CN101187582B - Excavator bucket material weighing method - Google Patents

Abstract

The invention relates to a method for weighting shovel material of an excavator, which belongs to a weighting method for weighting shovel material of a large-scale excavator. The invention mainly solves the technical difficulty that current excavators can not weight shovel material and count excavating yield. The technical proposal of the invention is that the weighting method of shovel material of an excavator comprises following steps, first, inputting L1, theta value and mg into a programmable logic controller (PLC), second, reading a pulse number x of a lifting encoder, a pulse number y of a driving encoder, a lifting motor torque TH of a lifting inverter and a driving motor torque TC of a pushing inverter through the PLC, third, calculating a lifting stroke and a pushing stroke, fourth, calculating an angle alpha and an angle gamma, fifth, calculating lifting power which is converted to an armored rope and pushing power which is converted to a pushing rod, sixth, calculating the weight of shovel and material, seventh, obtaining the weight of the material through reducing self-weight of the shovel from the weight of the shovel and the material.

Description

The Weighing method of excavator bucket material

Technical field

The present invention relates to a kind of Weighing method of excavator bucket material, it belongs to the Weighing method of a kind of weighing large-sized mining dredger (WK-12～55 etc.) scraper bowl material.

Background technology

At present large-sized mining dredger is mainly used in the excavation of soil, rock, ore, coal etc. of glory-hole, for mine truck carries out loaded material.Be that statistics excavates output, need special personnel and write down the load wagon number and excavate output that so not only error greatly but also increase personnel's input with estimation.

Summary of the invention

The objective of the invention is to solve that existing excavator exists can't weigh and can't add up the technological difficulties of excavating output and a kind of Weighing method of excavator bucket material that can weighing excavator monobucket weight of material is provided the scraper bowl material.

The present invention for the technical scheme that solves above-mentioned technological difficulties and adopt is: the Weighing method of excavator bucket material, it comprises the following steps:

1) at first in programmable logic controller (PLC) (PLC), imports L _l, θ value and mg, L _lBe the distance of pushing axle to top pulleys, θ is the angle of lifting beam and surface level, and mg is the deadweight of scraper bowl;

2) read umber of pulse x and the umber of pulse y of pushing scrambler and the lifting motor torque T that promotes inverter that promotes scrambler by PLC _HPushing motor torque T with the pushing inverter _C

3) PLC calculates lift stroke and pushing stroke by following formula and deposits in the storer,

$S_H=\frac{a}{1024}*x$

In the formula: S _HBe lift stroke, a is the lift stroke that hoisting drum turns around, and x is for promoting the umber of pulse of scrambler, and 1024 for promoting the pulse number that scrambler turns around;

$S_C=\frac{b}{1024}*y$

In the formula: S _CBe the pushing stroke, b is the pushing stroke that the pushing pinion wheel turns around, and y is the umber of pulse of pushing scrambler, and 1024 for pushing the pulse number that scrambler turns around;

4) according to the cosine law calculate lifting beam and the pushing dipper angle α and the angle γ between lifting beam and the rope hoisting power and deposit in the storer;

$\cos \mathrm{\α}=\frac{{L_1}^2+{S_C}^2-{S_H}^2}{2*S_C*L_1}$

$\cos \mathrm{\γ}=\frac{{L_1}^2+{S_H}^2-{S_C}^2}{2*S_H*L_1}$

5) pushing force that calculates the lifting force of converting wire rope and convert the pushing dipper by following formula, and deposit in the storer,

$F_H=\frac{{\mathrm{\η}}_H*j_H*T_H}{R_H}$

In the formula: F _HFor converting the lifting force of wire rope, T _HBe the lifting motor torque that reads from the lifting inverter, j _HFor promoting the rotating ratio of motor reel and working mechanism's between centers, R _HBe hoisting drum radius, η _HBe transmission efficiency, η _HScope be: 0.83～0.93,

$F_C=\frac{{\mathrm{\η}}_C*j_C*T_C}{R_C}$

In the formula: F _CFor converting the pushing force of pushing dipper, T _CBe the pushing motor torque that reads from the pushing inverter, j _CBe the rotating ratio of pushing motor reel and working mechanism's between centers, R _CBe pushing pinion wheel radius, η _CBe transmission efficiency, η _CScope be: 0.83～0.93,

6) calculate the weight of scraper bowl and material according to scraper bowl stress balance principle and deposit in the storer, promptly

Mg＝F _H*Sin(θ+γ)+F _C*Sin(θ-α)

In the formula: Mg is the weight of scraper bowl and material, F _HFor converting the lifting force of wire rope, F _CFor converting the pushing force of pushing dipper, θ is the angle of lifting beam and surface level, and α is lifting beam and the angle that pushes dipper, and γ is the angle between lifting beam and the rope hoisting power;

7) the deadweight mg that the weight Mg of scraper bowl and material is deducted scraper bowl is the weight G of material, and this result is presented on the display screen.

