Electric shovel operation attitude measuring device
By installing a laser transmitter and receiver and a reflector on the electric shovel, the boom posture can be measured in real time, which solves the accuracy problem of electric shovel boom reliability verification and realizes high-precision dynamic measurement and simulation combined verification.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- XUZHOU XCMG MINING MACHINERY CO LTD
- Filing Date
- 2025-06-20
- Publication Date
- 2026-04-28
AI Technical Summary
In existing technologies, the reliability verification methods for electric shovel booms suffer from problems such as high testing difficulty and low accuracy. On-site testing in mines makes it difficult to determine the maximum stress level, and finite element simulation calculations cannot accurately simulate the dynamic operation process.
A laser transmitter and receiver device and a laser reflector device are installed on the bucket and boom. The dynamic attitude of the boom is measured in real time through laser ranging and wire transmission of signals, and the results are verified by finite element simulation calculation.
It enables dynamic measurement of boom stress, improving measurement accuracy and reliability, and allows for combined theoretical verification and experimental testing in finite element software.
Smart Images
Figure CN224175877U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to a device for measuring the operating posture of an electric shovel, belonging to the field of electric shovel technology. Background Technology
[0002] During operation, the wire rope loops around the pulley at the front of the boom, and in conjunction with the extension and retraction of the stick, lifts the bucket to excavate and unload ore. The boom of an electric shovel changes dynamically throughout the entire operation, making boom reliability crucial. Currently, there are two methods for verifying the reliability of electric shovel booms: on-site testing in mines and finite element simulation calculations. On-site testing involves placing strain gauges at dangerous or critical locations on the boom based on experience. Stress in the gauge areas is measured during excavation operations in the mine, and the boom's reliability is assessed based on the test results. Finite element simulation calculations theoretically calculate excavation resistance, select typical working conditions for static analysis, and evaluate boom reliability based on the static analysis results.
[0003] The reasons for the existence of existing technical problems and defects:
[0004] (I) On-site testing
[0005] 1. The boom structure of the electric shovel is relatively large, and patch testing requires auxiliary equipment and professional testing personnel. The working environment of the electric shovel is harsh, and it is difficult to accurately determine the patch position and complete the patch application.
[0006] 2. The stress data obtained from the test can only be used to evaluate the stress level of the electric shovel boom, but cannot determine the specific working posture under the maximum stress level, and cannot provide valuable boundary conditions for finite element simulation.
[0007] (II) Finite Element Simulation Calculation
[0008] The main limitation of finite element simulation in evaluating boom reliability is the boundary conditions. The direct object of electric shovel operation is ore or soil. The boom does not directly contact the material, but controls the interaction between the bucket and the material through the stick and wire rope. The entire operation is a dynamic process, and it is impossible to accurately determine the extreme working condition where the electric shovel is under the greatest stress. Therefore, typical working conditions are usually selected to check the theoretical strength of the boom, which usually has a large error compared with the actual measurement results. Summary of the Invention
[0009] This invention provides a device for measuring the operating posture of an electric shovel, which addresses the shortcomings of existing technologies.
[0010] This utility model is achieved according to the following technical solution:
[0011] A device for measuring the operating posture of an electric shovel, comprising:
[0012] The laser emission and reception device mainly includes a laser emitter and a laser receiving sensor. The laser emission and reception device is installed on the lifting beam on the bucket and can swing around the hinge point with the lifting beam.
[0013] The laser reflector is mounted on the boom and can swing around the hinge point along with the boom.
[0014] A pull wire is connected to the laser emission and reception device and the laser reflection device. The pull wire is configured such that when the electric shovel is in operation, the laser emitted by the laser emitter is reflected by the laser reflection device and is always received by the laser receiving sensor.
[0015] In some embodiments, the number of laser reflecting devices is two, one of which is installed at the front hinge point of the boom, and the other is installed between the front hinge point and the middle hinge point of the boom; one laser reflecting device corresponds to one laser emitter and reflects the laser emitted by the laser emitter.
[0016] In some embodiments, the laser emitting and receiving device further includes a base for mounting the laser emitter and the laser receiving sensor.
[0017] In some embodiments, the base includes a fixed frame and two rotating boxes, the fixed frame being fixed to the top surface of the lifting beam; the two rotating boxes being rotatably supported side-by-side on the top of the fixed frame; and the laser emitter and laser receiving sensor being mounted on the end face of the rotating box facing the laser reflecting device.
