CN109208687A - It is a kind of for obtaining the method and system of excavator fuel efficiency - Google Patents
It is a kind of for obtaining the method and system of excavator fuel efficiency Download PDFInfo
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- CN109208687A CN109208687A CN201811272353.1A CN201811272353A CN109208687A CN 109208687 A CN109208687 A CN 109208687A CN 201811272353 A CN201811272353 A CN 201811272353A CN 109208687 A CN109208687 A CN 109208687A
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- tie point
- excavator
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- associated arguments
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
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- Mining & Mineral Resources (AREA)
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- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
The invention discloses a kind of for obtaining the method and system of excavator fuel efficiency, which comprises obtain the associated arguments of swing arm, the associated arguments of dipper, in the associated arguments of scraper bowl and the scraper bowl material associated arguments；The first prediction weight of material is obtained according to the equalising torque formula of the first tie point；The second prediction weight of material is obtained according to the equalising torque formula of the second tie point；Third prediction weight of material is obtained according to the equalising torque formula of third tie point；Weight of material under present duty cycle is determined by the first prediction weight of material, the second prediction weight of material, third prediction weight of material；Target weight of material is further determined according to all weight of material, obtains the fuel efficiency index of excavator.High degree of automation of the present invention, precision are high, can the fuel efficiency in all excavator Life cycle carry out real-time monitoring.
Description
Technical field
The present invention relates to excavator technical field more particularly to a kind of method for obtaining excavator fuel efficiency and it is
System.
Background technique
Excavator has become one in construction machinery product family as a kind of fast and efficiently Construction Operating Machinery
A main machine, the referred to as king of engineering machinery；It is widely used in industry and civil buildings, communications and transportation, hydraulic and electric engineering work
In the mechanized constructions of industries such as journey, farmland improvement, mine excavation and modernization military engineering.
Wherein, oil consumption is the important indicator in excavator construction operation, be domestic and international producer, user pay special attention to one
Index.However, existing fuel oil test is only limitted to the test of experimental prototype, it can not be for the inspection of the Life cycle of all machines
It surveys；Also, existing oil consumption is related to complete machine power matching, working mechanism design, engine speed, driver's technical ability and performance
Degree, weather, excavates the complicated factors such as height, discharging distance, discharging height at material particles size humidity hardness, and it is accurate to be difficult
Measurement or assessment；Producer generally uses the excavator of the identical tonnage of different manufacturers, by same driver in metastable operation
Material and operating environment are operated, and work front and back carries out the comparison of fuel oil, obtain oil consumption；Not only labor intensive object is tested in this way
Power, and consistency, the repeatability tested also can greatly give a discount, and obtained oil consumption does not have generality.
It is, therefore, desirable to provide a kind of technical solution for the acquisition excavator fuel efficiency for capableing of efficiently and accurately, to solve to dig
Pick machine fuel oil test it is cumbersome, evaluation index is single, is only limitted to the technical problems such as prototyping testing.
Summary of the invention
The present invention provides a kind of for obtaining the method and system of excavator fuel efficiency, specifically:
First aspect provides a kind of method for obtaining excavator fuel efficiency, and the excavator includes swing arm, bucket
Bar, scraper bowl and revolving platform；The revolving platform and swing arm are attached in the first tie point, and the swing arm and dipper are second
Tie point is attached, and the dipper and scraper bowl are attached in third tie point；The described method includes:
Obtain material in associated arguments, the associated arguments of dipper, the associated arguments of scraper bowl and the scraper bowl of swing arm
Associated arguments；
According to the associated arguments of the swing arm, the associated arguments of dipper, the associated arguments of the associated arguments of scraper bowl and material,
And the equalising torque formula of first tie point, obtain the first prediction weight of material；
According to the associated arguments of the dipper, the associated arguments of scraper bowl, the associated arguments of material and second connection
The equalising torque formula of point, obtains the second prediction weight of material；
It is public according to the equalising torque of the associated arguments of the scraper bowl, the associated arguments of material and the third tie point
Formula obtains third prediction weight of material；
Current work is determined by the first prediction weight of material, the second prediction weight of material, third prediction weight of material
Weight of material under recycling；
In the way of obtaining the weight of material under present duty cycle, object all under default working cycles number is obtained
Expect weight, and target weight of material is determined according to all weight of material；The working cycles number of the excavator is
The Excavating bucket number of the excavator；
According to oil consumption total in the operation total duration of the target weight of material and the default working cycles number, obtain
To the fuel efficiency of the excavator.
Second aspect provide it is a kind of for obtaining the method system of excavator fuel efficiency, the system comprises:
Associated arguments obtain module, associated arguments, the related ginseng of the dipper of excavator of the swing arm for obtaining excavator
Amount, excavator scraper bowl associated arguments and material in the scraper bowl associated arguments；
First prediction weight of material obtains module, for according to the associated arguments of the swing arm, the associated arguments of dipper, shovel
The equalising torque formula of the associated arguments of bucket and the associated arguments of material and the first tie point obtains the first prediction material weight
Amount；First tie point is the revolving platform of the excavator and the junction of swing arm；
Second prediction weight of material obtains module, for associated arguments, the associated arguments of scraper bowl, object according to the dipper
The equalising torque formula of the associated arguments of material and the second tie point obtains the second prediction weight of material；Second tie point
For the junction of the swing arm and dipper；
Third prediction weight of material obtains module, for associated arguments, the associated arguments of material according to the scraper bowl, with
And the equalising torque formula of third tie point, obtain third prediction weight of material；The third tie point is dipper and scraper bowl
Junction；
Current weight of material obtains module, for by the first prediction weight of material, the second prediction weight of material, third
Prediction weight of material determines the weight of material under present duty cycle；
Target weight of material obtains module, for obtaining in the way of obtaining the weight of material under present duty cycle
All weight of material under default working cycles number, and target weight of material is determined according to all weight of material；
The working cycles number of the excavator is the Excavating bucket number of the excavator；
Fuel efficiency obtains module, for the work according to the target weight of material and the default working cycles number
Total oil consumption in industry total duration, obtains the fuel efficiency of the excavator.