The present invention can also add up one-shift operation amount, entrucking number of times, operating efficiency after obtaining weight that monobucket excavates material, and shows on man-machine interface and by report printing.

Because the present invention adopted technique scheme, can weigh the monobucket weight of material, one-shift operation amount of excavator etc. automatically, and can on monitor screen, demonstrate record, thereby reduce personnel's input, increase work efficiency.Therefore, compare, have advantages such as personnel's less investment and material metering standard with background technology.The present invention can will measure the Central Control Room of result transmission to the mine by Industrial Ethernet etc., as the foundation of production scheduling.

Description of drawings

Fig. 1 is the working envelope figure of material metage of the present invention;

Fig. 2 is the force analysis figure of power shovel.

Embodiment

The present invention is described in further detail below in conjunction with embodiment.

The Weighing method of the excavator bucket material in the present embodiment, it comprises the following steps:

1) at first in programmable logic controller (PLC) (PLC), imports L _l, θ value and mg, L _lBe the distance of pushing axle to top pulleys, θ is the angle of lifting beam and surface level, and mg is the deadweight of scraper bowl;

2) read umber of pulse x and the umber of pulse y of pushing scrambler and the lifting motor torque T that promotes inverter that promotes scrambler by PLC _HPushing motor torque T with the pushing inverter _C

3) PLC calculates lift stroke and pushing stroke by following formula and deposits in the storer,

$S_H=\frac{a}{1024}*x$

In the formula: S _HBe lift stroke, α is the lift stroke that hoisting drum turns around, and x is for promoting the umber of pulse of scrambler, and 1024 for promoting the pulse number that scrambler turns around;

$S_C=\frac{b}{1024}*y$

In the formula: S _CBe the pushing stroke, b is the pushing stroke that the pushing pinion wheel turns around, and y is the umber of pulse of pushing scrambler, and 1024 for pushing the pulse number that scrambler turns around;

4) according to the cosine law calculate lifting beam and the pushing dipper angle α and the angle γ between lifting beam and the rope hoisting power and deposit in the storer;

$\cos \mathrm{\α}=\frac{{L_1}^2+{S_C}^2-{S_H}^2}{2*S_C*L_1}$

$\cos \mathrm{\γ}=\frac{{L_1}^2+{S_H}^2-{S_C}^2}{2*S_H*L_1}$

5) pushing force that calculates the lifting force of converting wire rope and convert the pushing dipper by following formula, and deposit in the storer,

$F_H=\frac{{\mathrm{\η}}_H*j_H*T_H}{R_H}$

In the formula: F _HFor converting the lifting force of wire rope, T _HBe the lifting motor torque that reads from the lifting inverter, j _HFor promoting the rotating ratio of motor reel and working mechanism's between centers, R _HBe hoisting drum radius, η _HBe transmission efficiency, η _HScope be: 0.83～0.93,

$F_C=\frac{{\mathrm{\η}}_C*j_C*T_C}{R_C}$

In the formula: F _CFor converting the pushing force of pushing dipper, T _CBe the pushing motor torque that reads from the pushing inverter, j _CBe the rotating ratio of pushing motor reel and working mechanism's between centers, R _CBe pushing pinion wheel radius, η _CBe transmission efficiency, η _CScope be: 0.83～0.93,

6) calculate the weight of scraper bowl and material according to scraper bowl stress balance principle and deposit in the storer, promptly

Mg＝F _H*Sin(θ+γ)+F _C*Sin(θ-α)

In the formula: Mg is the weight of scraper bowl and material, F _HFor converting the lifting force of wire rope, F _CFor converting the pushing force of pushing dipper, θ is the angle of lifting beam and surface level, and α is lifting beam and the angle that pushes dipper, and γ is the angle between lifting beam and the rope hoisting power;

7) the deadweight mg that the weight Mg of scraper bowl and material is deducted scraper bowl is the weight G of material, and this result is presented on the display screen,

G＝Mg-mg。

The present invention can increase other function according to the requirement of different user after obtaining weight that monobucket excavates material, as statistics one-shift operation amount, entrucking number of times, operating efficiency etc., and shows on man-machine interface and by report printing.