[0018] In some embodiments, the mounting bracket includes two side-by-side supports, each support consisting of two opposing upright plates and a fixed shaft fixed between the two upright plates; the rotating box is mounted on the fixed shaft via bearings.
[0019] In some embodiments, a wire fixing bolt for fixing the wire is also installed on the end face facing the laser reflecting device.
[0020] In some embodiments, the laser reflection device includes:
[0021] The rotating box is supported on the boom.
[0022] A laser reflector is installed on the end face of the rotating box facing the laser transmitting and receiving device to reflect the laser emitted by the laser transmitter;
[0023] The self-resetting take-up component is rotatably supported on the rotating box. One end of the pull wire is wound around the self-resetting take-up component, and the other end passes through the small hole on the end face of the rotating box and is connected to the pull wire fixing bolt in the laser emission and reception system.
[0024] When the distance between the laser transmitting and receiving device and the laser reflecting device increases, the pull wire elongates; when the distance between the laser transmitting and receiving device and the laser reflecting device decreases, the pull wire automatically winds and shortens under the action of the self-resetting take-up component.
[0025] In some embodiments, the self-resetting take-up component includes:
[0026] Shaft I and shaft II are fixed to the rotating box at intervals;
[0027] A torsion spring and gear I are mounted on shaft I. The torsion spring can deform and store energy under the rotation of gear I.
[0028] The cable reel and gear II are fixed and mounted on shaft II. The cable is wound around the cable reel, and gear II and gear I mesh with each other.
[0029] In some embodiments, the rotating box is mounted on a fixed shaft via bearings, and the fixed shaft is in turn mounted on the boom.
[0030] The beneficial effects of this utility model are:
[0031] 1. This electric shovel operating posture measuring device can dynamically measure the distance at a specific position on the boom during boom stress testing, and obtain the dynamic distance between sensors.
[0032] 2. The electric shovel's working posture measurement device automatically calculates the boom's dynamic posture, i.e., the specific posture at each moment, based on the sensor's installation position and dynamic measurement data.
[0033] 3. The electric shovel's operating posture measuring device uses a laser transmitter and receiver to measure distances, resulting in high measurement accuracy and stable reliability.
[0034] 4. The boom posture measured and calculated by this electric shovel operating posture measuring device can achieve the effect of combining and verifying theoretical verification and experimental testing in finite element software. Attached Figure Description
[0035] The accompanying drawings, as part of this utility model, are used to provide a further understanding of the present utility model. The illustrative embodiments and descriptions of the present utility model are used to explain the present utility model, but do not constitute an undue limitation of the present utility model. Obviously, the drawings described below are merely some embodiments; those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings:
[0036] Figure 1 This is a schematic diagram of the overall laser transmitting and receiving device of this utility model;
[0037] The attached diagrams are labeled as follows: laser emitter 35, laser receiver sensor 36, pull wire fixing bolt 37, rotating box 38, fixed shaft 39, vertical plate 40, and vertical plate 41.
[0038] Figure 2 This is a schematic diagram of the overall laser reflection device of this utility model;
[0039] Figure 3 This is an exploded view of the laser reflection device of this utility model;
[0040] The attached diagrams are labeled as follows: fixed shaft 42, rotating box 43, pull wire disc 44, laser reflector 45, torsion spring 46, gear I 47, shaft I 48, shaft II 49, and gear II 50.
[0041] Figure 4 This is a schematic diagram illustrating the application of the electric shovel operation posture measuring device of this utility model.
[0042] The attached diagrams are labeled as follows: boom 30, bucket 31, lifting beam 32, laser transmitter and receiver 33, laser reflector 34, and guy wire 51.
[0043] Figure 5 This is a schematic diagram of the working posture measurement device for electric shovels according to this utility model.
[0044] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the present invention in any way, but rather to illustrate the concept of the present invention to those skilled in the art by referring to specific embodiments. Detailed Implementation
[0045] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate this utility model, but are not intended to limit the scope of this utility model.
[0046] In the description of this utility model, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.
[0047] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0048] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, this utility model provides a device for measuring the operating posture of an electric shovel, including a laser emission and reception device 33, a laser reflection device 34, and a pull wire 51. The laser emission and reception device 33 mainly includes a laser emitter 35 and a laser receiving sensor 36. The laser emission and reception device 34 is installed on the lifting beam 32 on the bucket 31 and can swing around the hinge point with the lifting beam 32. The laser reflection device 34 is installed on the boom 30 and can swing around the hinge point with the boom 30. The pull wire 51 is connected to the laser emission and reception device 33 and the laser reflection device 34. The pull wire 51 is configured so that when the electric shovel is operating, the laser emitted by the laser emitter 35 is reflected by the laser reflection device 34 and is always received by the laser receiving sensor 36.
