JPS6082595A - Arithmetic unit for load of working machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a load calculating device for a working machine that calculates the load of a load such as a hydraulic excavator, a wheel loader, a tractor shovel, etc., which transfers the load by driving a plurality of link mechanisms.

BACKGROUND OF THE INVENTION Working machines such as hydraulic excavators, wheel loaders, tractor shovels, and the like that are equipped with a plurality of link mechanisms often have to transport heavy objects from one location to another. To explain this kind of work using a hydraulic excavator as an example, it is when pumping excavated earth, sand, rocks, etc. into a waiting dump truck, or when putting multi-hour limestone into a reactor at a chemical plant. etc. are possible. In these operations, if the load of excavated earth, sand, rocks, etc. is known, it is possible to adjust the loading amount on the dump truck, and if the load of limestone is known, it is possible to throw in a certain amount of excavated earth, rock, etc. If it is possible to know the load of these loads when they are loaded on a hydraulic excavator, a lot of time and effort for weighing can be saved, and work efficiency can be significantly improved.

Conventionally, in hydraulic cranes, a load calculation device for the suspended load has been used to prevent overturning and omit weighing. Such a load calculation device will be explained based on the drawings.

Figure 441 is a 11+++ side view of the hydraulic crane. In the figure, 1 is the main body of the hydraulic crane, and 2 is the swing fulcrum A on the main body 1.
3 is a boom cylinder that moves the boom 2 up and down, 3r is a boom cylinder 30
It's Rondo. Boom cylinder 3 is the main body IK swing fulcrum I
3, and its rod 3r
It is rotatably connected to the tip hub 2 at the tying point C. 4 is the winch, 5 is the winch 4 or the boom end,
451), 6 is a hook at the tip of the wire, and 7 is a hanging load suspended from the hook 6. A'+:r- and riI- of the hanging bamboo 7 are indicated by W. 8 is the 1 endothelium adobe provided with the swinging fulcrum AK; 9 is the head of the foam cylinder 3; 17) Pressure 1 for measuring pressure;
i, 9'+! It is a pressure gauge that measures the pressure of the rod 111 of the boom cylinder (E). Boom 2, wire 5
, hook 6 BT heart position, WoQ go those J I IJ
Indicates l.

FIG. 2 is a diagram showing one section of each part of the hydraulic crane shown in FIG. 1. l is the length between the fulcrum A and the perpendicular to the tip of the boom, lo is the length between the perpendicular between the fulcrum A and the center of gravity E, l is the fulcrum A
and the length between fulcrum 8, l is the length between fulcrum A and connection point C,
l, is the length between fulcrum B and connection point C, j4 is the length between fulcrum C and orthocenter E, l is the length between fulcrum A and boom tip edge, l
c is the length of the perpendicular line drawn from the line segment BC to the fulcrum AK. Also, θ1 is the angle between line segment AB and the horizontal line, θ.

is the angle formed by line segment AB and line segment BC, and θ3 is the angle formed by line segment AB and line segment AC.

Using the above values and considering the balance of the moment around the fulcrum A, what is the load w of the hanging load 7? demand. Now, the head side section of boom cylinder 3 is Sb, and the 1m core of the rond side section is S.
/b, the pressure on the head side of boom cylinder 3 is Pb,
If the pressure on the rod side is P'b, then the boom cylinder 3O
N force J'b &tFb == Pb m Sb −P
'b a S'bThis nE force Fb is the load wK of the suspended load 7
Dependent moment and dead weight W. Moment due to K and uniformity 9
7.7 W+1°・W, = Fb -zc Therefore, W=(Fb-lc-lo-Wo)/l Here, head 1illll cut 1fii 4νi8b is known, head side pressure Pb c pressure gauge 9, the thrust force E'b is known. In addition, 'l(W) is also known. Therefore, if the lengths l, lO, l- are obtained, the load 1(W) of the suspended load 7 can be known.

First, the length l can be expressed by the following equation.

l = l, cos (θ3-θI) where length l
, and the angle θ are known, and the angle θ3 is measured by the angle meter 8, so the length l can be calculated.

Bow down and be in awe! . can be expressed by the following equation.

