SE469136B

SE469136B - Method and device for measuring the angle of the bucket of an excavating machine

Info

Publication number: SE469136B
Application number: SE9201778A
Authority: SE
Inventors: M Thele
Original assignee: Transtronic Ab
Priority date: 1992-06-10
Filing date: 1992-06-10
Publication date: 1993-05-17
Also published as: SE9201778L; SE9201778D0

Abstract

In a method and a device for measuring the angle (v) of the bucket of an excavating machine in which the bucket is supported by a jib system comprising a beam 12 and a jib 13, the bucket angle (v) is measured by an inclinometer 20 which is arranged on the jib system at a position which lies at a distance from the first hinge position A at which the bucket is connected to the beam. This to a very large extent eliminates the possibility of the disruptive forces which act during operation on the bucket, when it strikes against stones, rocks, etc., affecting the inclinometer. <IMAGE>

Description

469 156 het. 469 156 het.

Föreliggande uppfinning har till uppgift att åstadkomma ett förfarande och en anordning som i möjligaste mån avskärmar inklinometern från följderna av på skopan inverkande retarda- tionsmoment e.d., och uppfinningen kännetecknas av de särdrag som framgår av närslutna patentkrav.The object of the present invention is to provide a method and a device which, as far as possible, shield the inclinometer from the consequences of deceleration moments and the like acting on the bucket, and the invention is characterized by the features which appear from the appended claims.

Enligt uppfinningen inkopplas således mellan skopan och inklinometern åtminstone en del av bomsystemet, i vilket absor- beras en betydande del av chockarna skopan är utsatt för. Å ena sidan uppvisar det i huvudsak av en bom och en sticka bestående bomsystemet en massa som har chockabsorberande verkan, och detta gäller redan när endast en del av bomsystemet berörs, och à andra sidan, och huvudsakligen, sträcker sig under driften främst stic- kan nära den vertikala riktningen, medan de på skopan inverkande stötarna osv förlöper horisontellt, så att de absorberas även ge- nom en viss deformation av stickan.According to the invention, at least a part of the boom system is connected between the bucket and the inclinometer, in which a significant part of the shocks to which the bucket is subjected are absorbed. On the one hand, the boom system consisting mainly of a boom and a stick has a mass which has a shock-absorbing effect, and this already applies when only a part of the boom system is affected, and on the other hand, and mainly, extends during operation mainly the stick close to the vertical direction, while the shocks, etc. acting on the bucket, run horizontally, so that they are also absorbed by a certain deformation of the stick.

Uppfinningen kommer nu att förklaras närmare med hjälp av bifogad schematisk ritning i vilken i fig 1 visas ett första utförande, och i fig 2 och 3 ett andra och ett tredje utförande av anordningen enligt uppfinningen.The invention will now be explained in more detail with the aid of the attached schematic drawing in which in Fig. 1 a first embodiment is shown, and in Figs. 2 and 3 a second and a third embodiment of the device according to the invention.

Enligt fig 1 uppvisar en grävmaskin 10 ett chassi 14 vilket uppbär bl.a. en icke visad motor och en förarhytt 14a, samt ett bomsystem av vilket uppbärs grävskopan 11 och vilket består i huvudsak av en sticka 12, en bom 13, och tillhörande hydrauliska cylinder-kolvaggregat. Ett mät- och/eller styrstem S kan t ex vara anordnat i hytten 14a.According to Fig. 1, an excavator 10 has a chassis 14 which carries e.g. an engine (not shown) and a cab 14a, as well as a boom system from which the excavator 11 is supported and which consists essentially of a stick 12, a boom 13, and associated hydraulic cylinder-piston assemblies. A measuring and / or control system S can, for example, be arranged in the cab 14a.

Gràvskopan 11 är i ett första ledställe A medelst en led 12a (i alla ritningsfigurerna visas leder utan några vinkel- mätdon enligt föreliggande uppfinning med enkla cirklar) ledbart ansluten till stickan 12, vilken i sin tur är i ett andra led- ställe B medels en led 12b ledbart ansluten till bommen 13. Bom- men 13 är i ett tredje ledställe C medels en led 13a ledbart an- sluten till chassit 14. Stickan 12 har en längdaxellinje 12' och bommen 13 har en längdaxellinje 13a.The excavator 11 is in a first hinge A by means of a hinge 12a (in all the drawing figures joints without any angle measuring devices according to the present invention with simple circles) are articulated connected to the stick 12, which in turn is in a second hinge B by means of a hinge 12b articulated to the boom 13. The boom 13 is in a third hinge C by means of a hinge 13a hingedly connected to the chassis 14. The stick 12 has a longitudinal axis line 12 'and the boom 13 has a longitudinal axis line 13a.