[0049] The specific structure of the laser transmitting and receiving device described above will be further explained below.
[0050] like Figure 1 As shown, the laser emission and reception device includes a fixed frame, two rotating boxes 38, a laser emitter 35, and a laser receiving sensor 36; the fixed frame is welded to the cover plate 1; the two rotating boxes 38 are rotatably supported side by side on the top of the fixed frame; the laser emitter 35 and the laser receiving sensor 36 are installed on the end face of the rotating box 38 facing the laser reflection device, and the laser emitted by the laser emitter 35 is always received by the laser receiving sensor 36 after being reflected by the laser reflection device.
[0051] Further options, such as Figure 1 As shown, the fixed frame includes two side-by-side supports, each consisting of two opposing upright plates 40 and 41 and a fixed shaft 39 fixed between the two upright plates 40 and 41; the rotating box 38 is mounted on the fixed shaft 39 via bearings.
[0052] like Figure 4 As shown, there are two laser reflection devices. One laser reflection device is installed at the front hinge point of the boom, and the other laser reflection device is installed between the front hinge point and the middle hinge point of the boom. Each laser reflection device corresponds to one laser emitter 35 and reflects the laser emitted by the laser emitter 35.
[0053] The specific structure of the laser reflection device described above will be further explained below.
[0054] like Figure 2 , Figure 3 As shown, the laser reflecting device includes a rotating box 43, a laser reflector 45, and a self-resetting take-up component. The rotating box 43 is mounted on a fixed shaft 42 via bearings, and the fixed shaft 42 is mounted on a boom. The laser reflector 45 is mounted on the end face of the rotating box 43 facing the laser transmitting and receiving device to reflect the laser emitted by the laser transmitter 35. The self-resetting take-up component is rotatably supported on the rotating box 43. One end of the pull wire 51 is wound around the self-resetting take-up component, and the other end passes through a small hole on the end face of the rotating box 43 and is connected to the pull wire fixing bolt 37 in the laser transmitting and receiving system. When the distance between the laser transmitting and receiving device and the laser reflecting device increases, the pull wire 51 extends. When the distance between the laser transmitting and receiving device and the laser reflecting device decreases, the pull wire 51 automatically winds and shortens under the action of the self-resetting take-up component.
[0055] Further options, such as Figure 3 As shown, the self-resetting take-up component includes shaft I 48, shaft II 49, torsion spring 46, gear I 47, pull reel 44, and gear II 50; shaft I 48 and shaft II 49 are fixed to the rotating box 43 at intervals; torsion spring 46 and gear I 47 are mounted on shaft I 48, and torsion spring 46 can deform and store energy under the rotation of gear I 47; pull reel 44 and gear II 50 are fixed and mounted on shaft II 49, and pull line 51 is wound on pull reel 44, and gear II 50 and gear I 47 mesh with each other.
[0056] It should be noted that when the distance between the laser transmitter / receiver and the laser reflector increases, the pull wire 51 extends, and the pull wire disc 44 drives gears II 50 and I 47 to rotate. The torsion spring 46 deforms more under the action of gear I 47, and energy begins to be stored. When the distance between the laser transmitter / receiver and the laser reflector decreases, the energy of the torsion spring 46 is released. The torsion spring 46 drives gear I 47 to rotate in the opposite direction, thereby driving gear II 50 and the pull wire disc 44 to rotate in the opposite direction. The pull wire 51 automatically winds around the pull wire disc 44, and due to the action of the torsion spring 46, the pull wire 51 is always kept under a certain tension. During operation, under the action of the pull wire 51, as the laser transmitter / receiver and the laser reflector rotate around their axis for adjustment, the laser emitted by the laser transmitter 35 is reflected by the laser reflector 45 and is always received by the laser receiving sensor 36, transmitting the signal to the controller for distance measurement.
[0057] The principle of electric shovel attitude calculation is as follows: Figure 5As shown: θ1 is the angle between the line connecting the two laser reflectors and the line connecting the upper laser reflector and the laser emitter; θ3 is the angle between the line connecting the upper laser reflector and the laser emitter and the rope; points O and D are the front hinge and middle hinge points of the boom, respectively; point A is on the line connecting OD. Points O and A are the installation positions of the laser reflector system. After the laser reflector system is installed, the distance L1 of OA is a known quantity and is independent of the shovel's operating state. The angles between the rope load and OA are θ2 and θ4, respectively. θ2 is related to the shovel's structure and is independent of its operating state. Therefore, the shovel's posture can be determined by finding angle θ4. The length L of the guy wire at any moment during operation can be measured using the laser ranging system. AB and L OB The angle θ4 is then calculated using the following formula;
[0058]
[0059] θ4 = θ1 - θ3.
