FR2673285A1 - Weighing method and device for a loader with hydraulic compensations - Google Patents

Weighing method and device for a loader with hydraulic compensations Download PDF

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Publication number
FR2673285A1
FR2673285A1 FR9102316A FR9102316A FR2673285A1 FR 2673285 A1 FR2673285 A1 FR 2673285A1 FR 9102316 A FR9102316 A FR 9102316A FR 9102316 A FR9102316 A FR 9102316A FR 2673285 A1 FR2673285 A1 FR 2673285A1
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France
Prior art keywords
signal
compensation
weighing
amplifier
lifting
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Granted
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FR9102316A
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French (fr)
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FR2673285B1 (en
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Sourdot Frederic
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GENITRONIC
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GENITRONIC
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
    • G01G19/10—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles having fluid weight-sensitive devices
    • 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
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

Weighing method for measuring the load of a loader with hydraulic compensation, carried at the end of a jib, characterised in that: - the pressures of a lifting jack and of a compensation jack are sampled in the form of electric signals, - the compensation electric signal is amplified using a variable-gain amplifier, - the corrected compensation electric signal is added to the weighing electric signal, - the signal previously obtained is converted into a digital signal, - this digital signal and a position signal are managed in a microcomputer. A device for implementing this method also constitutes a subject of the invention.

Description

L'invention porte sur un procedé de pesage pour chargeur à compensation hydraulique ainsi que sur le dispositif de mise en oeuvre du procédé. The invention relates to a weighing method for a hydraulic compensated loader as well as to the device for implementing the method.

De tels chargeurs comportent habituellement un godet comprenant la charge à soulever, commandé par un circuit hydraulique. La charge contenue dans le godet exerce une force proportionnelle à la pression d'un vérin de montée, la mesure de cette pression dans une position determinée du godet permet en théorie de mesurer le poids de la charge. Such loaders usually include a bucket comprising the load to be lifted, controlled by a hydraulic circuit. The load contained in the bucket exerts a force proportional to the pressure of a jack, the measurement of this pressure in a determined position of the bucket allows in theory to measure the weight of the load.

Dans un chargeur à compensation hydraulique, on peut incliner le godet en fonction de la hauteur du chargeur. La compensation se fait automatiquement c'est-à-dire que le godet s'incline lorsqu'on monte la fleche. La force exercée par la charge sur des vérins de cavage engendre une pression sur le vérin de compensation en vue de soulager la fleche. In a hydraulically compensated loader, the bucket can be tilted depending on the height of the loader. The compensation is done automatically, that is to say that the bucket tilts when the boom is raised. The force exerted by the load on tilt cylinders generates pressure on the compensation cylinder in order to relieve the arrow.

Cependant, en raison des frottements la compensation n'est pas linéaire, ce qui fausse la mesure du poids à partir de la prise de pression au niveau des vérins de montée. However, due to friction the compensation is not linear, which falsifies the measurement of the weight from the pressure tapping at the level of the lifting cylinders.

Le but principal -de l'invention-donc est de pallier cet inconvénient. The main purpose of the invention therefore is to overcome this drawback.

A cet effet, le procédé de pesage conforme à l'invention est caractérisé en ce que - on prélève les pressions d'un vérin de levage et d'un vérin de compensation sous.forme de-signaux électriques, - on amplifie le signal élecrique de compensation à l'aide d'un amplificateur à gain ajustable, - on additionne le signal électrique de compensation corrigé au signal électrique de pesage, - on convertit le signal obtenu précédemment en un signal numerique, - on gere ce signal numérique et un signal de position dans un microcalculateur. To this end, the weighing method according to the invention is characterized in that - the pressures of a lifting cylinder and of a compensation cylinder are taken in the form of electrical signals, - the electrical signal is amplified compensation using an adjustable gain amplifier, - the corrected electrical compensation signal is added to the electrical weighing signal, - the previously obtained signal is converted into a digital signal, - this digital signal and a signal are managed position in a microcomputer.