Principle of the present invention is: open bucket above each scraper bowl moves to automobile before, detect the lift stroke of this moment, the pushing stroke; Lifting force, pushing force.Because top pulleys is to pushing shaft length, top pulleys is long to the rope of scraper bowl, leg-of-mutton three length of sides that the pushing axle is formed to the distance of scraper bowl are known, can utilize the cosine law to obtain this leg-of-mutton three angles, the angle of lifting beam and surface level is a fixed angle, closes component and scraper bowl (containing material), the dipper weight that the branch dynamic balance can calculate the monobucket material of closing at gravity direction according to what lifting force, pushing force made progress then.

Claims (2)

1. the Weighing method of an excavator bucket material, it is characterized in that: it comprises the following steps:

1) at first in programmable logic controller (PLC), imports L ₁, θ value and mg, L ₁Be the distance of pushing axle to top pulleys, θ is the angle of lifting beam and surface level, and mg is the deadweight of scraper bowl;

2) read umber of pulse x and the umber of pulse y of pushing scrambler and the lifting motor torque T that promotes inverter that promotes scrambler by programmable logic controller (PLC) _HPushing motor torque T with the pushing inverter _C

3) programmable logic controller (PLC) calculates lift stroke and pushing stroke by following formula and deposits in the storer,

$S_H=\frac{a}{1024}*x$

In the formula: S _HBe lift stroke, α is the lift stroke that hoisting drum turns around, and x is for promoting the umber of pulse of scrambler, and 1024 for promoting the pulse number that scrambler turns around;

$S_C=\frac{b}{1024}*y$

In the formula: S _CBe the pushing stroke, b is the pushing stroke that the pushing pinion wheel turns around, and y is the umber of pulse of pushing scrambler, and 1024 for pushing the pulse number that scrambler turns around;

4) according to the cosine law calculate lifting beam and the pushing dipper angle α and the angle γ between lifting beam and the rope hoisting power and deposit in the storer;

$\cos \mathrm{\α}=\frac{{L_1}^2+{S_C}^2-{S_H}^2}{2*S_C*L_1}$

$\cos \mathrm{\γ}=\frac{{L_1}^2+{S_H}^2-{S_C}^2}{2*S_H*L_1}$

5) pushing force that calculates the lifting force of converting wire rope and convert the pushing dipper by following formula, and deposit in the storer,

$F_H=\frac{{\mathrm{\η}}_H*j_H*T_H}{R_H}$

In the formula: F _HFor converting the lifting force of wire rope, T _HBe the lifting motor torque that reads from the lifting inverter, j _HFor promoting the rotating ratio of motor reel and working mechanism's between centers, R _HBe hoisting drum radius, η _HBe transmission efficiency, η _HScope be: 0.83～0.93,

$F_C=\frac{{\mathrm{\η}}_C*j_C*T_C}{R_C}$

In the formula: F _CFor converting the pushing force of pushing dipper, T _CBe the pushing motor torque that reads from the pushing inverter, j _CBe the rotating ratio of pushing motor reel and working mechanism's between centers, R _CBe pushing pinion wheel radius, η _CBe transmission efficiency, η _CScope be: 0.83～0.93,

6) calculate the weight of scraper bowl and material according to scraper bowl stress balance principle and deposit in the storer, promptly

Mg＝F _H*Sin(θ+γ)+F _C*Sin(θ-α)

In the formula: Mg is the weight of scraper bowl and material, F _HFor converting the lifting force of wire rope, F _CFor converting the pushing force of pushing dipper, θ is the angle of lifting beam and surface level, and α is lifting beam and the angle that pushes dipper, and γ is the angle between lifting beam and the rope hoisting power;

7) the deadweight mg that the weight Mg of scraper bowl and material is deducted scraper bowl is the weight G of material, and this result is presented on the display screen.

2. the Weighing method of excavator bucket material according to claim 1 is characterized in that: after obtaining weight that monobucket excavates material, can also add up one-shift operation amount, entrucking number of times, operating efficiency, and show on man-machine interface and by report printing.

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