JP2002021122A - Load measuring device for back hoe - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a load measuring device for a construction machine capable of detecting the work with no mistake without imposing a burden on an operator by pushing a button during the work. SOLUTION: This load measuring device for a back hoe scooping and turning a conveyed object to shift it to another position is provided with a pressure detecting means 19 measuring the differential pressure between the bottom side pressure and the rod side pressure of a boom cylinder 12 during the turning operation for scooping and conveying the conveyed object, a differential pressure storage means 19 storing the differential pressure immediately before a bucket dumping operation when or after the integrated value of the turning operation time becomes a prescribed value, position posture detecting means 20 and 21 of the front of the hydraulic shovel, a shift judging means 19 judging that the conveyed object is shifted to the prescribed position from the position and posture of the front immediately before the bucket dumping operation, and a load measuring means 19 calculating the load of the conveyed object from the stored differential pressure immediately before the bucket dumping operation when the shift is judged by the shift judging means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a load measuring device for a construction machine such as a hydraulic shovel, and more particularly to a load measuring device for a construction machine for scooping and transporting conveyed earth and sand installed on a lifting ship or the like and transferring it to a hopper or the like. About.

[0002]

2. Description of the Related Art Conventionally, as a working form of a hydraulic shovel operating on a lifting ship, a barge ship is placed beside a lifting ship, and the earth and sand carried by the barge ship is scooped up by a hydraulic shovel, turned, and similarly lifted. 2. Description of the Related Art There is known a type in which earth and sand are mixed with cement in a hopper when a predetermined amount of earth and sand is thrown into a hopper provided on a ship, and is pumped to a landfill site or the like by a pressure pump.

At this time, it is necessary to measure the amount of sediment in order to put an appropriate amount of sediment into the hopper with respect to the amount of cement supplied to the hopper.

Conventionally, in order to measure the load of earth and sand scooped by a construction machine such as a hydraulic shovel, an operator presses a button when the front stance of the hydraulic shovel assumes a certain posture, and calculates the load at that timing. Was.

[0005] Japanese Patent Application Laid-Open No. 6-10378 discloses that
A method of measuring a load before bucket dumping is disclosed.

[0006]

However, in the method of counting by pressing a button when the front posture becomes a certain posture, as in the above-mentioned prior art hydraulic excavator,
There is a problem that burdens the operator.

In the method disclosed in Japanese Patent Application Laid-Open No. 6-10378, the load is measured just before bucket dumping. There was a problem of detecting the generated bucket dump operation incorrectly. An object of the present invention is to provide an operator with no burden such as pressing a button during work.
It is an object of the present invention to provide a load measuring device for a construction machine, which can automatically determine a point at which a load is measured and detect an operation without error.

[0008]

In order to achieve the above object, the present invention employs the following means.

The first means is a load measuring device of a hydraulic shovel for scooping and rotating a conveyed object and transferring it to another place.
Pressure detecting means for measuring a differential pressure between the bottom pressure and the rod side pressure of the boom cylinder at the time of a turning operation of scooping up and transporting the conveyed object, and the integrated value of the turning operation time becomes a predetermined value. Differential pressure storage means for storing the differential pressure immediately before or after a bucket dump operation, front position and attitude detection means of the excavator, and transport to a predetermined location from the front position and attitude immediately before the bucket dump operation Transfer determination means for determining that the goods have been transferred, and a load for calculating the load of the goods from the stored differential pressure immediately before the bucket dump operation when the transfer determination means determines that the transfer has been performed. Measuring means is provided.

A second means is the first means, wherein the transfer judging means is provided when the boom angle is within a certain range and the arm angle is within a certain range immediately before the bucket dump operation, or When a certain range or an arm angle is within a certain range, it is determined that the conveyed object has been transferred to a predetermined place.

[0011] A third means is the first means, wherein the transfer judging means is provided when a position of the tip of the arm of the hydraulic shovel is within a certain range calculated from a rotation angle of the boom and the arm. It is characterized in that it is determined that the transported goods have been transferred to the place.

A fourth means is a load measuring device of a hydraulic shovel for scooping a conveyed object and transferring it to another place.
Operation sequence detecting means for detecting each of a first turning operation for transporting the conveyed object, a bucket dumping operation, and a second turning operation for not conveying the conveyed object, and the hydraulic pressure during the first turning operation Pressure detection means for measuring the differential pressure between the bottom pressure and the rod pressure of the boom cylinder of the shovel, the front position / posture detection means of the hydraulic shovel, and a predetermined position from the position or posture immediately before the bucket dump operation. A transfer judging means for judging that the conveyed object has been transferred, and the detected operation order is operated in a predetermined operation order and when it is judged that the transfer has been carried out by the transfer judgment means, immediately before the bucket dump operation. Load measuring means for calculating the load of the conveyed object from the differential pressure.

The fifth means is a load measuring device of a hydraulic shovel for scooping and rotating a conveyed object and transferring it to another place.
Operation sequence detecting means for detecting a sequence of each of a first turning operation for transporting the load, a bucket dumping operation, and a second turning operation for not transporting the load; Pressure detecting means for measuring a differential pressure between a bottom pressure and a rod pressure of a boom cylinder of the hydraulic shovel during the turning operation of the hydraulic excavator; a position and attitude detecting means for a front of the hydraulic shovel; and the position and attitude detecting means Transfer determination means for determining that the transported object has been transferred to a predetermined position, the detected operation sequence is operated in a predetermined operation sequence, and the difference between the measured differential pressures is a constant value. As described above, when it is determined that the transfer has been performed by the transfer determination unit, the differential pressure immediately before the bucket dump operation between the first turning operation and the second turning operation is determined. Characterized by providing a load measuring means for calculating a load of the transported article.

A sixth means is the fourth means or the fifth means, wherein the transfer judging means is in a range where the boom angle is within a range and the arm angle is within a range immediately before the bucket dumping operation. Sometimes, or when the boom angle is within a certain range or the arm angle is within a certain range, it is determined that the conveyed object has been transferred to a predetermined place.

A seventh means is a load measuring device of a hydraulic shovel for scooping and rotating a conveyed object and transferring it to another place.
Pressure detecting means for measuring a differential pressure between the bottom pressure and the rod side pressure of the boom cylinder at the time of a turning operation of scooping up and transporting the conveyed object, and the integrated value of the turning operation time becomes a predetermined value. Differential pressure storage means for storing the differential pressure immediately before or after a bucket dump operation, a position and orientation detection means for the front of the excavator, and start and end of measurement from the position or orientation measured by the position and orientation detection means A measurement control unit that determines the load, and a load measurement unit that calculates the load of the conveyed object from the stored differential pressure immediately before the bucket dump operation, between the start and end of the measurement determined by the measurement control unit. Is provided.