Provided by the present invention for obtaining the technical solution of the method for excavator fuel efficiency, have the following technical effect that
High degree of automation of the present invention, precision are high, can fuel efficiency in all excavator Life cycle into
Row real-time monitoring.Detection process of the present invention is at low cost, is able to carry out simple refit on the basis of automatically or semi-automatically excavator
It obtains.The detection of oil consumption through the invention and the acquisition of mass data can be the intelligence and product technology of excavator
Upgrading provides big data basis.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology and advantage, below will be to implementation
Example or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is only some embodiments of the present invention, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the complete machine schematic diagram that this specification embodiment provides；
Fig. 2 is a kind of for obtaining the ways and means flow chart of excavator fuel efficiency of this specification embodiment offer；
Fig. 3 (a) is the schematic diagram of the position of centre of gravity for the swing arm that this specification embodiment provides；
Fig. 3 (b) is the schematic diagram of the position of centre of gravity for the dipper that this specification embodiment provides；
Fig. 3 (c) is the schematic diagram of the position of centre of gravity of the scraper bowl that this specification embodiment provides and material；
Fig. 4 is the excavation end of a period point schematic diagram that this specification embodiment provides
Fig. 5 is the emptying point schematic diagram that this specification embodiment provides；
Fig. 6 is the schematic diagram of a kind of this specification embodiment excavator composition provided and its related data information；
Fig. 7 is the statistics schematic diagram of bucket fill degree shown in this specification embodiment；
Fig. 8 is the statistics schematic diagram of weight of material shown in this specification embodiment,
Fig. 9 is bucket number time statistics schematic diagram shown in this specification embodiment；
Figure 10 is the statistics schematic diagram of angle of revolution shown in this specification embodiment；
Figure 11 is the statistics schematic diagram of hoisting depth shown in this specification embodiment；
Figure 12 is the statistics schematic diagram of lift shown in this specification embodiment；
Figure 13 is the statistics schematic diagram of oil consumption shown in this specification embodiment；
Figure 14 is the statistics schematic diagram of fuel efficiency shown in this specification embodiment；
Figure 15 is oiling statistics schematic diagram shown in this specification embodiment；
Figure 16 is engine speed distribution statistics schematic diagram shown in this specification embodiment；
Figure 17 is the big cavity pressure distribution statistics schematic diagram of scraper bowl shown in this specification embodiment；
Figure 18 is the small cavity pressure distribution statistics schematic diagram of scraper bowl shown in this specification embodiment；
Figure 19 is the big cavity pressure distribution statistics schematic diagram of dipper shown in this specification embodiment；
Figure 20 is the small cavity pressure distribution statistics schematic diagram of dipper shown in this specification embodiment；
Figure 21 is the big cavity pressure distribution statistics schematic diagram of swing arm shown in this specification embodiment；
Figure 22 is the small cavity pressure distribution statistics schematic diagram of swing arm shown in this specification embodiment；
Figure 23 is rotation pressure distribution statistics schematic diagram shown in this specification embodiment；
Figure 24 is walking pressure distribution statistics schematic diagram shown in this specification embodiment；
Figure 25 is main pump pressure distribution statistics schematic diagram shown in this specification embodiment；
Figure 26 is the statistics schematic diagram of bucket cylinder flight distribution shown in this specification embodiment；
Figure 27 is the statistics schematic diagram of bucket arm cylinder flight distribution shown in this specification embodiment；
Figure 28 is the statistics schematic diagram of boom cylinder flight distribution shown in this specification embodiment；
Figure 29 is the acting statistics schematic diagram of boom cylinder shown in this specification embodiment；
Figure 30 is the acting statistics schematic diagram of bucket arm cylinder shown in this specification embodiment；
Figure 31 is the acting statistics schematic diagram of bucket cylinder shown in this specification embodiment；
Figure 32 is the statistics schematic diagram of working efficiency shown in this specification embodiment；
Figure 33 is the statistics schematic diagram of tap point distribution frequency shown in this specification embodiment；
Figure 34 is the statistics schematic diagram of emptying point distribution frequency shown in this specification embodiment；
Figure 35 be machine shown in this specification embodiment tumble trend statistics schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
This specification embodiment provide it is a kind of for obtaining the technical solution of excavator fuel efficiency, as shown in Figure 1, institute
Stating excavator includes swing arm, dipper, scraper bowl and revolving platform；The revolving platform and swing arm are connected in the first tie point (C)
It connects, the swing arm and dipper are attached in the second tie point (F), and the dipper and scraper bowl are connected in third tie point (Q)
It connects；Wherein the G1-G9 in Fig. 1 is the position of centre of gravity that component is corresponded in excavator.As shown in Fig. 2, a kind of for obtaining excavator
The method of fuel efficiency, comprising:
S202. object in associated arguments, the associated arguments of dipper, the associated arguments of scraper bowl and the scraper bowl of swing arm is obtained
The associated arguments of material；
Specifically, the associated arguments of the swing arm may include that the cylinder force of swing arm, boom cylinder connect with respect to first
The rotary inertia of relatively described first tie point of the synthesis arm of force, swing arm of contact；
The associated arguments of the dipper may include that the cylinder force of dipper, bucket arm cylinder are comprehensive with respect to the second tie point
The rotary inertia of resultant force arm, dipper relatively described first tie point and second tie point；
The associated arguments of the scraper bowl may include that the cylinder force of scraper bowl, bucket cylinder are comprehensive with respect to third tie point
The rotary inertia of relatively described first tie point of resultant force arm, scraper bowl, the second tie point and third tie point；
The associated arguments of the material may include that relatively described first tie point of material, the second tie point are connected with third
The rotary inertia of point.
