CN-121994339-A - Electric shovel weighing experimental device and method for externally hung load

CN121994339ACN 121994339 ACN121994339 ACN 121994339ACN-121994339-A

Abstract

The invention discloses an electric shovel weighing experimental device and method for externally hung load, which take the condition that an electric shovel is in a static state as a premise that the electric shovel meets a moment balance condition, and because a bucket rod and a bucket are rigid bodies and a hinge point is a saddle rotation center, the moment generated by a lower hanging balancing weight on the saddle rotation center is equal to the moment generated by a material when the material is placed in the bucket, so that the moment balance state of the electric shovel is equivalent, the weight equivalent simulation of the lower hanging balancing weight and the internal material is realized, and an accurate, efficient and safe load simulation scheme is provided for the electric shovel weighing experiment.

Inventors

ZHANG JIANTING
YUE HAIFENG
TIAN XIAOJIAN
Guo Ruhan
ZHANG ZHENNAN
ZHANG BAIRONG
LI RONG
SHI LEI
SUN XINGYU

Assignees

山西太重智能采矿装备技术有限公司
太原重工股份有限公司

Dates

Publication Date: 20260508
Application Date: 20251231

Claims (9)

1. The electric shovel weighing experimental device for the externally hung load is characterized by comprising an electric shovel load simulation main body system, a lower hanging counterweight component and a parameter measurement and data processing component, wherein the electric shovel load simulation main body system comprises a bucket, a pushing mechanism and a lifting mechanism, the lower hanging counterweight component comprises a standard counterweight, the parameter measurement and data processing component comprises an inclinometer, a pushing encoder and a data processor, and the parameter measurement and data processing component comprises: The pushing mechanism comprises a bucket rod and a saddle bucket rod which is arranged in an inner hole of the saddle in a penetrating way and is in transmission connection with the saddle, so that the bucket rod can realize forward and backward reciprocating pushing motion along the axis of the bucket rod; The bucket is fixed at the front end of the bucket rod; The lifting mechanism comprises a lifting rope and a head sheave, wherein one end of the lifting rope is wound on the head sheave, the other end of the lifting rope is fixedly connected with the bucket, the bucket is driven to lift by the rotation of the head sheave, the bucket rod is driven to rotate around the rotation center of the saddle, and the included angle between the bucket rod and the horizontal line is further adjusted ; The standard balancing weight is hung and mounted on a lifting lug arranged on the outer side of the bottom of the bucket; The inclinometer is fixed on the upper surface of the saddle, and the measuring axis of the inclinometer is parallel to the axis of the bucket rod and is used for collecting the included angle between the bucket rod and the horizontal line And can collect the included angle Uploading to a data processor; The pushing encoder is arranged on the rotating shaft and used for collecting displacement data of the bucket rod and feeding the collected displacement data back to the data processor; the data processor calculates the saddle rotation center according to the received displacement data detected by the pushing encoder and the structural size of the electric shovel To the foot drop Straight line distance of (2) Saddle rotation center To the bucket geometric centre Straight line distance of (2) ; Is the site of the lifting lug To straight line Perpendicular to the line Parallel to the movement direction of the bucket rod and passing through the rotation center of the saddle ; The data processor is based on the calculated linear distance Distance of straight line Combined with the weight of standard balancing weights And the included angle between the bucket rod and the horizontal line acquired by the inclinometer The weight of the equivalent built-in material can be calculated 。
2. The externally-hung load electric shovel weighing experimental device according to claim 1, wherein the weight of the equivalent built-in material Calculated by the following formula: ; In the above formula: is the weight of the standard balancing weight; Is the rotation center of the saddle To the foot drop Is calculated based on the arm displacement detected by the push encoder; is the site of the lifting lug To straight line Perpendicular to the line Parallel to the movement direction of the bucket rod and passing through the rotation center of the saddle ; Representing drop foot The length to the position C of the lifting lug; indicating the centre of rotation of the saddle To the bucket geometric centre Is calculated based on the arm displacement detected by the push encoder and the structural dimension of the electric shovel.
