2-3, constructing a number of equivalent triangular prism models until the breaker excavator (1) completes the current crushing operation.

7. The method for obtaining the amount of crushed material by a breaker hammer excavator according to claim 6, characterized in that: Step SV S1 -2: The crushing depth H includes the immersion depth H0 of the breaker hammer drill tip, and also includes the indirect crushing depth d1 below the breaker hammer drill tip caused by impact, that is, H=H0+d1.

8. The method for obtaining the amount of crushed material by a breaker hammer excavator according to claim 6, characterized in that: Step SV S1 -2: When the crushing depth H of a certain crushing point is less than the set value, this crushing point will no longer be identified as a crushing point, nor will it participate in subsequent modeling; when the newly added crushing point is located in the modeled triangle area, this newly added crushing point will no longer be identified as a crushing point, nor will it participate in subsequent modeling.

9. The method for obtaining the amount of crushed material by a breaker hammer excavator according to claim 6, characterized in that: The V S2 The steps to obtain are as follows: Step SV S2 -1: The built-in program identifies the outer contour boundary line B1 of the direct crushing area S1, and each crushing point located on the outer contour boundary line B1; Step SV S2 -2: The distance between the outer contour boundary line B2 of the indirect crushing area S2 around S1 and the outer contour boundary line B1 is set as the boundary distance d2. According to the position data between each crushing point on the outer contour boundary line B1 and the boundary distance d2, the horizontal area S of the indirect crushing area S2 around S1 is calculated. S2 ; Step SV S2 -3: The crushing depth of the indirect crushing area S2 on the side of S1 is set to the depth d4, and the volume V of the indirect crushing area S2 on the side of S1 is calculated S2 =S S2 *d4.

10. The method for obtaining the amount of crushed material by a breaker hammer excavator according to claim 9, characterized in that: The boundary distance d2 is obtained by taking the average value of the side lengths of several triangles modeled in the direct crushing area S1 and dividing it by 2; the depth d4 is obtained by taking the average value of the crushing depths H of several crushing points in the direct crushing area S1.

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