Further, obtained in step S202 the associated arguments of swing arm, the associated arguments of dipper, the associated arguments of scraper bowl with
And the associated arguments of material, may include:
Second inertia of the first inertia relevant parameter and the first oil cylinder relevant parameter, dipper that S402. obtain swing arm is related
Parameter and the second oil cylinder relevant parameter, the third inertia relevant parameter of scraper bowl and third oil cylinder relevant parameter and the scraper bowl
4th inertia relevant parameter of middle material；
Specifically, the first inertia relevant parameter includes: the weight m of the swing arm1；It is described dynamic as shown in Fig. 3 (a)
The connected obtained straight length L in the both ends of arm1；Linear distance r of the position of centre of gravity of the swing arm to the first tie point1；Swing arm
Position of centre of gravity is to the straight line of the first tie point, the angle ω for the straight line composition being connected with swing arm both ends1；Swing arm both ends are connected
Obtained straight line L1With the angle theta of horizontal plane1(not shown)；
The first oil cylinder relevant parameter includes: the oil cylinder cylinder diameter D of the swing arm1With bar diameter d1And the oil cylinder of swing arm is big
Cavity pressure p11With small cavity pressure p12；
The second inertia relevant parameter includes: the weight m of the dipper2；As shown in Fig. 3 (b), dipper, which is connected, to be obtained
Straight line L2；Linear distance r of the position of centre of gravity of the dipper to the second tie point2；The position of centre of gravity of dipper is to the second tie point
Straight line, the angle ω that the straight line being connected with dipper both ends is constituted2；The dipper both ends, which are connected, to be obtained being straight line and horizontal plane
Angle theta2(not shown)；
The second oil cylinder relevant parameter includes: the bucket arm cylinder cylinder diameter D2With bar diameter d2And the bucket arm cylinder is big
Cavity pressure p21With small cavity pressure p22；
The third inertia relevant parameter includes: the weight m of the scraper bowl3；As shown in Fig. 3 (c), scraper bowl both ends are mutually got continuously
The straight length L arrived3；Linear distance r of the position of centre of gravity of scraper bowl to third tie point3；The position of centre of gravity of scraper bowl is connected to third
The straight line of point, the angle ω constituted with the straight line of scraper bowl both ends composition3；The connected obtained straight line and horizontal plane angle in scraper bowl both ends
θ3(not shown)；Wherein, can also by detecting the angle of the rocker arm of excavator, then by the six bar mechanism of excavator into
Row conversion obtains the L of scraper bowl3With horizontal plane angle θ3。
The third oil cylinder relevant parameter includes: the bucket cylinder cylinder diameter D3With bar diameter d3And the bucket cylinder is big
Cavity pressure p31With small cavity pressure p32；
The 4th inertia relevant parameter includes: the weight m of the material4；As shown in Fig. 3 (c), the center of gravity of the material
Linear distance r of the position to third tie point4；The position of centre of gravity of material to third tie point straight line, with scraper bowl both ends phase
The angle ω that the straight line got continuously is constituted4；Wherein the parameter of material can be is obtained by the comprehensive determination of test of many times.
Need to give explanation, the present embodiment, can be further according to dynamic in order to obtain corresponding prediction weight of material
The angle theta of the connected obtained straight line L1 and horizontal plane in arm both ends1, dipper both ends be connected obtain being straight line and horizontal plane angle θ2, shovel
The connected obtained straight line and horizontal plane angle θ in bucket both ends3, corresponding angular acceleration is calculated；Specifically:
Swing arm angular acceleration1:
Dipper angular acceleration2:
Scraper bowl acceleration alpha3:
Wherein, θ1(t)、θ2(t)、θ3It (t) is respectively θ1、θ2、θ3The record of relative time t expresses function.
S404. it is used relative to the rotation of first tie point swing arm to be obtained according to the first inertia relevant parameter
Amount, obtains the cylinder force of the swing arm according to the first oil cylinder relevant parameter；
Specifically, the rotary inertia of relatively described first tie point of the swing arm is
The cylinder force of the swing arm is
S406. relatively described first tie point of the dipper and described second are obtained according to the second inertia relevant parameter
The rotary inertia of tie point obtains the cylinder force of the dipper according to the second oil cylinder relevant parameter；
Specifically, the rotary inertia of relatively described first tie point of the dipper and second tie point is respectively as follows:
The cylinder force of the dipper is
S408. relatively described first tie point of the scraper bowl, the second connection are obtained according to the third inertia relevant parameter
The rotary inertia of point and third tie point, obtains the cylinder force of the scraper bowl according to the third oil cylinder relevant parameter；
The rotary inertia of relatively described first tie point of the scraper bowl, the second tie point and third tie point is respectively as follows:
Wherein,For the distance of C point to Q point,ForIt, both can be by known with the angle of horizontal plane
The posture of digger operating device is found out.
The cylinder force of the scraper bowl is
S410. relatively described first tie point of the material, the second connection are obtained according to the 4th inertia relevant parameter
The rotary inertia of point and third tie point.