Eighth means is a load measuring device of a hydraulic shovel for scooping and turning a conveyed object and transferring it to another place.
Operation sequence detecting means for detecting each of a first turning operation for transporting the conveyed object, a bucket dumping operation, and a second turning operation for not conveying the conveyed object, and the hydraulic pressure during the first turning operation Pressure detection means for measuring the pressure difference between the bottom pressure and the rod pressure of the boom cylinder of the shovel; a position and orientation detection means for the front of the excavator; and a position or orientation measured by the position and orientation detection means. Measurement control means for determining start and end, and when the detected operation order is operated in a predetermined operation order, immediately before the bucket dump operation between the start and end of the measurement determined by the measurement control means And a load measuring means for calculating a load of the conveyed object from the differential pressure.

A ninth means is a load measuring device of a hydraulic shovel for scooping and rotating a conveyed object and transferring it to another place.
Operation sequence detecting means for detecting a sequence of each of a first turning operation for transporting the load, a bucket dumping operation, and a second turning operation for not transporting the load; Pressure detecting means for measuring a differential pressure between a bottom pressure and a rod pressure of a boom cylinder of the hydraulic shovel during the turning operation of the hydraulic excavator; a position and attitude detecting means for a front of the hydraulic shovel; and the position and attitude detecting means Measurement control means for determining the start and end from the position or posture measured in the above, the detected operation sequence is operated in a predetermined operation sequence, and the difference between the measured differential pressures is equal to or more than a certain value In the case of the above, the bucket dump operation between the start and end of the measurement determined by the measurement control means between the first turning operation and the second turning operation. Characterized by providing a load measuring means for calculating a load of the transported article from the last differential pressure.

[0018] A tenth means is the apparatus according to any one of the seventh to ninth means, wherein the measurement control means is arranged so that the measured boom angle reaches a certain range and the measured arm angle When a certain range is reached, it is determined that measurement has started, and when the boom angle and the arm angle are out of the range, it is determined that measurement has ended.

The eleventh means is the one of the seventh means to the ninth means, wherein the measurement control means is configured to execute the measurement when the measured boom angle reaches a certain range or when the measured boom angle reaches a certain range. The measurement is determined to be started when the arm angle reaches a certain range, and the measurement is determined to be ended when the boom angle or the arm angle is out of the respective ranges.

In a twelfth aspect, in any one of the seventh to ninth aspects, the measurement control means calculates an arm tip position of the hydraulic shovel from a rotation angle of the boom and the arm. It is characterized in that the measurement is determined to start when the tip end position of the arm reaches a certain range in the height direction and the length direction, and it is determined to end the measurement when it falls outside the range.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.

FIG. 1 is a diagram showing an example of a working form of a hydraulic shovel operating on a lifting ship. In the figure, 1 is a hydraulic excavator, 11 is a boom of the hydraulic excavator 1, 111
Is an arm of the excavator 1, 13 is a bucket, 12 is a boom cylinder, 21 is an arm angle sensor, and 112 is an arm tip pin. 2 is an unloading ship working at sea,
At least one hydraulic excavator 1
And a hopper 4 into which earth and sand are introduced by the excavator 1
And a pump 5 for pumping the injected earth and sand. Reference numeral 3 denotes a barge ship for transporting earth and sand. The barge ship 3 is placed beside the unloading ship 2, and the excavator 1 is a barge ship 3
And turn it into the hopper 4. When a predetermined amount of earth and sand is put into the hopper 4, the earth and sand are mixed with the cement, and the mixture is pumped by the pump 5 to a landfill site.

FIG. 2 is a block diagram showing a configuration of a load measuring device for a construction machine according to the present embodiment.

In the figure, reference numeral 121 denotes a boom cylinder 1
Reference numeral 2 denotes a bottom chamber, 122 denotes a rod chamber of the boom cylinder 12, 123 denotes a pressure sensor that measures the pressure of pressure oil in the bottom chamber 121, 124 denotes a pressure sensor that measures pressure of pressure oil in the rod chamber 122, and 14 denotes a hydraulic shovel. 1 hydraulic pump,
Reference numeral 15 denotes a hydraulic oil tank, and reference numeral 16 denotes a control valve interposed between the hydraulic pump 14 and the boom cylinder 12. 17
Is a bucket operation lever, 18 is a turning operation lever,
171 is a pressure switch for detecting the pilot pressure when the bucket is operated in the dump direction, 181 is a pressure switch for detecting the pilot pressure when the excavator 1 is operated to the left, and 182 is the right to operate. This is a pressure switch for detecting the pilot pressure at the time.

Incidentally, the pressure sensors 171, 181, and 182 can be substituted. In that case, a pressure threshold value for detecting operation of the operation lever is provided inside the load measuring device main body 19, and the presence or absence of the operation is determined by comparing the threshold value with the measured pressure. In addition to the pressure switch and the pressure sensor, an electric signal may be used when the turning operation or the bucket dump operation is operated by an electric lever. Further, a sensor for detecting the turning angle or the turning angle of the bucket may be attached to use the output as a right turning signal, a left turning signal, and a bucket dump signal. Further, the output of a stroke sensor that measures the stroke of the bucket cylinder may be used as a bucket dump signal.

Reference numeral 19 denotes a load measuring device main body for calculating and measuring the earth and sand scooped by the bucket 13 based on various input data to be input, and 20 denotes a rotation angle sensor for measuring a rotation angle of a pin at the base of the boom 11. , 22 is a teaching start button for starting teaching, 23 is a boom boundary angle teaching button for teaching the boom boundary angle of the boom 11, 2
Reference numerals 41 to 244 denote a dumping range teaching button for teaching a dumping range, reference numeral 25 denotes a turning boundary time teaching button for teaching a turning time, and reference numeral 26 denotes a wireless device for transmitting data measured by the load measuring device main body 19. , 27 are provided at a location that manages one or more hydraulic excavators, and manage a measurement unit that manages measurement data transmitted from the load measuring device main body 19, 28 is a wireless device that receives the transmitted measurement data, Reference numeral 29 denotes a management device including a computer and the like provided in the management unit 27, and reference numeral 30 denotes a display device provided in the management device.

The load measuring device main body 19 includes a right turning signal S1 of the pressure switch 182, a left turning signal S2 of the pressure switch 181, and a bucket dump signal S of the pressure switch 171.
3. Pressure signal S4 from pressure sensor 123, pressure signal S5 from pressure sensor 124, angle sensor signal S6 from boom angle sensor 20, angle sensor signal S7 from arm angle sensor 21, teaching start from teaching start button 22 Signal S8, a teaching command signal S9 from the boom boundary angle teaching button 23, signals S10 to S13 from the unearthing range teaching buttons 241 to 244, and a teaching command signal S14 from the turning boundary time teaching button 25 are input. Based on these signals, the operation determination and the load at that time are calculated, and the number of operations is integrated.

The data of the load and the number of operations calculated by the load measuring device main body 19 are transmitted via the wireless device 26 to the management station 27 having the wireless device 28 and the management device 29. The received data is taken into the management device 29 and output to the display device 30. In the present embodiment, the management device 29 is placed in a management unit 27 such as an office for adjusting the amount of cement, and the management unit 27 uses the excavator 1 based on the data displayed on the display device 30 to input the earth and sand. Determine the amount and number of operations and determine the amount of cement to be input.