Le dispositif pour la mise en oeuvre du procéde se compose, en combinaison, notamment de - un capteur de position - un capteur de pesage - un capteur de compensation - un ensemble électronique pour le conditionnement de l'analyse du signal comportant un amplificateur de compensation à gain ajustable par un moyen, un amplificateur de levage dont les deux entrées reçoivent respectivement le signal du capteur de pesage et le signal de sortie de l'amplificateur de compensation, un convertisseur numérique du signal de sortie de l'amplificateur de levage pour son entre dans un microntrôleur de gestion. The device for implementing the method consists, in combination, in particular of - a position sensor - a weighing sensor - a compensation sensor - an electronic assembly for conditioning the signal analysis comprising a compensation amplifier gain adjustable by means, a lifting amplifier whose two inputs receive respectively the signal from the weighing sensor and the output signal from the compensation amplifier, a digital converter of the output signal from the lifting amplifier for sound enters a management microcontroller.

Les avantages du procédé sont notamment les suivants - possibilité de connaître la valeur de la charge transportée par des chargeurs de types industriels et agricoles dont la plupart sont équipés de systèmes de compensation hydraulique, sans modifications de ces derniers - facilité d'adaptation du système de pesage sur différents chargeurs de par ses possibilites de réglages et mémorisations (tarage, calibrage, capteur de compensation)
On comprendra mieux l'invention à l'aide de la description ci-après, faite en référence aux figures annexées suivantes - la figure 1 est un schéma hydraulique d'un chargeur équipé d'un système de compensation hydraulique du godet ; - la figure 2 est un schema fonctionnel du disposition électronique du pesage.The advantages of the process include the following - possibility of knowing the value of the load transported by loaders of industrial and agricultural types, most of which are equipped with hydraulic compensation systems, without modifications of the latter - ease of adaptation of the weighing on different loaders due to its adjustment and storage possibilities (taring, calibration, compensation sensor)
The invention will be better understood using the description below, made with reference to the following appended figures - FIG. 1 is a hydraulic diagram of a loader equipped with a hydraulic bucket compensation system; - Figure 2 is a block diagram of the electronic weighing arrangement.

La figure 1 représente la flèche (2) d'un chargeur portant à son extrémité un godet (1). Un vérin de cavage (3) associé hydrauliquement à un vérin,de compensation (4), sert à la manoeuvre du godet (1). Le levage de la flèche (2) est réalisé par un vérin de levage (3). Un capteur de compensation (7) et un capteur de pesage (6) mesurent les pressions respectives des vérins de compensation et de levage. Figure 1 shows the arrow (2) of a loader carrying at its end a bucket (1). A digging cylinder (3) hydraulically associated with a compensating cylinder (4), is used to maneuver the bucket (1). The boom (2) is lifted by a lifting cylinder (3). A compensation sensor (7) and a weighing sensor (6) measure the respective pressures of the compensation and lifting cylinders.

Le procédé de pesage conforme à l'invention consiste à corriger en permanence à l'aide d'un-facteur d'ajustement, la pression de compensation puis à ajouter cette valeur corrigée à la pression mesurée sur le vérin de levage, après conversion numérique, la somme des pressions est exploitée par un microcontrôleur qui permet en outre de tare le capteur en fonction des godets ou récipients utilisés. The weighing method according to the invention consists in permanently correcting the compensation pressure using an adjustment factor, then adding this corrected value to the pressure measured on the lifting cylinder, after digital conversion. , the sum of the pressures is exploited by a microcontroller which also makes it possible to tare the sensor according to the buckets or containers used.

Le dispositif de pesage pour la mise en oeuvre du procédé est représenté de façon non limitative à la figure 2. En effet, on peut concevoir un système dans lequel les operations d'amplification du capteur de compensation et l'addition des signaux se font par le microcontrôleur apres conversion numérique. The weighing device for implementing the method is shown in a nonlimiting manner in FIG. 2. In fact, it is possible to design a system in which the amplification operations of the compensation sensor and the addition of the signals are done by the microcontroller after digital conversion.

Le dispositif de pesage représenté se compose notamment de - un capteur de position (8) indicant la position de pesage prédéfinie - un capteur de pesage (6) branché sur les chambres du ou des vérins de levage - un capteur de compensation (7) branché sur le ou les vérins de compensation - un ensemble électronique pour le conditionnement et l'analuse du signal dont description ci-apres.  The weighing device shown consists in particular of - a position sensor (8) indicating the predefined weighing position - a weighing sensor (6) connected to the chambers of the lifting cylinder (s) - a compensation sensor (7) connected on the compensation cylinder (s) - an electronic assembly for conditioning and analyzing the signal, the description of which follows.