Grävskopan 11 arbetar på en nivå N och dess undre del 11' (T är en tangent till den undre delen 11') innesluter en lut- ningsvinkel v med ett vågrätt plan H. Vinkeln v är den skopans vinkel, som skall mätas. Så långt är anordningen konventionell. 469 136 3 Enligt uppfinningen är i det andra ledstället B, ej i det första ledstället A, en inklinometer 20 (i alla ritningsfi- gurerna visas inklinometern enligt föreliggande uppfinning med en krysschrafferad cirkel) anordnad till vilken överförs skopans vinkel v resp skopans lutningsläge medels en parallellograman- ordning 21 som innefattar en första arm 21a vilken är styvt an- sluten till grävskopan ll, en andra arm 2lc vilken utgör inklino- meterns 20 inmatningselement, ett styvt stag 21b som förbinder de båda armarnas fria ändar, och den del av stickan 12 som sträcker sig mellan de båda ledställena A och B.The excavator 11 operates on a level N and its lower part 11 '(T is a tangent to the lower part 11') encloses an angle of inclination v with a horizontal plane H. The angle v is the angle of the bucket to be measured. So far the device is conventional. According to the invention, in the second hinge B, not in the first hinge A, an inclinometer 20 (in all the drawing figures the inclinometer according to the present invention is shown with a cross-hatched circle) is arranged to which the angle v of the bucket v and the inclination position of the bucket are transmitted by means of a parallelogram device 21 comprising a first arm 21a which is rigidly connected to the excavator 11, a second arm 21c which constitutes the input element of the inclinometer 20, a rigid strut 21b connecting the free ends of the two arms, and the part of the stick 12 extending between the two joints A and B.

Inklinometern 20, som alltjämt mäter vinkeln v, befin- ner sig således på ett ställe på avstånd från skopan 11, där den inte är utsatt för de på grävskopan 11 inverkande accelarations- krafter vilka verkar i riktingen H, men till en stor del blir upptagna av stickan 12.The inclinometer 20, which still measures the angle v, is thus located at a distance from the bucket 11, where it is not exposed to the acceleration forces acting on the excavator 11 which act in the direction H, but are largely absorbed. of the knitting needle 12.

I mät- och/eller styrsystemet S beräknas skopan vinkel v på samma sätt som när inklinometern 20 befinner sig i ledstäl- let A, dvs konventionellt.In the measuring and / or control system S, the bucket angle v is calculated in the same way as when the inclinometer 20 is in the guide position A, ie conventionally.

I stället för det styva staget 21b kan en lina e.d. användas, om konstant fjäderpâverkan av armen 21c i riktningen ifrån armen 21a anordnas. I stället för parallellogrammet 21 kan dock för överföring av vinkeln v även någon annan för ändamålet känd anordning eller system användas, t.ex reglagewire, kedjor, hydraulik, elektriskt servosystem e.d.Instead of the rigid strut 21b, a rope e.d. can be used, if constant spring action of the arm 21c in the direction away from the arm 21a is provided. Instead of the parallelogram 21, however, another device or system known for the purpose can also be used for transmitting the angle v, for example control wires, chains, hydraulics, electric servo systems and the like.

Mätresultatet av inklinometern 20 (denna kan i princip också vara anordnad på stickan 12 i ett närmare ledstället A be- läget ställe) överförs på konventionellt sätt till mät- och/eller styrsystemet S för beräkning av nivån N; denna beräkning sker på konventionellt sätt och ligger utanför ramen för föreliggande uppfinning.The measurement result of the inclinometer 20 (this can in principle also be arranged on the stick 12 in a location located closer to the joint point A) is transmitted in a conventional manner to the measuring and / or control system S for calculating the level N; this calculation takes place in a conventional manner and is outside the scope of the present invention.

Enligt fig 2 är inklinometern 20 anordnad på samma ställe som i fig 1, dvs i det andra ledstället B, men parallello- gramanordningen 21 (eller en motsvarande annan överföringsanord- ning) utgår. Vid dennas fränvaro mäter inklinometern 20 inte längre omedelbart skopans vinkel v, utan den mäter stickans 12 lutningsvinkel r.According to Fig. 2, the inclinometer 20 is arranged in the same place as in Fig. 1, ie in the second hinge point B, but the parallelogram device 21 (or a corresponding other transmission device) is omitted. In its absence, the inclinometer 20 no longer immediately measures the angle v of the bucket, but measures the angle of inclination r of the stick 12.

I det första ledstället A är en vinkelmätare 22 (i alla ritningsfigurerna visas vinkelmätare enligt föreliggande uppfin- 469156 4 ning med enkelt schrafferade cirklar) anordnad som mäter inbördes vinkeln w mellan skopan ll (närmare bestämt tangenten T) och stickan 12. Vinkelmätarens 22 mätresultat inmatas ävenledes i mät- och/eller styrsystemet S, där skopans vinkel beräknas enligt formeln v=r-w:1<, där IC är en konstant lika med noll när inklinometermätningen refereras till ett vågrätt plan, och lika med 900 när den refe- reras till lodlinjen.In the first articulation point A, a protractor 22 (in all the drawing figures, protractors according to the present invention are shown with simply shaded circles) is arranged which mutually measures the angle w between the bucket 11 (more specifically the key T) and the stick 12. The protractor of the protractor 22 is entered also in the measuring and / or control system S, where the angle of the bucket is calculated according to the formula v = rw: 1 <, where IC is a constant equal to zero when the inclinometer measurement is referred to a horizontal plane, and equal to 900 when it is referred to the vertical .