FIG. 3 shows the load measuring device main body 19 shown in FIG.
FIG. 3 is a block diagram showing the configuration of FIG.

The load measuring device main body 19 is mainly constituted by a computer, 191 is an input interface having an A / D converter and for inputting various signals, and 192 is a central processing unit (CP) for executing various calculations and controls.
U), 193 is a timer for outputting a time signal, 194 is a random access memory (RAM) storing the results of calculations and controls, and 195 is a read-only memory (RO) storing various processing programs of the CPU 192 and the like.
M) 196 is an output interface for outputting the soil volume data calculated by the load measuring device main body 19 to the management device 29. The ROM 195 stores a start program 195a and an operation detection program 19, which will be described in detail later.
5b, a position teaching program 195c, and a turning boundary time teaching program 195d are stored.

The work detection program 195b has a work detection program (1) and a work detection program (2) which are different from each other, as described later in detail. Perform filling. In addition, the turning boundary time teaching program 195d
Is used when the work detection program (1) is used.

FIG. 4 is a diagram for explaining the boom boundary angle α and the earth discharging range which are used in the calculation processing of the load measuring device main body 19 and are set in advance.

The boom boundary angle α is a predetermined angle set in either the upper direction or the lower direction from the horizontal position of the excavator 1, and is an angle sensor detected by the boom angle sensor 20 in a teaching process described later. Signal S
6 is set. The load measuring device main body 19 detects that the excavator 1 has scooped out the earth and sand from the barge ship 3 and puts it into the hopper 4 based on the set boom boundary angle α. In other words, if the boom boundary angle α is passed from above, the bucket 13 is used to scoop out from the barge ship 3, and if the boom boundary angle α is passed from below and the boom boundary angle α is passed, the bucket containing sediment is used. 13
Can be determined to be the operation of moving to the hopper 4.

Further, the earth excavation range is set on the XY plane shown in the figure, and by the teaching processing described later, the X of the tip pin 112 of the arm 111 when the excavator 1 excavates the earth on the hopper 4. -Set at a position on the Y plane.
The load measuring device main body 19 detects a bucket dumping operation when the arm tip pin 112 is within the set soil release range, and determines that the bucket dumping operation is an operation in which the hydraulic shovel 1 discharges the soil to the hopper 4.

FIG. 5 is a diagram showing waveforms of various signals input to the load measuring device main body 19 and various signal waveforms processed therein.

A is the set boom boundary angle α and the angle sensor signal S detected by the boom angle sensor 20.
6 is a boundary angle detection signal detected when the boom 11 crosses the boom boundary angle α, ΔPrb is the pressure in the bottom chamber 121 of the boom cylinder 12 and the rod chamber 12
2 differential pressure. The pressure difference ΔPrb may be replaced by the pressure in the bottom chamber 121 of the boom cylinder 12 and the pressure in the bottom chamber 121 instead of the pressure difference in the rod chamber 122.

Here, the boundary angle detection signal "a" is
1 is turned on when the output of the boom angle sensor 20 passes through the boom boundary angle α, and is turned on.
0 passes through the boom boundary again, and the boom boundary angle α
It is designed to be turned off when it becomes less.

As shown in the figure, when the boundary angle detection signal a changes from ON to OFF, there is no earth and sand in the bucket 13, so that ΔPrb shows a small value.
When the boundary angle detection signal a is turned on again, the bucket 13 contains earth and sand, and ΔPrb shows a large value. Further, when the boundary angle detection signal a is turned on,
The right turn signal S1 is turned on and continues for a certain time. This can be regarded as turning to the hopper 4. If it is too short, it can be said that it is not an erroneous operation or a turning operation to the hopper 4.

Next, when the bucket dump signal S3 is turned on, it indicates that the excavator 1 has discharged the earth and sand. Next, when the left turn signal S2 is turned on and continues for a certain period of time, this indicates that the hopper 4 is turning to the barge ship 3. In this state, since the inside of the bucket 13 is empty,
rb has a small value. Also, the bucket dump signal S3
When the arm extremity pin 112 is within the earth discharging range at the time when is turned ON, it can be understood that the place where the hydraulic excavator 1 has dumped the earth and sand at that time is the position of the hopper 4 on the XY plane. . In other words, the pressure difference ΔPw between the pressure △ Prb when the right turn signal S1 is detected and the pressure △ Prb when the left turn signal S3 is detected is a certain difference that actually changes the pressure due to the earth and sand. Differential pressure immediately before the first bucket dump operation when the position of the arm tip pin is within the earth unloading range after the boundary angle detection signal a is turned on after the boundary angle detection signal a is turned on.
Capture Pw. The load of earth and sand can be detected by multiplying the pressure difference ΔPw by the pressure-weight conversion coefficient.

According to the present embodiment, since the bucket dump position at which the hydraulic excavator 1 discharges the earth and sand to the hopper 4 does not change so much and the posture does not change much, the correction does not have to be made at the time of load measurement. Alternatively, a bucket angle sensor may be attached in addition to the boom angle sensor and the arm angle sensor, and the posture may be calculated from the measured values to calculate the load.

Next, referring to FIG.
A method of calculating the position of the arm tip pin 112 in the X-axis direction and the Y-axis direction used in the position teaching program 95b and the position teaching program 195c will be described.

Here, if the length of the boom 11 is Lb, the length of the arm 111 is La, the boom angle measured by the boom angle sensor 20 is θb, and the arm angle measured by the arm angle sensor 21 is θa, X The position X1 of the arm tip pin 112 in the axial direction is given by the following equation.

X1 = Lb × cos θb + La × sin (θb + θa) (1) Next, the position Y1 of the arm tip pin 112 in the Y-axis direction is given by the following equation.

Y1 = Lb × sin θb−La × cos (θb + θa) (2) Next, a processing procedure of the teaching process by the position teaching program 195c will be described with reference to a flowchart shown in FIG.

This position teaching process is a process of teaching a boom boundary angle necessary for a work detection process described later and storing the same in the RAM 194 of the load measuring device main body 19.

First, prior to the teaching process, when the operator of the excavator 1 starts the engine to start the work of scooping out the earth and sand from the barge ship 3 to the hopper 4, the start program 195a shown in FIG. 3 is executed. . By executing the start program 195a, various parameters are initialized. For example, a right turn operation detection flag Sr or a left turn detection flag S
l, bucket dump detection flag Bd, boom boundary angle α
, Flag information such as a signal S4 indicating that the vehicle has passed, a right turn signal S1, a left turn signal S2, and a bucket dump signal S
3. The values stored in the memory such as the boom cylinder pressure are initialized. Note that the boom boundary angle α, the earth discharging range, the pressure-weight conversion coefficient, and the like are not initialized.