Un signal provenant du capteur de compensation (7) est amplifie par un amplificateur de compensation (9) dont le gain est réglable par un moyen d'ajustement (10). Le signal de compensation est donc multiplié par un facteur de compensation Q ajustable qui représente le rapport entre les surfaces des vérins de levage (5) et compensation (4). A signal from the compensation sensor (7) is amplified by a compensation amplifier (9), the gain of which is adjustable by an adjustment means (10). The compensation signal is therefore multiplied by an adjustable compensation factor Q which represents the ratio between the surfaces of the lifting cylinders (5) and compensation (4).

Un signal provenant du capteur de pesage (6) est, au moyen de l'amplificateur de levage (11), amplifié et additionné au signal de sortie de l'amplificateur-de compensation (9). A signal from the weighing sensor (6) is, by means of the lifting amplifier (11), amplified and added to the output signal of the compensation amplifier (9).

La somme des signaux analogiques est transformée en un signal numérique dans un convertisseur (12) puis exploitée par un microcontrôleur (13) qui reçoit également le signal provenant du capteur de position (8) et gère en outre un clavier (14) à touches qui réalisent les fonctions suivantes - touche 15 : choix du canal de pesage ; le microcontrôleur indique le canal choisi à l'aide de voyants 16 ; - touche 17 : tarage du dispositif en fonction du godet du récipient. Le microcontrôleur permet de mémoriser par- exemple quatre valeurs de tarage correspondant à quatre godets ou recipients différents - touche 18 : calibrage du dispositif. Le microcontrôleur mémorise quatre valeurs de calibrage correspondant aux quatre valeurs de tarage. The sum of the analog signals is transformed into a digital signal in a converter (12) then exploited by a microcontroller (13) which also receives the signal coming from the position sensor (8) and also manages a keyboard (14) with keys which perform the following functions - key 15: choice of weighing channel; the microcontroller indicates the chosen channel using indicator lights 16; - button 17: taring of the device according to the container cup. The microcontroller makes it possible to store, for example, four calibration values corresponding to four different cups or containers - key 18: device calibration. The microcontroller stores four calibration values corresponding to the four calibration values.

- mise en mémoire du totalisateur pour le canal concerné - remise à zéro du totalisateur pour le canal concerné - incrémentation et décrémentation permettant d'ajuster les valeurs de calibrage et de choix du canal.- storage of the totalizer for the channel concerned - resetting of the totalizer for the channel concerned - increment and decrement allowing adjustment of the calibration and choice values of the channel.

Le microcontrôleur soustrait la pression de tarage correspondant au poids de l'équipement à la pression totale de l'équipement et de la charge. The microcontroller subtracts the setting pressure corresponding to the weight of the equipment from the total pressure of the equipment and the load.

D'autre part, il est possible d'ajuster le calibrage de façon à afficher la pression de la charge en une valeur exprimée en masse ou en force, sur un ou des afficheurs 18,19. On the other hand, it is possible to adjust the calibration so as to display the pressure of the load in a value expressed in mass or in force, on one or more displays 18,19.

En outre, le voyant de position (17) s'allume, l'utilisateur doit arrêter le levage du godet pour lire le poids.  In addition, the position indicator (17) lights up, the user must stop lifting the bucket to read the weight.

Claims (6)