3. The externally loaded electric shovel weighing experimental device according to claim 1, wherein the hanging weight assembly further comprises a hanging connector and a connecting clamp; One end of the connecting clamp is connected with the lifting lug in a detachable connection mode, the other end of the connecting clamp is fixed with the upper end of the hanging connecting piece, the lower end of the hanging connecting piece is fixed with the hanging ring of the standard balancing weight, and the hanging connecting piece is kept vertical after assembly, so that the standard balancing weight is ensured to vertically droop when the electric shovel is static.
4. An electric shovel weighing test device for externally hung loads according to claim 3 wherein the hanging connection is a rope or chain.
5. The device for testing the weighing of the electric shovel with the externally hung load according to claim 3, wherein the connecting clamp is a quick connecting clamp.
6. An electric shovel weighing experiment method of an externally hung load is characterized by comprising the following steps: Step 1, device assembly and initial state calibration: The standard balancing weight is hung and installed on a lifting lug at the bottom of the bucket, and the standard balancing weight is kept away from the ground and is not in other rigid contact with the bucket; The position of the bucket rod and the bucket is adjusted through the walking, lifting and pushing mechanism of the electric shovel, so that the whole electric shovel is in a static balance state, and a stable included angle is formed between the bucket rod and the horizontal line at the moment Pushing the encoder and the inclinometer to enter a data acquisition ready state; Step 2, core parameter acquisition: Starting the pushing encoder to collect displacement data of the bucket rod, and further calculating and outputting the saddle rotation center To the bucket geometric centre Straight line distance of (2) With centre of rotation of the saddle To the foot drop Straight line distance of (2) ; Starting the inclinometer to collect the included angle between the bucket rod and the horizontal line ; Calling the locus of the lifting lug To the foot drop Length of the perpendicular segment BC ; Inputting the calibration weight of the standard balancing weight; Step 3, arm of force 、 Is calculated by the following deduction: Based on straight line distance Included angle between bucket rod and horizontal line The equivalent material force arm can be calculated ; Based on straight line distance Length of perpendicular segment BC Combining the included angle between the bucket rod and the horizontal line The lower hanging weight arm of force can be calculated ; Step 4, equivalent built-in weight Is calculated by (1): when the whole electric shovel is in a static balance state, the following conditions are satisfied: = ; Thereby deducing the weight of the equivalent built-in material The method comprises the following steps: ; In the above formula: is the weight of the standard balancing weight; a counterweight arm of force is hung downwards; Is an equivalent material arm of force.
7. The method for carrying out the weighing experiment on the externally hung load electric shovel according to claim 6, wherein the equivalent material moment arm is as follows Calculated by the following formula: ; In the above formula: indicating the centre of rotation of the saddle To the bucket geometric centre Is a straight line distance of (2); Indicating the included angle between the bucket rod and the horizontal line.
8. The method for testing the weighing of the externally hung load electric shovel according to claim 6, wherein the lower hanging weight arm of force Calculated by the following formula: ; In the above formula: indicating the centre of rotation of the saddle To the foot drop Is used for the linear distance of (a), Is a lifting lug To straight line Perpendicular to the line Parallel to the movement direction of the bucket rod and passing through the rotation center of the saddle ; Representing drop foot Length to lifting lug C; Indicating the included angle between the bucket rod and the horizontal line.
9. The method for testing the weighing of the externally hung load electric shovel according to claim 6, wherein the weight of the equivalent built-in material The method comprises the following steps: ; In the above formula: is the weight of the standard balancing weight; indicating the centre of rotation of the saddle To the foot drop Is used for the linear distance of (a), Is a lifting lug To straight line Perpendicular to the line Parallel to the movement direction of the bucket rod and passing through the rotation center of the saddle ; Representing drop foot Length to lifting lug C; Indicating the included angle between the bucket rod and the horizontal line; indicating the centre of rotation of the saddle To the bucket geometric centre Is a straight line distance of (2).