Next, the operator in the cab of the hydraulic excavator 1 performs a teaching start button 2 to perform a teaching process.
2 is pressed, the signal S8 is transmitted to the load measuring device body 19
And the position teaching program 195c shown in FIG. 3 is started. Next, as shown in FIG. 4, the operating lever (not shown) is operated to lower the boom 11 in the direction of the barge 3, and when the tip of the bucket 13 comes close to the barge 3, FIG. Boom boundary angle teaching button 23
push. Next, in step 1, it is determined whether or not the boom boundary angle teaching button 23 has been pressed.
In step 2, the signal S6 detected by the boom angle sensor 20 at that time is input to the load measuring device main body 19, and the boom angle is captured and stored as a boom boundary angle α. Next, in step 3, since the boom boundary angle α is set, the boom boundary setting flag Au
Turn p on. Next, in order to set the earth unloading range, the operation lever is operated to move the arm tip pin 112 to the maximum position Xb1 at which the earth unloading can be performed on the X axis shown in FIG. push. In step 4, it is determined that the unearthing range teaching button A241 is ON, and in step 5, the arm tip pin 112 in the X-axis direction is set.
Is calculated using the above equation (1), and is taken in as Xb1. Next, in step 6, the Xb1 setting flag Fxmax indicating that the maximum value in the X-axis direction has been set is set to O.
Set to N. Subsequently, by operating the operation lever, the arm tip pin 112 is moved to the minimum position Xb2 on the X axis shown in FIG.
Press 242. At step 7, unearthed area teaching button B
242 is determined to be ON, and in step 8, the position of the arm tip pin 112 in the X-axis direction is calculated using the above equation (1), and is taken in as Xb2. Next, in step 9, the Xb2 setting flag Fxmin indicating that the minimum value in the X-axis direction has been set is turned ON. Then, the operation lever is operated to bring the arm tip pin 112 to the maximum height Yb1 on the Y axis shown in FIG. 4 where the earth can be unloaded, and then press the unloading area teaching button C243. Step 10
At, it is determined that the unearthed area teaching button C243 is ON,
In step 11, the height of the arm tip pin 112 in the Y-axis direction is calculated using the above equation (2), and is taken in as Yb1. Next, in step 12, a Yb1 setting flag Fymax indicating that the maximum height in the Y-axis direction has been set is turned ON.

Finally, the operating lever is operated to operate the operating lever to the minimum height Yb2 at which the arm tip pin 112 can be released on the Y axis shown in FIG. Then, the user presses the unearthed area teaching button D244. In step 13, it is determined that the earth-discharge range teaching button D244 is ON. In step 14, the height of the arm tip pin 112 in the Y-axis direction is calculated using equation (2), and is taken in as Yb2. Next, at step 15, the Yb2 setting flag Fymin indicating that the minimum height in the Y-axis direction has been set is turned ON.
To Next, in step 16, all the settings are completed, and the setting flags Aup, Fxmax, Fxmin, Fy
When all of max and Fymin are turned on, the position teaching program ends. In the present embodiment, the case where the boom boundary angle α and the earth release range are set using the buttons has been described.
It may be set in the RAM 194 or the ROM of the CPU 192 in advance.

Next, a processing procedure when the work detection program (1) is used as the work detection program 195b stored in the load measuring device main body 19 will be described with reference to flowcharts shown in FIGS.

This work detection processing is performed by the load measuring device body 1
The arithmetic processing is performed on various data input to 9 to measure the load and the number of operations of the earth and sand that the excavator 1 has scooped and transferred.

First, in step 21, in addition to the turning measurement time Tsw, various count values m, i,
n is initialized. Next, in step 22, it is determined whether the boundary angle detection signal a has changed (rising) from OFF to ON. Here, when it is turned on,
As shown in step 23, the count values m and i are initialized in addition to the turning measurement time Tsw. Next, step 2
At 4, it is determined whether a rightward turning operation is being performed.
If the operation is being performed, the measurement sampling time ΔTs is added to the turning measurement time Tsw as in step 25. After that, in step 26, a comparison is made with a preset turning boundary time Tswref. Turning boundary time Tswr
ef is the time during which the excavator is turning immediately after the boundary angle detection signal a is turned on until immediately before the excavation of the earth and sand. Here, if Tsw ≧ Tswref, the process proceeds to step 27, and the turning passing time Tpass at that time is set.
Is taken out from the timer 198 and stored in the RAM 194.
If it is determined in step 24 that the vehicle is not turning rightward, it is determined in step 28 whether the vehicle is turning leftward. At this time, if the leftward turning operation is being performed, the measurement sampling time ΔTs is subtracted from the turning measurement time Tsw as shown in step 29. By providing the processing of step 29, for example, when the unloading position is in the right direction, the turning operation is performed to the left for some reason during the turning in the right direction, and the turning operation is performed in the right direction again, An accurate turning measurement time Tsw can be measured.
Next, in step 30, it is determined whether a bucket dump operation has been performed. If there is a bucket operation, step 31
, The data is read from the timer 193 as the bucket operation start time Tbckt (m) and stored in the RAM 194.
Here, m represents the number of bucket operations, and the bucket dump operation in step 30 includes, for example, as shown in the bucket dump signal S3 in FIG. 5, in addition to the originally planned bucket dump operation (m = 3). There may be a bucket operation dump operation (m = 1, 2). Next, in step 32, the boom cylinder pressure immediately before the bucket dumping operation start time Tbuckt (m) (for example, the average boom cylinder pressure PRrbb for a predetermined time ΔT immediately before Tbuckt) is also stored. From the boom angle θb and the arm angle θa at the operation start time, the position Xbckt of the X-axis is calculated using Expressions (1) and (2).
(M) and the Y-axis position Ybckt (m) are calculated. Thereafter, at step 34, 1 is added to the count value m. Next, in step 35, the boundary angle detection signal a is changed from ON to O
It is determined whether the FF has changed (falling). If it has changed, the processing after step 36 is performed. Here, the bucket dump operation that has occurred within the elapsed time from the time when the boundary angle detection signal a changes from OFF to ON to the time when the boundary angle detection signal a changes from ON to OFF is performed by bucket dumping for unloading. It is determined whether the operation is an operation. First, in step 36, for each bucket operation count m measured in step 30, it is searched which bucket operation is a bucket operation for discharging soil. Here, i represents a count number used in a process for searching for a bucket dump for discharging, and for each bucket operation number m, the bucket dump operation start time Tbckt (m) saved in step 31 is set to step 27. It is determined whether it is equal to or greater than the turning passage time Tpass stored in. If it is smaller, the predetermined bucket dump operation is not determined, and 1 is added to i in step 37, and the determination is made again in step 36. If it is large, it is considered that the bucket dump operation is not an erroneous operation. Next, in order to determine whether or not the bucket dumping operation is a dumping operation on the hopper, in step 38, the Xbckt of the arm tip pin 112 already calculated in step 33 is calculated.
It is determined whether (m) and Ybckt (m) are within the unburdened range. First, Xbc between Xb1 and Xb2 taught earlier
kt (m) is determined. Next, Y taught earlier
It is determined whether Ybckt (m) exists between b1 and Yb2. If both conditions are satisfied, proceed to step 39,
The average boom cylinder pressure △ PRrbb of the predetermined time △ T immediately before the bucket dump operation stored in step 32 is calculated, and the value multiplied by the pressure-weight conversion coefficient k is set as the soil volume. Is added and stored as an integrated value of the number of operations. On the other hand, if the condition is not satisfied in step 38, the process returns to step 22.