6o = 714cos (0, -, 0,) Here, the length l and angle θ are known, and the angle θ3 is; It:I ′l
Since it can be obtained from I″'νC, it is possible to solve the problem by setting the people L.

Daigo is surprised to know that the ec is expressed by the following formula.

1e=4. sin　θ.

Here, the length l is known and the angle θ is unknown. Therefore, the angle θ2 will be set below. From FIG. 2, since there is a relationship l,·sin θ,=l,·sin θ3, the angle θ is expressed as follows.

θ, = sin” (-L!-5inθ,)l.

In the above formula, only the length of 9 pieces, l, is unknown, but the length! , the shore length ll+ and Act are known, and the angle θ3 can be obtained by measurement, so the length 13 can be calculated, and as a result, the length 1C can be found.

As explained above, the load W of the suspended load 7 can be determined by the above calculation using the known value of K and the measured values of the angle meter 8 and pressure gauge 9.

By the way, when trying to measure the load of a cargo such as a hydraulic shovel by applying the above-mentioned means, a very serious problem arises. This problem will be explained below using figures.

FIG. 3 is a 111 side view of the front section of the hydraulic excavator. In the figure, IO is the main body of the hydraulic excavator, 11 is a boom supported by the main body 10 so as to be able to swing around a swing fulcrum F, +
2+'j arm, j3 is a packet. 14 is the boom 11, a boom cylinder that lowers 1B, and the main body 10
K +',:',... fulcrum (swinging around i
, 1 'iiJ Noh is supported.

Also, L・1r is the rod of boom cylinder Ill,
Beyond that, 1/ii+i is the connection point) At I, boom 1■
and mouth ■ combined with rotation. 15&-, C-arm cylinder, 16 is a ring. 17 The boom swing fulcrum J4'K is installed.
The pressure gauge 1.18' is a pressure gauge that measures the pressure of the rod 'Ltil+ of the boom cylinder 14. Also, 19 is Bakeno) ``1'' such as earth and sand or rocks buried in 13 is a load.

By the way, the load J1jν of the suspended load 7 of the hydraulic crane mentioned above
V? When it is tj-Fj, the center of gravity of the hanging 61J7 is '
Boom lv in the field: j□Ai It is on the perpendicular line of the wire 5 suspended from D, and is -Lr+L. However, the center of gravity of the load rotating around the boom around the bucket 13 of the hydraulic excavator is 4i'Ii'IJI, the belly of the load,
1J (varies each time the load is loaded depending on the loading method etc. and is not constant. Therefore, if the load of the hydraulic excavator's load is calculated using the method of calculating the shipping load of the hydraulic crane described above, the error of the controller will be R11 occurs while it cannot be avoided.This will be explained below.

, r! In figure 3, X
.

Let Y be the true center of gravity position. Further, when the load of the cargo (true load 1.) when the true center position dY is set to W2 and the center of gravity position X, the load of the cargo is (W-ΔW). moreover,
The horizontal length between the fulcrum F and the assumed center position X is 7a
The length in the horizontal direction between the assumed center position
The length of the perpendicular line drawn to K is lC', and the boom cylinder 1
40The reaction force is defined as ill b. Further, if the self of the front mechanism of the hydraulic excavator is W, and the horizontal distance between the fulcrum) and the center of gravity of the front mechanism is l, the moment due to the weight of the front stone 4 is wl. Then, assuming that the center position of cargo J9 is always KXK, and calculating the load of cargo 19 using the method used in Sagi's hydraulic crane, (W-ΔW)・16-1? blIlc'-Wl. On the other hand, since the true load-city νV is W(da-Δ7!, )-Fb-IIJ w l, the calculated value has 1 error ΔW, and the farther it is from the assumed center position χ, , i.e. long? The larger ΣΔl is, the larger the error ΔW becomes.
Heart position 171. Unless X and Y match, it will not be possible to apply an accurate IF load.

The purpose of the present invention is to solve the above-mentioned conventional In point and
Even if the center position 114 of anything is not -W, the positive 61 of the cargo
The object of the present invention is to provide a working 4-tension machine 6J chaste shimmer device rj that can bend a load J4.