Description

Electric shovel weighing experimental device and method for externally hung load Technical Field The invention relates to an electric shovel weighing experiment device and method for externally hung load, and belongs to the technical field of electric shovel weighing performance tests. Background In the field of surface mines and engineering machinery, an electric shovel is used as core mining equipment, and the weighing accuracy of the electric shovel directly influences the production efficiency and the equipment safety. In the electric shovel weighing experiment, the actual operation load is simulated through a load test, and key data such as electric parameters, bucket pose and the like are collected, so that a core basis is provided for subsequent load prediction. The main flow test mode in the current industry adopts known load to simulate actual operation load, and is mainly divided into two types, wherein one type adopts actual excavated materials (such as ores and coal) as a load source, the other type adopts a standard balancing weight with accurate weight as the load source, and the two types are matched with a weighing link to complete data calibration. In the prior art, the core logic of the electric shovel weighing test is to realize closed loop calibration by loading known load, acquiring electric shovel data, predicting load and calculating error. For example, an electric shovel weighing device disclosed in China patent 2022234482341 calculates the weight of materials by detecting deformation of an A-shaped frame and the posture of a shovel rod, transmits data to a terminal of a mining truck in real time, and completes a final weight verification by depending on a mining truck weighing system. In another method for weighing the electric shovel, referring to China patent 2023108603896 and 2022103992520, the total weight of the bucket and the materials is calculated based on a moment balance principle, and the weighing precision is verified through the link of unloading to a mine truck. The above patents all reflect the general dependence of the industry on the cooperative weighing mode of an electric shovel-mine truck, the unloading of the electric shovel is a key link for connecting weighing test and weight verification, and the design of a bucket gate directly influences the integrity of material transfer. For the counterweight load technology, china patent 2024208558392 discloses a modularized counterweight structure consisting of a main box body and a sub box body, and the sub box body is assembled and disassembled through a hoisting piece, so that the problem of counterweight adjustment flexibility is solved, but the core limitation of 'auxiliary equipment hoisting' is not broken through. The crane balancing weight detection method disclosed in China patent 201910598072.3 reflects the common problem of large-scale Cheng Zhuangbei balancing weight installation from the side surface, namely auxiliary positioning is needed through image recognition, or alignment deviation is easy to occur, and the method has technical homology with collision risk when the electric shovel balancing weight is placed. The actual load of the excavated material is uncontrollable by the error of unloading and weighing. When the actual materials are adopted for testing, the weight verification relies on the weighing system of the ore card, but double error sources exist, namely, firstly, the material loss in the unloading process and related simulation experiments prove that 5% -8% of the materials are scattered due to impact load at the moment of opening a bucket door when an electric shovel is used for unloading, especially, aiming at ores with smaller granularity, the dropping loss rate can reach more than 12%, the actual weighing value is directly lower than the actual load value, secondly, the inherent error of the ore card weighing system refers to the problem of commonality of the ore card weighing equipment (such as the accuracy limitation of a hydraulic weighing system pointed out by related researches), the ore card weighing sensor is affected by jolt and load distribution unevenly, the error is usually 3% -5%, and after the material is added and dropped, the total weight error is generally more than 8%, so that the relevance of test data such as current and pose and the actual load is distorted. The related electric shovel weighing method optimizes the weighing calculation logic of the electric shovel end, but does not solve the physical error of the unloading link, still needs to rely on the calibration of mine card data, and does not essentially break through the bottleneck of error transfer. The standard balancing weight load is low in installation efficiency and high in safety risk, although the balancing weight can provide an accurate weight standard, the installation process has obvious defects that firstly, the auxiliary hoisting equipment is relied on, a certain electric shovel balancing weight