[0060] In summary, this utility model provides a device for measuring the operating posture of an electric shovel, achieving the following functions and effects:
[0061] 1. This electric shovel operating posture measuring device can dynamically measure the distance at a specific position on the boom during boom stress testing, and obtain the dynamic distance between sensors.
[0062] 2. The electric shovel's working posture measurement device automatically calculates the boom's dynamic posture, i.e., the specific posture at each moment, based on the sensor's installation position and dynamic measurement data.
[0063] 3. The electric shovel's operating posture measuring device uses a laser transmitter and receiver to measure distances, resulting in high measurement accuracy and stable reliability.
[0064] 4. The boom posture measured and calculated by this electric shovel operating posture measuring device can achieve the effect of combining and verifying theoretical verification and experimental testing in finite element software.
[0065] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.
[0066] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features found in other embodiments but not others, combinations of features from different embodiments are also within the scope of protection of this invention and form different embodiments. For example, in the embodiments described above, those skilled in the art can use them in combination based on known technical solutions and the technical problems to be solved by this application.
[0067] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.
Claims
1. A device for measuring the operating posture of an electric shovel, characterized in that, include: The laser emission and reception device mainly includes a laser emitter and a laser receiving sensor. The laser emission and reception device is installed on the lifting beam on the bucket and can swing around the hinge point with the lifting beam. The laser reflector is mounted on the boom and can swing around the hinge point along with the boom. A pull wire is connected to the laser emission and reception device and the laser reflection device. The pull wire is configured such that when the electric shovel is in operation, the laser emitted by the laser emitter is reflected by the laser reflection device and is always received by the laser receiving sensor.
2. The electric shovel operating posture measuring device according to claim 1, characterized in that: There are two laser reflection devices, one of which is installed at the front hinge point of the boom, and the other is installed between the front hinge point and the middle hinge point of the boom; each laser reflection device corresponds to one laser emitter and reflects the laser emitted by the laser emitter.
3. The electric shovel operating posture measuring device according to claim 1, characterized in that: The laser transmitting and receiving device also includes a base for mounting the laser transmitter and the laser receiving sensor.
4. The electric shovel operating posture measuring device according to claim 3, characterized in that: The base includes a fixed frame and two rotating boxes. The fixed frame is fixed to the top surface of the lifting beam. The two rotating boxes are rotatably supported side by side on the top of the fixed frame. The laser emitter and laser receiving sensor are mounted on the end face of the rotating box facing the laser reflecting device.
5. The electric shovel operating posture measuring device according to claim 4, characterized in that: The mounting bracket includes two side-by-side supports, each consisting of two opposing upright plates and a fixed shaft fixed between the two upright plates; the rotating box is mounted on the fixed shaft via bearings.
6. The electric shovel operating posture measuring device according to claim 4, characterized in that: A wire fixing bolt for fixing the wire is also installed on the end face facing the laser reflector.
7. The electric shovel operating posture measuring device according to claim 1, characterized in that, The laser reflection device includes: The rotating box is supported on the boom. A laser reflector is installed on the end face of the rotating box facing the laser transmitting and receiving device to reflect the laser emitted by the laser transmitter; The self-resetting take-up component is rotatably supported on the rotating box. One end of the pull wire is wound around the self-resetting take-up component, and the other end passes through the small hole on the end face of the rotating box and is connected to the pull wire fixing bolt in the laser emission and reception system. When the distance between the laser transmitting and receiving device and the laser reflecting device increases, the pull wire elongates; when the distance between the laser transmitting and receiving device and the laser reflecting device decreases, the pull wire automatically winds and shortens under the action of the self-resetting take-up component.
8. The electric shovel operating posture measuring device according to claim 7, characterized in that, The self-resetting take-up component includes: Shaft I and shaft II are fixed to the rotating box at intervals; A torsion spring and gear I are mounted on shaft I. The torsion spring can deform and store energy under the rotation of gear I. The cable reel and gear II are fixed and mounted on shaft II. The cable is wound around the cable reel, and gear II and gear I mesh with each other.
9. The electric shovel operating posture measuring device according to claim 7, characterized in that: The rotating box is mounted on a fixed shaft via bearings, and the fixed shaft is mounted on the boom.