In order to achieve this goal, the present invention has developed a confectionery making machine.
Among the plurality of link machines 4'l't, the displacement of at least two links vi and middle f is detected by a displacement detection device, and the pressure of the r mountain 1 ball actuator that drives the two link 0 noodle grooves is detected. is detected by the pressure detection mIk, and based on these detected values, a certain calculation is performed in the iiiIg part.

Hereinafter, the present invention will be explained based on illustrated practical examples.

FIG. 4 shows the load and V? according to the embodiment of the present invention. - It is a side view of the front g of the hydraulic excavator equipped with the detection device used in the apparatus. In the figure, parts K that are the same as those shown in FIG. 3 are given the same reference numerals. 2Ll is →r6 @! of arm 12 supported by boom 1.1 K swinging FiJ function. +The angle t1゛, 21 provided at the fulcrum J is the arm cylinder 15
A pressure gauge that measures the pressure of head 11+11 of Eta 71,
22 is a pressure ratio 1 for measuring the pressure of the rod 111 of the arm cylinder I5. In addition, K is the swinging fulcrum of the arm cylinder supported by the boom IC swinging unit %M (Boar arm cylinder 150 rod 15r and arm 12 are i
The connection point connected to the J rotation is shown. Furthermore, the horizontal length of the center position of the fulcrum F and the load 19 is L, the horizontal length of the fulcrum P' and the fulcrum J is ls, and the horizontal length of the center position of the fulcrum J and the load 19 is L. /,, from part GH to fulcrum I
The length of the perpendicular drawn to I' is lcl, and the length of the perpendicular drawn from the extension of line segment K to the fulcrum J is 1le2.
shall be.

Fig. 5 is a pictorial diagram showing the dimensions of each ↑51~ in Fig. 4 K gas oil I-L- and the front bath bK of the excavator by 7J.

l. is the fulcrum) The length between ゛ and fulcrum 0, A'l+ is the fulcrum)
The length between ゛ and connection point 11, l+2 is the fulcrum q and connection point FI
The length between β4 is +8ij min 1” H and line segment FG 1
: [Angle θ is the angle formed by line segment 1・q and line segment G1~■. Also, 11. is the length of the fulcrum 1〈 and the connecting point M song, 1.
4 is the length between the fulcrum and the fulcrum 5, and A'+5 is the length between the connection point M and the fulcrum 5, θ.

The angle between J+Vl and the line JK, θ, is a plane! It is the angle formed by the segment KM and the line segment KJ. Also, N is the center of the boom, lso is the length between the fulcrum F and the center position N, and C
1 is! The angle between H and line segment 1 and q, Wb is the instep of the boom, J is also (arm'd) and the center of the bucket is 11 tails, A'61 is the fulcrum J and the center of the turret. lI'e; II
The length between 752 is the sameness between fulcrum F and fulcrum 5, C2 is the length between line segment JM and line segment JR, 4' JJ-J, and β1 is the horizontal line (indicated by a dashed line) and 11 minutes. F (angle formed by i,
β2 is the line segment ■ze J) essential JI' Hθ) Pue angle, β
, is the angle formed by 6゛υ' pa J and line segment MJ, νv6 is the weight of the arm and the packet.

Now, let's consider the balance of the moment at the fulcrum F5. The moment of the load ff1WK,t of the load 19 is w-77, and the reaction force of the boom cylinder 14 Jli'b
(As mentioned above, Fb = Pb # Sb - P'b
@ S'b ) The moment due to K is Fb @ lel and both are equal, so Fb '4+ '= W @
l, ten vi'l' aha-eae (1) where,
w'l' is w'll'= Wb e 15ocos (θ4+α
1-β+ ) Wa(A'et・cos (θ4-β1
−β2) +lJs, cos (β1+β, +β, −
θ, +θ6+α, −π), and since each of these angles, distances, and perpendicularities are known, w'l' is also known. Further, the value Fb is also known. Therefore, the unknown value in equation (1) is the value lc1. W,
11. It is. Therefore, add the length l'e+. length J
c+ is expressed by the following formula.