The rotary inertia of relatively described first tie point of the material, the second tie point and third tie point is respectively as follows:
S204. related to material according to the associated arguments of the swing arm, the associated arguments of dipper, the associated arguments of scraper bowl
The equalising torque formula of parameter and first tie point obtains the first prediction weight of material；
Specifically, the equalising torque formula of the first tie point are as follows:
Wherein, g is acceleration of gravity；E1It is boom cylinder to the synthesis arm of force of C point, known excavator can be passed through
The posture of equipment is found out.At this point, only one unknown number m in the equalising torque formula of the first tie point4, find out solution note
For m '4(the first prediction weight of material).
S206. according to the associated arguments of the dipper, the associated arguments of scraper bowl, the associated arguments of material and described
The equalising torque formula of two tie points obtains the second prediction weight of material；
Specifically, the equalising torque formula of the second tie point are as follows:
Wherein, g is acceleration of gravity；E2It is bucket arm cylinder to the synthesis arm of force of F point, known excavator can be passed through
The posture of equipment is found out.At this point, only one unknown number m in the equalising torque son of the second tie point4, find out solution note
For m "4(the second prediction weight of material).
S208. flat according to the torque of the associated arguments of the scraper bowl, the associated arguments of material and the third tie point
Weigh formula, obtains third prediction weight of material；
Specifically, the equalising torque formula of third tie point are as follows:
Wherein g is acceleration of gravity；E3It is bucket cylinder to the synthesis arm of force of Q point, known excavator can be passed through
The posture of equipment is found out.At this point, only one unknown number m in the equalising torque formula of the first tie point4, find out solution note
For m '4(third prediction weight of material).
S210. the first prediction weight of material, the second prediction weight of material, third prediction weight of material are determined currently
Weight of material under working cycles；
Specifically, a calculating circulation terminates, the weight of material m under present duty cycle4It can be m4=(m '4+m″4+
m″′4)/3.It should be noted that can will obtain under three boom cylinder, bucket arm cylinder, bucket cylinder equalising torque formula
Any single weight of material is as the weight of material m under present duty cycle4；Either multiple prediction weight of material pass through other
Combination be weighted and averaged and solve obtained weight of material, as the weight of material m under present duty cycle4。
Wherein, it can see in the equalising torque formula of each tie point, the parameter being related to includes dynamic parameter in fact
And static parameter；In detail, dynamic parameter such as includes the dynamic parameter such as rotary inertia, angular acceleration；Static parameter can be with
Including static parameters such as weight, the comprehensive arm of forces.
Explanation is further given, in order to improve the accuracy of weight of material data and subsequent fuel Efficiency testing,
The weight m of boom cylinder, bucket arm cylinder, bucket cylinder, rocker arm, connecting rod etc. can be considered together5、m6、m7、m8、m9Deng.Further
Ground can increase a platform angle sensing to improve the accuracy of weight of material data and subsequent fuel Efficiency testing
Device compensates excavator from angular error caused by uneven ground.In addition, can be carried out to improve accuracy of measurement
Multiple cycle calculations optimize processing.
S212. in the way of obtaining the weight of material under present duty cycle, institute under default working cycles number is obtained
Some weight of material, and target weight of material is determined according to all weight of material；The working cycles of the excavator
Number is the Excavating bucket number of the excavator；
Need to give explanation, a working cycles, which can be understood as currently excavating, ends point beginning until next digging
Pick end of a period point or emptying point start until next emptying point.In detail: with the central axis of the pivoting support of excavator and place
The intersection point on ground carries out the definition for excavating end point and emptying point as origin (the o point in Fig. 1),
Excavate end of a period point: scraper bowl excavates (the big cavity pressure P of bucket cylinder30> 15Mpa) after, scraper bowl posture QV line and level
The angle ∠ OQV > -25 ° (assuming that horizontal plane crosses Q point, scraper bowl V point this angle under horizontal plane is negative) in face, definition is at this time
Position where the Q point of digger operating device is to excavate end of a period point (X0, Y0), as shown in Figure 4；
Emptying point: scraper bowl discharging (the small cavity pressure P of bucket cylinder31> 5Mpa or scraper bowl operation handle " opening bucket " signal are lasting
Time >=0.4S) after, (assuming that horizontal plane crosses Q point, scraper bowl V point is in horizontal plane less than -95 ° for scraper bowl posture QV line and horizontal plane
Under this angle be negative), definition at this time the position where the Q point of digger operating device be emptying point (X1, Y1), such as Fig. 5
It is shown.
S214. according to oil total in the operation total duration of the target weight of material and the default working cycles number
Consumption, obtains the fuel efficiency of the excavator.
It specifically, can be according to formulaObtain the fuel efficiency of the excavator；Wherein, the QfFor with
In the unit fuel oil shoveling amount for embodying fuel efficiency；∑m4For total shoveling amount in the operation total duration；GfFor described
Total oil consumption in operation total duration；As it can be seen that unit fuel oil shoveling amount Qf is bigger, illustrate fuel efficiency of the machine under the operating condition
It is higher.
Wherein, it can also be obtained in this specification embodiment:
I-th working cycles boom cylinder acting W1i:
W1i=∫ F1i(s)×ds
Wherein, F1i(s) it is expressed for record of the boom cylinder active force to boom cylinder stroke s (elongation of boom cylinder)
Formula.
I-th working cycles bucket arm cylinder acting W2i:
W2i=∫ F2i(s)×ds
Wherein, F2i(s) it is expressed for record of the bucket arm cylinder active force to bucket arm cylinder stroke s (elongation of bucket arm cylinder)
Formula.