In the calculation of the soil volume, a sensor for measuring the rotation angle of the bucket and a stroke sensor for the bucket cylinder are attached in addition to the boom angle sensor and the arm angle sensor, and the posture is calculated from the measured values. The soil volume may be calculated.

In step 38, the range in the X-axis direction (Xb2 ≦ Xbckt (m) ≦ Xb1) and Y
Although the determination is made based on whether it is within the range in the axial direction (Yb2 ≦ Ybckt ≦ Yb1), the determination may be made only in the range in the X-axis direction or only in the range in the Y-axis direction. Further, the determination may be made based only on the maximum or minimum value of the position of the arm tip pin 112 at the start of the bucket dump operation in the X-axis direction or the Y-axis direction.

As described above, according to the invention of this embodiment,
Since the bucket dump position is estimated based on the turning time,
The bucket dump operation other than on the hopper 4 is not erroneously determined to be the earth discharging operation, and the measurement accuracy of the number of operations can be improved.

Here, the turning boundary time (Tswre)
The processing procedure by the turning boundary time teaching program used for setting f) will be described with reference to the flowchart shown in FIG.

When the teaching start button 22 is operated by the operator of the excavator 1, the execution of the turning boundary time teaching program 195d is started. First, in step 45, it is determined whether or not the turning boundary time teaching button 25 is ON. If it is ON, the turning time from the time when the boom angle has passed the boom boundary angle α to the time when the operator presses the turning boundary time teaching button 25 immediately before dumping the bucket is set as the turning boundary time (Tswref) in the RAM 194 in step 46. To save. According to this setting method, the turning boundary time is automatically set by a simple operation, and the turning boundary time can be easily adjusted even if the turning angle at which the soil is scooped and then discharged to the hopper 4 changes.

Further, when the soil volume is calculated, the load measuring device main body 19 transmits the soil volume and the number of operations to the management device 29 provided in the pipe burial site 27 or the like via the wireless devices 26 and 28,
The transmitted data is subjected to necessary processing by the computer, and the time when the work is confirmed, the soil volume, the number of operations, and the like are displayed on the display device 30. Therefore, the amount of the scooped soil and the number of operations can be grasped at a glance. .

Next, FIG. 11 and FIG. 12 show processing procedures when an operation detection program (2) different from the operation detection program (1) is used as the operation detection program 195b stored in the load measuring device main body 19. This will be described using the flowchart shown.

This work detection processing is also executed to calculate the input data and to measure the load of soil and the number of works that have been scooped and transferred by the hydraulic shovel.

First, in step 51, various count values h, i, and j to be described later are initialized. here,
h indicates the time during which the right turn operation is performed, i indicates the time during which the left turn operation is performed, and j indicates the time during which the bucket dump operation is performed. Next, at step 52, it is determined whether or not there is a right turn operation. When the right turn operation is performed, first, in steps 53 and 54, the count value h of the right turn operation is set to a predetermined right turn operation determination time K.
It is determined whether or not 1 has been reached. If it does not reach K1, as shown in step 55, the pressure PRr (th) of the bottom chamber 21 of the boom cylinder 14 for each count value h.
And the pressure PRb (th) of the rod chamber 22 are calculated,
The data is stored in the RAM 194 as ΔPRrb (th). When the count value h of the right turn operation reaches the right turn operation determination time K1, in step 56, the right turn detection flag Sr is set to 1.

Next, at step 57, it is determined whether or not there is a left turn. As in the case of the right turn, in steps 58 and 59, it is determined whether or not the count value i of the left turn operation has reached a preset left turn operation determination time K2. If K2 is not reached, the pressure PLr (ti) of the bottom chamber 21 of the boom cylinder 14 and the rod chamber 2
Calculate the difference from the pressure PLb (ti) of 2 and △ PLrb
The data is stored in the RAM 194 as (ti). When the count value i of the left turn operation reaches the left turn operation determination time K2, the left turn detection flag Sl is set to 1 in step 61.
To Next, in step 62, it is determined whether or not there is a bucket dump operation. In steps 63 and 64, the count value j of the bucket dump operation
Is determined to have reached a preset bucket dump operation determination time K3. When the count value j of the bucket dump operation reaches the bucket dump operation determination time K3,
In step 65, the bucket dump operation detection flag B
d becomes 1. Further, in step 66, the position Xbckt of the X-axis arm tip pin 112 and the position of the Y-axis from the boom angle θb and the arm angle θa just before the bucket dump operation using the equations (1) and (2) described above. The position Ybckt of the arm tip pin 112 is calculated.

Next, at step 67, it is determined whether or not all of the right turn detection flag Sr, the left turn detection flag Sl, and the bucket dump detection flag Bd are 1. If all the flags are 1, the process returns to step 68; otherwise, the process returns to step 52.

If YES in step 67, the flow shifts to step 68 to determine the order of signal generation. That is, when the flag becomes 1 in the order of the right turning signal S1 → the bucket dump signal S3 → the left turning signal S2 as shown in FIG. 5, the process proceeds to step 70 shown in FIG. By performing the determination in step 68, the operation of scooping and turning the earth and sand of the excavator 1 and transferring it to another location can be detected without error.

Since the occurrence time of each operation read from the timer 193 is stored in the RAM 194, the order of occurrence of the signals can be easily determined by comparing them. If the order of occurrence does not match, the process proceeds to step 69, in which all of the right turn detection flag Sr, left turn detection flag Sl, and bucket dump detection flag Bd are set to zero. In addition, in this example of the program, the soil release after the right turn is taken as an example. Therefore, in step 68, the generation order of the right turn signal S1, the bucket dump signal S3, and the left turn signal S2 is determined. In the case of unloading after turning, the left turn signal S
The determination may be made in the order of generation of 2 → bucket dump signal S3 → right turn signal S1.

In this case, the difference between the average value ΔPLrb and the average value ΔPRrb is determined in step 74 described later, and it is determined whether the difference is smaller than a predetermined value Pref.

If the occurrence order matches, step 70
In, it is determined whether the operation end time of the right turn or the left turn is the boundary angle detection signal a being ON. That is, it is possible to determine whether or not the vehicle is turning with the bucket 13 filled with earth and sand.