Enligt fig 3 är inklinometern 20 anordnad i det tredje ledstället C, där den mäter bommens 13 lutningsvinkel q, och i de båda andra ledställena A och B är vinkelmätare 22 anordnade.According to Fig. 3, the inclinometer 20 is arranged in the third hinge point C, where it measures the angle of inclination q of the boom 13, and in the two other hinge points A and B, angle gauges 22 are arranged.

Vinkelmätaren 22 i ledstället A mäter inbördes vinkeln w mellan stickan 12 och skopan ll (resp tangenten T), och Vinkelmätaren 20 i ledstället A mäter inbördes vinkeln u mellan stickan 12 och bommen 13.The protractor 22 in the hinge A measures the angle w between the stick 12 and the bucket 11 (respectively the key T), and the protractor 20 in the hinge A measures the angle u between the stick 12 and the boom 13.

Alla uppmätta vinkelvärdena inmatas i mät- och/eller styrsystemet S, där vinkeln v beräknas enligt formeln v = p - u - q i K.All measured angular values are entered in the measuring and / or control system S, where the angle v is calculated according to the formula v = p - u - q in K.

I alla utföringsformerna kan mätdon som skall befinna sig i ledställena givetvis också placeras vid sidan av dessa och vinkeln överförs då med hjälp av en anordning analog den enligt fig 1.In all the embodiments, measuring devices which are to be located in the hinge points can of course also be placed next to them and the angle is then transmitted by means of a device analogous to that according to Fig. 1.

Medan i fig 1 och 2 visas endast de vinkelmätdon som behövs enligt föreliggande uppfinning, utgör dessa i utförandet enligt fig 3 samtidigt även alla vinkelmätdon som behövs för be- räkning av nivån N.While in Figs. 1 and 2 only the angle measuring devices needed according to the present invention are shown, in the embodiment according to Fig. 3 they simultaneously also constitute all the angle measuring devices needed for calculating the level N.

Claims

. [5- CM \ O v-Ä w ax 5 Patent claims

A method for measuring the angle (v) of the bucket in an excavator where the bucket is supported by a boom system comprising a stick and a boom, the bucket in a first link being connected to the stick, the stick in a second link being connected to the boom, and this is connected in a third direction to the excavator chassis, and an inclinometer is arranged to measure an angle of inclination, characterized in that to protect the inclinometer from disturbing forces acting on the bucket, the angle of the bucket is measured at a point on the boom system distance from the first hinge, either by arranging the inclinometer at such a place on the stick, including said second hinge, and the angle or inclination of the bucket is transmitted to the inclinometer by means of a transfer device, or by arranging the inclinometer in the second or in the third joint point to measure the angle of inclination (r, q) of the stick or the boom, and this angle is summed with that in the first and in the rsta as in the second joint of an protractor measured the mutual angle (W, u) between the bucket and the stick or the boom and the stick.

Method according to Claim 1, characterized in that when the inclination angle of the boom is measured in the second joint position, the bucket angle v is calculated according to the formula v = r - W in K, where r is the inclination angle of the stick, w is the mutual angle between the stick and the bucket , and K is a constant equal to zero when the inclinometer measurement is referenced to a horizontal plane, and equal to 900 when referring to the vertical.

Method according to claim 1, characterized in that when the inclination angle of the boom is measured in the third joint, the angle v of the bucket is calculated according to the formula V = w - u - qi K, where w is the angle of the stick and the bucket, u is the stick and the boom mutual angle, q is the angle of inclination of the boom, and K is a constant equal to zero when the inclinometer measurement is referenced to a horizontal plane, and equal to 900 when it is referenced to the vertical.

Device for measuring by the method according to any one of the preceding claims one or more of the preceding claims 469 'š56 6 or any of the preceding claims, where the bucket (11) is supported by a boom system comprising a stick (12) and a boom (13), wherein the bucket in a first link (A) is connected to the stick, the stick is in a second link (B) connected to the boom, and this is in a third link (C) connected to the excavator chassis (14), wherein an inclinometer (20) is arranged to measure an angle of inclination (q, r, v), characterized in that the inclinometer, in order to be protected from disturbing forces acting on the bucket, is arranged on the boom system at a distance from the first joint point, so that at least a part of the boom system is located between the bucket and the inclinometer to absorb said disturbing forces.

Device according to Claim 4, characterized in that the inclinometer is arranged on the stick in or in front of the second joint point.

Device according to Claim 5, with the inclinometer in the second joint position, characterized by a device (21) for transmitting the angle or inclination position of the bucket to the inclinometer.

Device according to claim 6, characterized in that the transfer device is a mechanical parallelogram device whose one leg is constituted by the stick or a part thereof.

Device according to Claim 5, with the inclinometer in the second link, characterized in that in the first link an protractor (22) for measuring the mutual angle of the bucket and the stick is arranged, and the indication of which is summed with the inclinometer.

Device according to Claim 4, characterized in that the inclinometer is arranged in the third joint and that in the first and in the second joint protractors (22) are arranged for measuring the mutual angles of the bucket and the stick and the stick, respectively, and whose information is summed with the inclinometer.