I-th working cycles bucket cylinder acting W3i:
W3i=∫ F3i(s)×ds
Wherein, F3i(s) it is expressed for record of the bucket cylinder active force to bucket cylinder stroke s (elongation of bucket cylinder)
Formula.
I-th working cycles revolution acting W4i:
W4i=∫ (M40/P40)×|P4Ai(β)-P4Bi(β)|×dβ
Wherein, M40For the nominal torque of rotary motor speed reducer assembly, P40It is specified turn of rotary motor speed reducer assembly
Pressure under square, M40/P40For constant.P4Ai(β)、P4Bi(β) is rotary motor A, B hydraulic fluid port corresponding pressure to platform angle of revolution β
Record expression formula, | P4Ai(β)-P4Bi(β) | it is poor for rotary motor A, B hydraulic fluid port oil liquid pressure.
The total acting W of i-th working cyclesi:
Wi=W1i+W2i+W3i+W4i
The index of fuel efficiency:
Qf0=Qf×QfwFurther, in a kind of optional embodiment, the method can also include:
In the way of obtaining the fuel efficiency of the excavator, multiple comparison fuel efficiency values are obtained；
By control variate method, multiple comparison fuel efficiency values are compared analysis.
In detail, the comparison of the fuel efficiency for different machines:
In terms of machine hand, it is desirable that the horizontal similar or machine handwheel stream swap operation different machines of machine workmanship art and operation duration
It is identical；
In terms of operating condition, the operation simultaneously as far as possible on the same building site of various equiprobabilities, and then compare the combustion of different machines
Oily efficiency；Specifically:.
Assuming that operating condition one: machine hand first, machine A, fuel efficiency Qf, fuel oil mechanical efficiency Qfw。
Then fuel efficiency index Qf0':
Qf0'=Qf′×Qfw′
Assuming that operating condition two: machine hand second, machine B, fuel efficiency Qf", fuel oil mechanical efficiency Qfw″。
Then fuel efficiency index Qf0":
Qf0"=Qf″×Qfw″
If Qfw" > Qfw", then illustrate that the fuel efficiency of machine hand first and machine A combination is greater than machine hand second and machine B combination.
If machine hand first=machine hand second (machine hand first and second is all the same person or same technical level), and Qfw" > Qfw",
Then illustrate that the fuel efficiency of machine A is greater than the working efficiency of machine B.This can be excavated for different tonnages or different brands
The comparison of machine working efficiency.
If machine A=machine B (machine hand first and second operates same machine), and Qfw" > Qfw", then illustrate the skill of machine hand first
Art level is higher than machine hand second.
Wherein, in order to improve the accuracy that fuel efficiency compares, the reduced time can suitably lengthen the tune for carrying out adaptability
Whole and selection.The present embodiment can be for the detection for excavating a group of planes, Life cycle progress oil consumption.
The working efficiency of excavator can also wherein be detected in the present embodiment, specifically, pass through formulaObtain the working efficiency of excavator；Wherein, Q is working efficiency, unit t/h (tph)；When T is that operation is total
It is long, unit h (hour)；∑m4For the shoveling amount in activity duration T, unit t (ton).
Need to give explanation, process that prediction weight of material is obtained in this specification embodiment belongs to weighs automatically
Process.State complex when due to actual excavation material, uncontrollable factor are too many；And the portable liter of machine of usually excavator is filled
The scraper bowl of material leave excavation surface and it is accessible when just operation machine revolution；Therefore, it is detected when having revolution movement using machine
To each oil cylinder working-pressure it is just relatively accurate to calculate weight of material (automatic weighing).
In a kind of feasible embodiment, can be set on the revolving platform of the excavator gradient sensor and
Acceleration transducer；Accordingly, the method can also include:
When the inclination angle fluctuation for detecting revolving platform is more than or equal to preset angle angle value, the inspection of Platform Vibration acceleration is carried out
It surveys；When the vibration acceleration for detecting the revolving platform is more than or equal to predetermined acceleration value, to the wave of the revolving platform
Dynamic duration is judged；If within preset duration, the trend number of tumbling of the excavator is added up for the fluctuation duration
Once.
Such as: when detecting that gallery inclination angle has more than or equal to 5 ° of fluctuations, if detecting that Platform Vibration accelerates again
Degree is more than or equal to 3.8m/s2When, and by controller to judge this period to occur within 10S, side judgement machine is tumbled
Trend 1 time.It can also wherein be measured by angle of revolution and judge that machine is leaned forward or the detection of hypsokinesis, inclination.
In a kind of feasible embodiment, combination of the revolving platform relative to the excavator in present duty cycle is obtained
The angle of revolution β of walkeri, may include:
The internal tooth for acquiring the pivoting support moves the number of teeth pulse of (revolution) in present duty cycle；
According to the total number of teeth for the ring gear for detecting obtained number of teeth pulse and the pivoting support, the revolution is obtained
Angle of revolution β of the platform relative to combination walker；Wherein, the bind lines is parallel in the longitudinal axis of the revolving platform
It walks the longitudinal axis of frame, and when the running motor of the excavator is located at after driver's cabin, then demarcates β0=0 °；
According to formulaRevolving platform is obtained in present duty cycle relative to the excavation
The angle of revolution β i, wherein n of the combination walker of machineToothFor number of teeth pulse.