If YES is determined in the step 70, it is determined in a step 71 whether or not the start of the turning operation in the direction opposite to the first turning direction is while the boundary angle detection signal a is ON. If YES in step 71, step 72
△ detected at the time of right turn in step 72.
Average value of PRrb (th) Σ △ PRrb (th) / K1
△ PL detected at the time of turning left in step 50
The difference between the average value of rb (ti) and PLrb (ti) / K2 is determined, and it is determined whether the difference is smaller than a predetermined value Pref. Can be determined and excluded. Note that the processing in step 74 may be omitted although the work detection accuracy is slightly reduced. Next, in step 75, it is determined whether or not the position of the arm tip pin 112 calculated in step 66 is within the earth discharging range from the detected bucket dumping operation. If no,
The process proceeds to step 69 in FIG. 11 and proceeds to step 76 if YES. The determination method of step 75 is, as in the case of the processing of the work detection program (1), whether or not Xbckt exists between Xb1 and Xb2 taught previously, and whether Ybckt exists between Yb1 and Yb2. It is determined whether or not there is, and if the above two conditions are satisfied, the process proceeds to step 76; otherwise, the process proceeds to step 69.
If YES in step 75, an average boom cylinder pressure PRrbb for a predetermined time ΔT immediately before the bucket dumping operation start time Tbckt in the release range is obtained in step 76. In step 77, the average boom cylinder pressure PRrbb is multiplied by a predetermined pressure-weight conversion coefficient k, and the amount of soil W (n) carried by the bucket 13 per time and the amount of soil W (n) are carried n times and integrated. Volume of soil ΣW (n)
Ask for. In step 78, the number of operations is counted up each time one cycle of operation is performed. In the present embodiment, the earth unloading posture of the hydraulic shovel 1 at the time of bucket dumping does not change much. Therefore, the correction does not have to be performed at the time of calculating the soil volume. However, the posture is obtained by attaching a bucket angle sensor or a stroke sensor. The load may be calculated.

If step 70, step 71, or step 74 does not apply, the process returns to step 69 in FIG. 11, all flags are set to zero, and the process returns to step 52. Also, every time the work detection is completed, the process returns to step 51 in FIG. 1 and the work detection processing is repeated.

Step 70 and step 71
Although the accuracy is slightly lowered, the processing of these steps can be omitted.

In step 75, the position of the arm tip pin 112 at the start of the bucket dump operation is
The determination is made based on whether the values fall within the range in the axial direction (Xb2 ≦ Xbckt (m) ≦ Xb1) and the range in the Y-axis direction (Yb2 ≦ Ybckt ≦ Yb1), but only in the range in the X-axis direction or in the Y-axis direction. The determination may be made only in the range, or may be made only based on the maximum or minimum value of the position of the arm tip pin 112 at the start of the bucket dump operation in the X-axis direction or the Y-axis direction. .

As described above, according to the present embodiment, the earth discharging work can be automatically detected accurately with a relatively simple configuration based on the operation by the operator and the sensor signal. This eliminates the possibility of erroneously detecting other work as unearthing work.

Further, as described in the processing of the work detection program (1), when the work is determined, the load measuring device main body 19 transmits the data of the soil volume and the number of times of the work to the wireless devices 26 and 28.
Is transmitted to a pipe filling device 29 provided in a management office 27 or the like via a computer, and the transmitted data is subjected to necessary processing by a computer.
Since the number of operations and the like are displayed, the amount of unloaded soil and the number of operations can be grasped at a glance.

In the above-described embodiment, an example is shown in which the vehicle turns in one direction and then turns in the opposite direction after the soil is released. However, the vehicle may turn in the same direction after discharging the soil. In this case, the processing corresponding to the processing from step 52 to step 56 and the processing from step 57 to step 61 in FIG. 11 are sequentially performed as the first time and the second time.
In addition to the above, a right turn signal S1 → a bucket dump signal S3
In addition to the case of the right turn signal S1 and the left turn signal S2 → the bucket dump signal S3 → the left turn signal S2, other portions may be changed accordingly. In this case, the same effect as in the above-described embodiment can be obtained.

Next, a second embodiment of the present invention will be described with reference to FIG.

FIG. 13 shows a boom boundary angle α which is used during the arithmetic processing of the load measuring device body 19 and is set in advance.
It is a diagram for explaining the soil release range, the present embodiment,
It differs from the first embodiment in that the method of setting the soil release range is different.

That is, in the first embodiment, as shown in FIG.
The position of No. 12 was obtained from the arm angle and the boom angle, and it was determined whether or not the position was within the soil release range on the XY plane. However, in the present embodiment, as shown in FIG. The earth release range is set to the angle range of the arm (θa2 ≦ θa ≦ θa
1) and the angle range of the boom (θb2 ≦ θb ≦ 9b1) are determined in advance, and it is determined whether the angle of the arm and the angle of the boom at the start of the bucket dump operation are within the respective angle ranges described above. Is what you do.

The procedure for setting the soil release range in this embodiment is as follows: the operation lever is operated to operate the boom 11, the boom boundary angle is set in the same manner as in the first embodiment, and then the boom is raised. The range is set to the maximum angle (θb1) that can be discharged to the hopper 4, and the range teaching button A241 is pressed. Next, boom 11
Is lowered to the minimum angle (θb2) at which the soil can be discharged to the hopper 4, and the range teaching button B242 is pressed. The angle range (θa1 ≦ θa ≦ θa2) of the arm 111 is set in the same manner by operating the operation lever to operate the arm 111 to set the maximum angle (θa1) that can be discharged to the hopper 4 and to set the range teaching button. C242, and then set the arm angle to hopper 4.
Then, the range teaching button D242 is set to the minimum angle (θa2) at which the soil can be released, and the setting of the soil release range is completed.

More specifically, in the flowchart of the position teaching program 195c shown in FIG.
Instead of reading the maximum value in the axial direction, it is possible to read the maximum angle (θb1) that can be discharged to the hopper 4 of the boom 11, and instead of reading the minimum value in the X-axis direction in step 8, it is possible to discharge the soil to the hopper 4 of the boom 11. Instead of reading the minimum angle (θb2) and reading the maximum value in the Y-axis direction in step 11, reading the maximum angle (θa1) that can be discharged to the hopper 4 of the arm 111, and reading the minimum value in the Y-axis direction in step 14 Instead, the minimum angle (θa2) at which the soil can be discharged to the hopper 4 of the arm 111 is read, and the other processing is the same as the processing of each step shown in FIG.

In this embodiment, instead of the method of setting the boom angle α and the angle range using the position teaching program 195c, the RA of the load measuring
M194 and those in which those values are set in R0M of the CPU 192 may be used.

Next, a method of detecting a work in the load measuring device for a hydraulic shovel according to the present embodiment will be described.

The processing procedure of work detection by the work detection program (1) of the present embodiment is the same as that of the work detection program (1) in the first embodiment, except that in the flowchart shown in FIGS. The position on the X-axis and the position on the Y-axis of the tip pin 112 of the arm 111 are obtained from the boom angle θb and the arm angle θa at the start of the dump operation. In the present embodiment, the boom angle θb at the start of the bucket dump operation And the arm angle θa is taken as it is.
The difference is that it is determined whether the boom angle and the arm angle are within the earth discharging range at the start of the bucket dumping operation taken in step 3. Specifically, it is determined whether the boom angle θb is between θb2 and θb1, and the arm angle θa is set to θa2 and θb2.
It is determined whether or not it is between a1. If the determination is YES, the process proceeds to step S39 and thereafter, and the soil volume calculation and the number of operations are performed as in the first embodiment.

Next, the case of the work detection program (2) in the second embodiment will be described.