IJe I +7116 S I nθ5 length right. is known and the angle θ is unknown, but for this angle θ, 7, sin θ, = 7. ．． sin θ.

l,,=(1,.・+ll+・−2,l,.,11.
. . 50.4) From the +01 sword, it can be determined as (the length 'II r IIH is known and the angle θ4 is measured by the angle division 17). (1
) In the equation, the unknown value W, 737 is left as is, and the balance of the moment around the fulcrum J is calculated.

The moment due to Isadagi 19's Ikko Elementary School'vV K is W.
eo, the moment due to the arm cylinder 120 reaction force F1 is Fa II 42, and since both are equal, F'
a*42 =W*19+Wa @ l,, cos
(β1+β2+β3-θ4+06+(χ2-π) =W(4r 1.s) +W--1(,1cos (
β1 + I2 + β3 - 04 + 06 + α, -π) ...
・(2) becomes. Then, in equation (2), the second term on the right side is known and is ignored. Here, the receiving force on the head side of the arm cylinder 15 + iii 4 force is Sh, the receiving force is Ph, and the rod 11
If the pressure receiving surface 1 of 11 is b r g and the receiving force is Pr, then the reaction force II''a when the front part is in the posture shown in ・t: 41 Sentence + is I!'s = St 1IPr S
h @ Ph. Since the received pressures Pr and Ph are determined at++ by the pressures ii122 and 21, respectively, Fa in equation (2) is also known.

Furthermore, since the length between the fulcrum 1' and the fulcrum 5 is also determined, the length 18 is also known. Therefore, the unknown value in equation (2) is the length llC2tlJ7g.

Therefore, 1" is added to the length lc2. The length la2 is expressed by the following formula.

l c 2-114 S I nβ7 The length l+4 is known and the angle 07 is unknown, but for this angle θ, 7,, sinθe=43sinθ7 43 = (l, +'+ A'+52'2・l, 4・l
, cos θ6), it can be determined that β7 = 5in-' (bjsinθ6)13. Here, the length is 114°11s
is known and the angle θ. Since it is measured by the angle 1, the length 4g can be measured by the angle 1 and Mtcθ7.

Now, use the above equations (1) and (2) as an unknown value W.

17 simultaneous equations and subtracting this simultaneous equation, the cargo 19 (W) is.

It can be expressed as C+β, +β, -θ4+θ, 1α2-π). Note that the length 17 is as follows.

In the end, the cargo JIL of cargo 19 has a fixed length of 78
t 4 orns 44 + 45 + boom cylinder 1
40 head IH1] Cross-sectional area Sb, arm cylinder I11
Head 1ill, rod 1ill cross section Sh,
, sr and corner 1 tally 17. Measured value θ4106 + dill 'yi value Pb of pressure gauges 18, 21, 22
, Ph and PrK groups.

This can be determined by performing the calculations described above. This operation is performed in the arithmetic section shown in FIG.

FIG. 6 shows 1:η1 of the hydraulic excavator according to the embodiment of the present invention.
FIG. 11 is a block diagram of a No. 11 unit. In the figure, 17, 21
Jtit I4', 41gl K indicating angle nl', +
8.21 and 22 are also A at the 411.71 K end pressure drop. 23 is a micro converter 4)v
, lJ'y, and the angle F\t, +7.
side, the detection signals of the output meters 11'i, 21, 22 are
1lt' to the next input 1/less multiplexer 73a,
A/D converts the input detection signal into a digital value
converter field b, a CPU (
Central processing unit 7#) 23 C1CP U 23 c
The processing procedure is described in 1. Haru ■ is also OM (read only)
Note IJ) 23d, said fixed known length 1. ．． 1.
. tIn + A'+4 + 1. s, stores the cross-sectional profiles Sh and Sr of each cylinder) (, OM (read-only memo)) tg e, ILAM (random access memory) 23f that temporarily stores input values and calculation results, and Output amount 523 for outputting yF results
4M is completed in g. The cell is device d in Table 7, which displays the value calculated in ntMs 23.