Specifically carrying out the calculating of angle of revolution β i using following derivation formula:
······
In a kind of embodiment, the excavator can also include approach switch sensor；The approach switch sensor is set
It sets on the revolving platform, and the induction end of the approach switch sensor is directed at the pivoting support of the excavator up and down
Internal tooth；
When the rotary motor of the excavator drives the relatively described combination of the revolving platform by gear-driven mode
When walker rotates, the approach switch sensor is used to detect the internal tooth of the pivoting support by described close to switch sensing
The number of teeth pulse n of the induction end of deviceTooth。
Wherein, general provision direction: left-hand rotation nToothIt is positive, right-hand rotation nToothIt is negative.Specifically, can by detection rotary motor A,
B hydraulic fluid port pressure or two guide's hydraulic fluid port pressure for turning round pilot handle carry out left revolution or the judgement of right-hand rotation.
Need to give explanation, this specification can also carry out the full bucket weight (mark of unit K g) by following method
It is fixed:
Method one: input calibration；It is manually entered full bucket weight value, for example input 365Kg, system then press the material of 365Kg
It is demarcated as 100% bucket fill degree；
Method two: material calibration is excavated；Machine hand practical operation machine excavation material, the object for selecting a machine hand satisfied
Material weight is demarcated as full bucket weight value.
In the present embodiment to it is full bucket weight calibration mode, compare be manually entered calibration mode it is simpler flexibly
And it is more acurrate.
It is composition and its signal of related data information of one of this specification embodiment excavator as shown in Figure 6
Figure, wherein the excavator in this specification embodiment, can in real time to engine, hydraulic system, pivoting part, ground-engaging element,
The working times such as equipment, accessory and working strength are detected, and calculate dependent loss part and damaged part by preset algorithm
Remaining life and remind machine hand and user, guarantee that machine maintenance maintenance and part replacement in best period, reduce user to machine
The use cost of device.This specification embodiment can timely and effectively find failure and predict failure to a certain degree, instruct user
Rapidly removing faults or trouble saving improve the reliability and the rate of attendance of machine.And it can timely and effectively find machine
Unsafe condition, the bad habit of timely correction machine hand facilitate management of the user to man-machine safety and health.The present embodiment
In, the evaluation index of excavator fuel efficiency are as follows: unit fuel oil Excavating bucket number, unit fuel oil excavate soil amount (t/L or Kg/L), can
Statistical Comparison is carried out with any a period of time for machine Life cycle.
It wherein, can be based on such as Fig. 6 bucket fill degree statistics, Fig. 8 monobucket duration statistics, Figure 16 to Figure 21 work in the present embodiment
Make each oil cylinder working-pressure distribution frequency statistics, Figure 31 working efficiency statistics etc., judges that scraper bowl type, bucket capacity even equipment are
No and operating condition Proper Match；And recommend more reasonable equipment and accessory to user, make each user can object to the greatest extent its
With playing machine maximum efficiency and reduces oil consumption.It can be based on such as Figure 16 to Figure 24, in real time to engine, hydraulic pressure system
The working times such as system, pivoting part, ground-engaging element, equipment, accessory and working strength are detected, and preset algorithm meter is passed through
It calculates the remaining life of dependent loss part and damaged part and reminds machine hand and user, guarantee machine maintenance maintenance and part replacement most
Good period reduces user to the use cost of machine.Can to engine water temperature, fault code, hydraulic system pressure and oil temperature,
The real-time monitoring of working efficiency, fuel efficiency timely and effectively finds failure and predicts failure to a certain degree, instructs user quick
Debugging or trouble saving, improve the reliability and the rate of attendance of machine.It can be based on such as Fig. 9 to Figure 11, Figure 32, Figure 33
Judge whether machine excavates route, mode and dumper relative position reasonable；Whether Figure 25 to Figure 27 can be seen that machine excavation
In high efficient area and the whether frequent rigid shock of oil cylinder；Figure 34 illustrates the safety of machine hand operation machine；It was found that and timely correction
The bad habit of machine hand facilitates management of the user to man-machine safety and health.Also, pass through accurately oil in the present embodiment
The comparison of efficiency and the visual presentation of related data are consumed, it being capable of more accurate excitation set hand.
This specification embodiment additionally provides a kind of for obtaining the method system of excavator fuel efficiency, the system packet
It includes:
Associated arguments obtain module, associated arguments, the related ginseng of the dipper of excavator of the swing arm for obtaining excavator
Amount, excavator scraper bowl associated arguments and material in the scraper bowl associated arguments；
First prediction weight of material obtains module, for according to the associated arguments of the swing arm, the associated arguments of dipper, shovel
The equalising torque formula of the associated arguments of bucket and the associated arguments of material and the first tie point obtains the first prediction material weight
Amount；First tie point is the revolving platform of the excavator and the junction of swing arm；
Second prediction weight of material obtains module, for associated arguments, the associated arguments of scraper bowl, object according to the dipper
The equalising torque formula of the associated arguments of material and the second tie point obtains the second prediction weight of material；Second tie point
For the junction of the swing arm and dipper；
Third prediction weight of material obtains module, for associated arguments, the associated arguments of material according to the scraper bowl, with
And the equalising torque formula of third tie point, obtain third prediction weight of material；The third tie point is dipper and scraper bowl
Junction；
Current weight of material obtains module, for by the first prediction weight of material, the second prediction weight of material, third
Prediction weight of material determines the weight of material under present duty cycle；
Target weight of material obtains module, for obtaining in the way of obtaining the weight of material under present duty cycle
All weight of material under default working cycles number, and target weight of material is determined according to all weight of material；
The working cycles number of the excavator is the Excavating bucket number of the excavator；
Fuel efficiency obtains module, for the work according to the target weight of material and the default working cycles number
Total oil consumption in industry total duration, obtains the fuel efficiency of the excavator.