Further, the processing procedure of the work detection by the work detection program (2) of the present embodiment is the same as that of the work detection program (2) of the first embodiment shown in FIG. 11 and FIG. The position of the arm tip pin 112 on the X-axis and the position on the Y-axis are obtained from the boom angle θb and the arm angle θa at the start of the bucket dump operation. The process of taking in the angle θb and the arm angle θa as they are, and determining in step 75 whether or not the boom angle and the arm angle at the start of the bucket dumping operation taken in step 66 are within the earth discharging range. Is different. Specifically, it is determined whether or not the boom angle θb is between θb2 and θb1, and if the arm angle θa is θ
It is determined whether it is between a2 and θa1. If the determination is YES, the process proceeds to step 76 and thereafter, and the calculation of the soil amount and the integration of the number of operations are performed as in the first embodiment.

In the present embodiment, the bucket dumping operation within the range is detected using the maximum value θb1 and the minimum value θb2 of the boom angle and the maximum value θa1 and the minimum value θa2 of the arm angle. However, the bucket dumping operation may be detected using only the maximum value and the minimum value of one of the boom angle and the arm angle as the unloading range. Furthermore, for example, one of the maximum value or the minimum value of either the boom angle or the arm angle and the start of the bucket dump operation are detected so as to detect the bucket dump operation when the boom angle is equal to or more than the minimum value θb2 of the boom angle. The bucket dump operation to the hopper may be determined by comparing with the angle at the time.

According to the invention of this embodiment, the dumping range is set by the boom angle and the arm angle, and the determination of the bucket dump operation to the hopper 4 can be determined by the boom angle or the arm angle at the start of the operation. 11 length and arm 1
Even if there is no information such as the length of 11, it is possible to determine the unburden on the hopper 4.

Next, a third embodiment of the present invention will be described with reference to FIGS.

In the first and second embodiments, the boom boundary angle α and the uncovered area are used for the determination of the work detection. However, in the present embodiment, the uncovered area is not used for the determination of the work detection, and the predetermined range is not used. Are different in that the boom boundary angle αb2 ≦ θb ≦ αb1 and the arm boundary angle αa2 ≦ θa ≦ αa1 are used for determination of work detection.

FIG. 14 is a block diagram showing a configuration of a load measuring device for a construction machine according to this embodiment.

In the figure, reference numeral 400 denotes boundary setting buttons A, 4 for teaching the maximum value αb1 of the boundary angle of the boom.
01 is a boundary setting button B for teaching the minimum value αb2 of the boom boundary angle, 402 is a boundary setting button C for teaching the maximum value αa1 of the arm boundary angle, and 403 is the minimum value αa2 of the arm boundary angle. Is a boundary setting button D for teaching the user, and boundary setting buttons A400 to D40.
Signals S15 to S19 are output from 3 and input to the load measuring device main body 19. The other configuration corresponds to the configuration of the same reference numeral shown in FIG. FIG.
As shown in FIG. 2, the boom boundary angle teaching button 23, the unearthed area teaching button A241, the unearthed area teaching button B242, and the unearthed area teaching button C24 provided in FIG.
3. The earth release range teaching button D244 is not provided.

FIG. 15 shows a boom boundary angle αb2 ≦ θb ≦ αb1 and an arm boundary angle α which are used during the arithmetic processing of the load measuring device main body 19 and are within a predetermined range set in advance.
FIG. 9 is a diagram for explaining a2 ≦ θa ≦ αa1.

As shown in the figure, the maximum value αb1 and the minimum value αb2 are set as the boom boundary angles, and the maximum value αa1 and the minimum value αa2 are set as the arm boundary angles, and the boundary angle detection shown in FIG. 5 of the first embodiment is performed. The ON / OFF determination of the signal a is performed using these boundary angles. That is, when the boom angle θb and the arm angle θa are in the above-described boundary angle range, the boundary angle detection signal a is turned on, and when the boom angle θb and the arm angle θa are out of the boundary angle range, the boundary angle detection signal a is turned off.

Next, a procedure for embedding the position teaching program 195c of the load measuring device main body 19 different from that of the first embodiment will be described with reference to the flowchart shown in FIG.

This position teaching process is a process of teaching the boom boundary angle range and the arm boundary angle range necessary for the work detection process described later and storing them in the RAM 194 of the load measuring device main body 19.

First, when the teaching start button 22 is pressed, the position detection program 195c starts. Hydraulic excavator 1
The operator operates the operation lever to set the boom 11 to the maximum value of the boom boundary angle.
Press 400. If boundary teaching button A400 is pressed, YES is determined in step 81, and step 82 is determined.
, The angle θb of the boom 11 at that time is set to αb1, the setting flag Fbmax is turned on in step 83, and the routine proceeds to step 84. Subsequently, the user operates the operation lever to set the boom 11 to the minimum value of the boom boundary angle, and presses the boundary teaching button B401. Boundary teaching button B401
Is pressed, YES is determined in step 84,
In step 85, the angle θb of the boom 11 at that time
Is set to αb2, and the setting flag Fbm is set in step S86.
In is turned on and the routine proceeds to step 87. Next, the operation lever is operated to set the arm 111 to the maximum value of the arm boundary angle, and the boundary teaching button C402 is pressed there. If boundary teaching button C402 is pressed, YES in step 87
It is determined in step 88 that the current arm 1
The angle θb of No. 11 is set to αb2, the setting flag Famax is turned on in step 89, and the routine proceeds to step 90. Next, the operation lever is operated to set the arm 111 to the minimum value of the arm boundary angle, and the boundary teaching button D403 is pressed there. When the boundary teaching button D403 is pressed, YES is determined in step 90, the angle θb of the arm 111 at that time is set to αb2 in step 91, the setting flag Famin is turned on in step 92, and the process proceeds to step 93. . In step 93, it is determined whether or not all the boundary angles have been taught, based on whether or not all the setting flags are ON. If YES, the process ends. Otherwise, the processing from step 81 is repeated.

Next, a method of detecting a work in the load measuring device for a hydraulic shovel according to the present embodiment will be described.

The processing procedure of work detection by the work detection program (1) of the present embodiment is based on the flowchart shown in FIGS. 8 and 9 of the work detection program (1) of the first embodiment, using only the boundary angle. Since the operation is detected, steps 33 and 38 are not performed. However, in step 22, when it is determined whether or not the boundary angle detection signal a has changed from OFF to ON, the boom angle θb
However, when the arm angle 9a falls within the range of αb2 ≦ θb ≦ αb1 and the arm angle 9a falls within the range of αa2 ≦ θa ≦ αa1, it is determined that the boundary angle detection signal a has changed from OFF to ON. Further, in step 35, when it is determined whether the boundary angle detection signal a has changed from ON to OFF, the boom angle θb goes out of the range of αb2 ≦ θb ≦ αb1, or the arm angle θa becomes αa2 ≦ θa ≦ The boundary angle detection signal a changes from OFF to O
It is determined that N has been reached.

The procedure of the work detection by the work detection program (2) of the present embodiment is the same as that of the work detection program (1) of the first embodiment shown in FIGS. 75
Is not implemented. However, the determination conditions for the boundary angle detection signal aON in step 70 and step 71 are the same as in the case of the work detection program (1).

In the present embodiment, the boundary angle is set using the position teaching program 195c.
194 or the ROM of the CPU 192.