When the load J9 is stored in the packet 13 of the hydraulic excavator, the calculation unit operates and the angle gauges 17 and 20 and the pressure 4+
＞+, 21, 22 detection values are input sequentially, and these detection 1st shift and IL OM 23 e Ic H self 1m are impressed by the IK of "Kanoya 1", 1'LO~l 7-3
d K According to the memorized move j1 rainbow 1, CPU Otsu C is 0
A predetermined calculation -q based on each equation (11) is performed to calculate the load W of the cargo 19. The calculated value W is the output t%23
g is output to the display device 24, and the value is displayed.

In addition, the known value] (OM dK Note 1.
2:3e can be omitted by 1. Further, the calculation unit can be used in common with other calculations and controls in the hydraulic excavator.

In this way, in this embodiment, the balance between the moment due to the load of the packet cargo around the swinging fulcrum of the boom and the moment due to the reaction force of the boom cylinder, and the aj of the packet A load around the swinging fulcrum of the arm are determined.
! (From the balance between the moment caused by Load A>.

can be rented.

In addition, in the above example, a hydraulic excavator is exemplified and +i>
? , but wheel loaders, tractor excavators''・
can be applied to other types of chestnut production machines.

Also, when balancing the moment, m J of the boom
l (5K was done to balance the moment around the fulcrum a and the moment around the swinging fulcrum of the arm, but either one of them should be replaced with the balance of the moment around the swinging fulcrum of the bucket and 1. You can also do that.

In this case, of course, an angle meter for detecting the angle and a pressure gauge for detecting the pressure of the packet cylinder are used. Furthermore, if the actuator is a hydraulic motor, the pressure at its outlet and inlet can be detected to calculate the reaction force of the hydraulic motor. You can also do it.

In addition, in forward bending, there was one theory regarding the case where two links 1 pA displacement of the 4th part of the foot were used, but nokukerato [3's corner I]
By detecting W and averaging it with the arm value.

The accuracy of detecting the load is further improved.

As described above, in the present invention, a change in the link f14 of at least two of the link mechanisms of the work machine track is detected, and at the same time, a change in the link f14 of at least two links (
Based on the long lecture, the pressure of the J Suzu Yamakawa actuator is detected, and the predetermined (An) is performed based on these detected values, so regardless of the load j1313iρii K,
It is possible to obtain a positive load (r=).

[Brief explanation of the drawing]

Figure 1 is a 11th view of the hydraulic crane, and Figure 2 is a view of the hydraulic crane.
A diagram showing the dimensions of each part of the Igl K1 hydraulic crane,
Figure 3 is a front view of the hydraulic excavator.
The figure is a 10-section view of the front part of a hydraulic excavator in which the detection device θ used in the load performance device 5 according to the embodiment of YJ et al. The lines indicating the dimensions of each part are 1, and the lines in Fig. 6 are 1.7[
This is a block diagram of the heavy (pl: fJ-mounted). 11...Boom, 12...Arm, J
3...Packet, °/° cargo, Z3...
・Fu - West. 11 Tsutori sardine 2 side wI3 Figure 2 4th day Figure 5 Figure 6 Procedural amendment (voluntary) February 7, 1980 Commissioner of the Japan Patent Office Kazuo Wakasugi Tono 1, Indication of the case 1988 4 Patent Application No. 188307 No. 2, name of the investigation Sakuto (h machine load 1 calculation device 13, person making the amendment Relationship with the case Applicant 4, agent △ Details as stated in the attached document?) Page 17, line 1, “Memory Correct ``I did it'' to ``I wrote it down''. Agent Ben'yo/Shi Take Most of the first division +:,, -1-,. 4 Yu, -5

Claims (1)

[Claims] In a working machine comprising a plurality of link mechanisms for transferring a load and a hydraulic actuator for driving these link mechanisms, a displacement detection device for detecting displacement of at least two of the link mechanisms; A pressure detection device that detects the pressure of the hydraulic actuator that drives the at least two link mechanisms among the hydraulic actuators, and T9r based on the detection value detected by the displacement detection device and the detection value detected by the pressure detection device.
a lever that takes out the load due to the cargo by a certain function 94;
#: A load calculation device light for a working machine, characterized in that it is provided with 1:X.