Need to give explanation, the inventive concept of Installation practice is identical as the method embodiment, specifically module
Corresponding location contents is referred to the description in embodiment of the method, repeats no more to this.
Provided by the present invention for obtaining the technical solution of the method for excavator fuel efficiency, have the following technical effect that
Associated arguments, the associated arguments of dipper, the associated arguments of scraper bowl and the shovel that the present invention passes through acquisition swing arm
The associated arguments of material in bucket；Based on the parameter and corresponding equalising torque formula got, obtain based on each company
The weight of material that junction is predicted；Later, present duty cycle is determined by the multiple weight of material obtained to prediction
Under weight of material, further determine weight of material all under default working cycles number, and then be able to carry out
The target weight of material of fuel efficiency analysis；So that based on the fuel oil index that the target weight of material obtains, to excavator
Fuel efficiency carries out effective accurate detection evaluation.
High degree of automation of the present invention, precision are high, can fuel efficiency in all excavator Life cycle into
Row real-time monitoring.Detection process of the present invention is at low cost, is able to carry out simple refit on the basis of automatically or semi-automatically excavator
It obtains.The detection of oil consumption through the invention and the acquisition of mass data can be the intelligence and product technology of excavator
Upgrading provides big data basis.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of method for obtaining excavator fuel efficiency, the excavator includes that swing arm, dipper, scraper bowl and revolution are flat
Platform；The revolving platform and swing arm are attached in the first tie point, and the swing arm and dipper are attached in the second tie point,
The dipper and scraper bowl are attached in third tie point；It is characterized in that, which comprises
Obtain the correlation of material in associated arguments, the associated arguments of dipper, the associated arguments of scraper bowl and the scraper bowl of swing arm
Parameter；
According to the associated arguments of the swing arm, the associated arguments of dipper, the associated arguments of the associated arguments of scraper bowl and material, and
The equalising torque formula of first tie point obtains the first prediction weight of material；
According to the associated arguments of the dipper, the associated arguments of scraper bowl, the associated arguments of material and second tie point
Equalising torque formula obtains the second prediction weight of material；
According to the equalising torque formula of the associated arguments of the scraper bowl, the associated arguments of material and the third tie point, obtain
Weight of material is predicted to third；
Determine that work at present follows by the first prediction weight of material, the second prediction weight of material, third prediction weight of material
Weight of material under ring；
In the way of obtaining the weight of material under present duty cycle, material weight all under default working cycles number is obtained
Amount, and target weight of material is determined according to all weight of material；The working cycles number of the excavator is described
The Excavating bucket number of excavator；
According to oil consumption total in the operation total duration of the target weight of material and the default working cycles number, institute is obtained
State the fuel efficiency of excavator.
2. the method according to claim 1 for obtaining excavator fuel efficiency, which is characterized in that described according to
Total oil consumption, obtains the combustion of the excavator in the operation total duration of target weight of material and the default working cycles number
Oily efficiency, comprising:
According to formulaObtain the fuel efficiency of the excavator；Wherein, the QfFor for embodying fuel efficiency
Unit fuel oil shoveling amount；∑m4For total shoveling amount in the operation total duration；GfIt is total in the operation total duration
Oil consumption.
3. the method according to claim 1 for obtaining excavator fuel efficiency, which is characterized in that the method is also wrapped
It includes:
In the way of obtaining the fuel efficiency of the excavator, multiple comparison fuel efficiency values are obtained；
By control variate method, multiple comparison fuel efficiency values are compared analysis.
4. the method according to claim 1 for obtaining excavator fuel efficiency, which is characterized in that the method is also wrapped
It includes:
When the inclination angle fluctuation for detecting revolving platform is more than or equal to preset angle angle value, the detection of Platform Vibration acceleration is carried out；
When the vibration acceleration for detecting the revolving platform is more than or equal to predetermined acceleration value, when to the fluctuation of the revolving platform
Length is judged；If the fluctuation duration is within preset duration, and the trend number of tumbling of the excavator is accumulative primary.
5. the method according to claim 1 for obtaining excavator fuel efficiency, which is characterized in that the phase of the swing arm
Closing parameter includes the synthesis arm of force of the cylinder force of swing arm, boom cylinder with respect to the first tie point, swing arm relatively described first
The rotary inertia of tie point；
The associated arguments of the dipper include the cylinder force of dipper, bucket arm cylinder with respect to the second tie point the synthesis arm of force,
The rotary inertia of dipper relatively described first tie point and second tie point；
The associated arguments of the scraper bowl include the cylinder force of scraper bowl, bucket cylinder with respect to third tie point the synthesis arm of force,
The rotary inertia of relatively described first tie point of scraper bowl, the second tie point and third tie point；
The associated arguments of the material include rotation of the material relative to first tie point, the second tie point and third tie point
Inertia.
6. the method according to claim 5 for obtaining excavator fuel efficiency, which is characterized in that the acquisition swing arm
Associated arguments, the associated arguments of dipper, the associated arguments of the associated arguments of scraper bowl and material, comprising:
Obtain the first inertia relevant parameter of swing arm and the second inertia relevant parameter and second of the first oil cylinder relevant parameter, dipper
The of material in oil cylinder relevant parameter, the third inertia relevant parameter of scraper bowl and third oil cylinder relevant parameter and the scraper bowl
Four inertia relevant parameters；
The rotary inertia of relatively described first tie point of the swing arm is obtained according to the first inertia relevant parameter, according to described
First oil cylinder relevant parameter obtains the cylinder force of the swing arm；
Relatively described first tie point of the dipper and second tie point are obtained according to the second inertia relevant parameter
Rotary inertia obtains the cylinder force of the dipper according to the second oil cylinder relevant parameter；
Relatively described first tie point of the scraper bowl, the second tie point and third is obtained according to the third inertia relevant parameter to connect
The rotary inertia of contact obtains the cylinder force of the scraper bowl according to the third oil cylinder relevant parameter；
Relatively described first tie point of the material, the second tie point and third is obtained according to the 4th inertia relevant parameter to connect
The rotary inertia of contact.