REVENDICATIONS 1. Procédé de pesage pour mesurer la charge d'un chargeur à compensation hydraulique porté par l'extrémité d'une fleche, caractérisé en ce que - on prélève les pressions d'un vérin de levage et d'un vérin de compensation sous forme de signaux électriques, - on amplifie le signal électrique de compensation à l'aide d'un amplificateur à gain ajustable, - on additionne le signal électrique de compensation corrigé au signal électrique de pesage, - on convertit le signal obtenu précédemment en un signal numerique, - on gère ce signal numerique et un signal de position dans un microcalculateur.1. Weighing method for measuring the load of a hydraulically compensated loader carried by the end of a boom, characterized in that - the pressures of a lifting cylinder and of a compensation cylinder are taken in the form electrical signals, - the electrical compensation signal is amplified using an adjustable gain amplifier, - the corrected electrical compensation signal is added to the electrical weighing signal, - the previously obtained signal is converted into a digital signal , - this digital signal and a position signal are managed in a microcomputer. 2. Procédé selon la revendication précédente caractérisé en ce que on tare le microcontrôleur en fonction du godet employé.2. Method according to the preceding claim characterized in that the microcontroller is tared according to the bucket used. 3. Procédé selon les revendications précédentes et caractérisé en ce que on memorise plusieurs valeurs de calibrage en fonction des valeurs de tarage.3. Method according to the preceding claims and characterized in that several calibration values are stored as a function of the calibration values. 4. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que on arrête le levage pour effectuer la lecture du poids.4. Method according to any one of the preceding claims, characterized in that the lifting is stopped in order to read the weight. 5. Dispositif pour la mise en oeuvre du procedé de la revendication 1, caractérisé en ce qu'il se compose en combinaison notamment de - un captuer de position (8) - un capteur de pesage (6) - un capteur de compensation (7) - un ensemble électronique pour le conditionnement et l'analyse du signal comportant un amplificateur de compensation (9) à gain ajustable par un moyen (10), un amplificateur de levage (11) dont les deux entres reçoivent respectivement le signal du capteur de pesage (6) et le signal de sortie de l'amplificateur de compensation (9), un convertisseur numérique du signal de sortie de l'amplificateur de levage (11) pour son entrée dans un microcontrôleur de gestion. 5. Device for implementing the method of claim 1, characterized in that it is composed in combination in particular of - a position sensor (8) - a weighing sensor (6) - a compensation sensor (7 ) - an electronic assembly for conditioning and analyzing the signal comprising a compensation amplifier (9) with gain adjustable by means (10), a lifting amplifier (11), the two inputs of which respectively receive the signal from the weighing (6) and the output signal of the compensation amplifier (9), a digital converter of the output signal of the lifting amplifier (11) for its input into a management microcontroller. 6. Dispositif selon la revendication précédente, caractérisé en ce qu'il comporte en outre un voyant de position pour indiquer à l'utilisateur d'arrêter la manoeuvre et d'effectuer la lecture. 6. Device according to the preceding claim, characterized in that it further comprises a position indicator to indicate to the user to stop the maneuver and to perform the reading.
FR9102316A 1991-02-22 1991-02-22 WEIGHING METHOD AND DEVICE FOR HYDRAULICALLY COMPENSATED LOADER. Expired - Lifetime FR2673285B1 (en)

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FR9102316A FR2673285B1 (en) 1991-02-22 1991-02-22 WEIGHING METHOD AND DEVICE FOR HYDRAULICALLY COMPENSATED LOADER.

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FR9102316A FR2673285B1 (en) 1991-02-22 1991-02-22 WEIGHING METHOD AND DEVICE FOR HYDRAULICALLY COMPENSATED LOADER.

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2248376A1 (en) * 1973-10-17 1975-05-16 Massey Ferguson Services Nv Soil shifting machine shovel - has hydraulic valve to connect each lifting motor to respective shovel actuating motor
EP0110399A1 (en) * 1982-12-01 1984-06-13 Hitachi Construction Machinery Co., Ltd. Load weight indicating system for load moving machine
JPS60141930A (en) * 1983-12-28 1985-07-27 Hitachi Constr Mach Co Ltd Loading weight display device for hydraulic shovel
GB2156778A (en) * 1984-04-07 1985-10-16 Keith Ernest Fawcett Safe load indicator for a construction vehicle
WO1990010850A1 (en) * 1989-03-15 1990-09-20 Caterpillar Inc. Dynamic payload monitor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2248376A1 (en) * 1973-10-17 1975-05-16 Massey Ferguson Services Nv Soil shifting machine shovel - has hydraulic valve to connect each lifting motor to respective shovel actuating motor
EP0110399A1 (en) * 1982-12-01 1984-06-13 Hitachi Construction Machinery Co., Ltd. Load weight indicating system for load moving machine
JPS60141930A (en) * 1983-12-28 1985-07-27 Hitachi Constr Mach Co Ltd Loading weight display device for hydraulic shovel
GB2156778A (en) * 1984-04-07 1985-10-16 Keith Ernest Fawcett Safe load indicator for a construction vehicle
WO1990010850A1 (en) * 1989-03-15 1990-09-20 Caterpillar Inc. Dynamic payload monitor

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 9, no. 303 (M-434)(2026) 30 Novembre 1985 & JP-A-60 141 930 ( HITACHI KENKI K.K. ) 27 Juillet 1985 *

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