7. the method according to claim 6 for obtaining excavator fuel efficiency, which is characterized in that
The first inertia relevant parameter includes: the weight m of the swing arm1；The connected obtained straight length in the both ends of the swing arm
L1；Linear distance r of the position of centre of gravity of the swing arm to the first tie point1；The position of centre of gravity of swing arm is straight to the first tie point
Line, the angle ω that the straight line being connected with swing arm both ends is constituted1；The connected obtained straight line L in swing arm both ends1With the folder of horizontal plane
Angle θ1；
The first oil cylinder relevant parameter includes: the oil cylinder cylinder diameter D of the swing arm1With bar diameter d1And the big chamber pressure of oil cylinder of swing arm
Power p11With small cavity pressure p12；
The second inertia relevant parameter includes: the weight m of the dipper2；The connected obtained straight line L of dipper2；The dipper
Linear distance r of the position of centre of gravity to the second tie point2；The position of centre of gravity of dipper to the second tie point straight line, with dipper both ends
The angle ω that the obtained straight line that is connected is constituted2；The dipper both ends, which are connected, to be obtained being straight line and horizontal plane angle θ2；
The second oil cylinder relevant parameter includes: the bucket arm cylinder cylinder diameter D2With bar diameter d2And the big chamber pressure of bucket arm cylinder
Power p21With small cavity pressure p22；
The third inertia relevant parameter includes: the weight of the scraper bowl；The connected obtained straight length L in scraper bowl both ends3；Scraper bowl
Position of centre of gravity to third tie point linear distance r3；The position of centre of gravity of scraper bowl to third tie point straight line, with scraper bowl two
The angle ω that the straight line of end composition is constituted3；The connected obtained straight line and horizontal plane angle θ in scraper bowl both ends3；
The third oil cylinder relevant parameter includes: the bucket cylinder cylinder diameter D3With bar diameter d3And the big chamber pressure of bucket cylinder
Power p31With small cavity pressure p32；
The 4th inertia relevant parameter includes: the weight m of the material4；The position of centre of gravity of the material is to third tie point
Linear distance r4；The position of centre of gravity of material to the straight line of third tie point, what the straight line that is connected with scraper bowl both ends was constituted
Angle ω4。
8. the method according to claim 4 for obtaining excavator fuel efficiency, which is characterized in that obtain work at present
Angle of revolution β of the revolving platform relative to the combination walker of the excavator in circulationi, comprising:
Acquire the number of teeth pulse that the internal tooth of the pivoting support turns round in present duty cycle；
According to the total number of teeth for the ring gear for detecting obtained number of teeth pulse and the pivoting support, the revolving platform is obtained
Angle of revolution β relative to combination walker；Wherein, the combination walker is parallel in the longitudinal axis of the revolving platform
Longitudinal axis, and when the running motor of the excavator is located at after driver's cabin, then demarcate β0=0 °；
According to formulaRevolving platform is obtained in present duty cycle relative to the excavator
The angle of revolution β i of walker is combined, wherein nToothFor number of teeth pulse.
9. the method according to claim 8 for obtaining excavator fuel efficiency, which is characterized in that the excavator is also
Including approach switch sensor；The approach switch sensor is arranged on the revolving platform, and described close to switch biography
The induction end of sensor is directed at the internal tooth of the pivoting support of the excavator up and down；
When the rotary motor of the excavator drives the relatively described combination of the revolving platform to walk by gear-driven mode
When frame rotates, the approach switch sensor is used to detect the internal tooth of the pivoting support by the approach switch sensor
The number of teeth pulse of induction end.
10. a kind of for obtaining the method system of excavator fuel efficiency, which is characterized in that the system comprises:
Associated arguments obtain module, and the associated arguments of the swing arm for obtaining excavator, are dug at the associated arguments of the dipper of excavator
The associated arguments of material in the associated arguments of the scraper bowl of pick machine and the scraper bowl；
First prediction weight of material obtains module, for according to the associated arguments of the swing arm, the associated arguments of dipper, scraper bowl
The equalising torque formula of the associated arguments and the first tie point of associated arguments and material, obtains the first prediction weight of material；The
One tie point is the revolving platform of the excavator and the junction of swing arm；
Second prediction weight of material obtains module, for according to the associated arguments of the dipper, the associated arguments of scraper bowl, material
The equalising torque formula of associated arguments and the second tie point obtains the second prediction weight of material；Second tie point is institute
State the junction of swing arm and dipper；
Third prediction weight of material obtains module, for associated arguments, the associated arguments of material according to the scraper bowl, Yi Ji
The equalising torque formula of three tie points obtains third prediction weight of material；The third tie point is the connection of dipper and scraper bowl
Place；
Current weight of material obtains module, for being predicted by the first prediction weight of material, the second prediction weight of material, third
Weight of material determines the weight of material under present duty cycle；
Target weight of material obtains module, for being preset in the way of obtaining the weight of material under present duty cycle
All weight of material under working cycles number, and target weight of material is determined according to all weight of material；It is described
The working cycles number of excavator is the Excavating bucket number of the excavator；
Fuel efficiency obtains module, total for the operation according to the target weight of material and the default working cycles number
Total oil consumption in duration, obtains the fuel efficiency of the excavator.
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