Further, the boundary angle is defined as the maximum value αb1 and the minimum value αb2 of the boom boundary angle, and the maximum value αb of the arm boundary angle.
Although a1 and the minimum value αa2 are used, only the boundary angle of the boom or only the boundary angle of the arm may be used, and the combination is free.

Also, as shown in FIG. 17, the boundary condition was set at the boom angle θb and the arm angle θa. However, the boundary was taught at the position of the arm tip pin 112, and the position of the arm tip pin 112 was within the range. When entering, the boundary angle detection signal a may be turned ON, and when it goes out of the range, the boundary angle detection signal a may be turned OFF.

As described above, in the present embodiment, as a condition for generating the boundary angle detection signal a, the arm angle is added or the boundary angle detection signal
Is generated, it is possible to accurately detect the unloading work on the hopper 4 even if the work situation changes. In each of the above embodiments, the example in which the load measuring device main body 19 is mounted on the hydraulic excavator 1 as shown in FIGS. 2 and 14 has been described. May be provided. In this case, various signals S1 to S19 input from each part of the hydraulic excavator 1 to the load measuring device main body 19 are directly transmitted to the management device 29 via the wireless devices 26 and 28, and the management device 29 performs the operations based on these signals. Thus, a calculation process for load measurement is performed.

[0102]

As described above, according to the first to sixth aspects of the present invention, since the transfer determination means is particularly provided, other load-measuring devices should not be measured as compared with the prior art. The work is not erroneously detected, and the load of the conveyed object can be measured with high accuracy.

Further, according to the present invention as set forth in claims 7 to 12, the measurement control means is particularly provided.
Similarly to the above invention, other operations are not erroneously detected, and the load of the conveyed object can be measured with high accuracy.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating an example of a working mode of a hydraulic shovel that operates on a lifting ship.

FIG. 2 is a block diagram illustrating a configuration of a load measuring device for a construction machine according to the first embodiment.

FIG. 3 is a block diagram showing a configuration of a load measuring device main body 19 shown in FIG.

FIG. 4 is a diagram for explaining a boom boundary angle α and a soil release range which are used at the time of arithmetic processing of the load measuring device main body 19 according to the first embodiment and are set in advance.

FIG. 5 is a diagram showing waveforms of various signals input to the load measuring device main body 19 according to the first embodiment and various signal waveforms processed therein.

FIG. 6 is a work detection program 19 according to the first embodiment;
FIG. 5B is a diagram for explaining a method of calculating the positions of the arm tip pins 112 in the X-axis direction and the Y-axis direction used in the position teaching program 5b and the position teaching program 195c.

FIG. 7 is a flowchart showing a procedure of embedding a position teaching program 195c of the load measuring device main body 19 according to the first embodiment.

FIG. 8 is a flowchart illustrating a processing procedure of a work detection program (1) 195b according to the first embodiment.

FIG. 9 is a flowchart illustrating a processing procedure of a work detection program (1) 195b according to the first embodiment.

FIG. 10 is a flowchart illustrating a processing procedure of a turning boundary time teaching program 195d according to the first embodiment.

FIG. 11 is a flowchart illustrating a processing procedure of a work detection program (2) 195b according to the first embodiment.

FIG. 12 is a flowchart illustrating a processing procedure of a work detection program (2) 195b according to the first embodiment.

FIG. 13 shows a load measuring device main body 19 according to the second embodiment.
FIG. 8 is a diagram for explaining a boom boundary angle α and a soil release range which are used in the calculation processing of FIG.

FIG. 14 is a block diagram illustrating a configuration of a load measuring device for a construction machine according to a third embodiment.

FIG. 15 shows a load measuring device main body 19 according to the third embodiment.
FIG. 8 is a diagram for explaining a boom boundary angle αb2 ≦ θb ≦ αb1 and an arm boundary angle αa2 ≦ θa ≦ αa1, which are used in the arithmetic processing of and are within predetermined ranges set in advance.

FIG. 16 shows a load measuring device main body 19 according to the third embodiment.
8 is a flowchart showing the processing procedure of the position teaching program 195c of FIG.

FIG. 17 shows a load measuring device main body 19 according to the third embodiment.
FIG. 9 is a diagram for explaining a method of calculating the positions of the arm tip pins 112 in the X-axis direction and the Y-axis direction within a predetermined range set in advance, which is used in the arithmetic processing of FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hydraulic excavator 2 Lifting ship 3 Barge ship 4 Hopper 5 Pumping pump 11 Boom 12 Boom cylinder 121 Bottom chamber 122 Rod chamber 123,124 Pressure switch 13 Bucket 17 Bucket operating lever 18 Swing operating lever 19 Load measuring device main body 194 RAM 195 ROM 195b Work detection program 195c Position teaching program 195d Turning boundary time teaching program 20 Boom angle sensor 21 Arm angle sensor 22 Teach start button 23 Boom boundary angle teaching button 241 to 244 Unearthing range teaching button 25 Turning boundary time teaching button 26, 28 Wireless Machine 27 Buried place 27 Management device (computer) 30 Display device 401-403 Boundary teaching button

 ────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Toru Kurenuma 650, Kandachicho, Tsuchiura-shi, Ibaraki F-term in the Tsuchiura Plant of Hitachi Construction Machinery Co., Ltd. (Reference) 2D003 AA01 AB07 AC06 BA06 CA02 DA04 DB02 DB04 FA02 2D015 HA03

Claims (12)

[Claims] 1. A load measuring device for a hydraulic shovel that scoops and conveys a conveyed object and transfers the conveyed object to another location, wherein a bottom-side pressure and a rod-side pressure of a boom cylinder during a turning operation of picking up and conveying the conveyed object. Pressure detecting means for measuring a differential pressure between the hydraulic shovel and the pressure excavator; a differential pressure storing means for storing the differential pressure when the integrated value of the turning operation time reaches a predetermined value or immediately before the subsequent bucket dump operation; Front position / posture detecting means, transfer judging means for judging that a conveyed object has been transferred from the front position and posture immediately before the bucket dumping operation to a predetermined place, and judging that the transfer has been performed by the transfer judging means. Load measuring means for calculating the load of the conveyed object from the stored differential pressure immediately before the bucket dump operation when the load is measured. . 2. The apparatus according to claim 1, wherein the transfer judging means is provided immediately before the bucket dump operation, when the boom angle is within a certain range and the arm angle is within a certain range, or when the boom angle is within a certain range. Alternatively, when the arm angle is within a certain range, it is determined that the conveyed object has been transferred to a predetermined place. 3. The transfer determining means according to claim 1, wherein the transfer deciding means conveys the excavator to a predetermined place when an arm tip position of the excavator is within a certain range calculated from a rotation angle of the boom and the arm. A load measuring device for a hydraulic shovel, which determines that an object has been transferred. 4. A load measuring device for a hydraulic shovel that scoops and conveys a conveyed object and transfers the conveyed object to another place, wherein a first turning operation for conveying the conveyed object, a bucket dumping operation, and a second operation for not conveying the conveyed object. Operating sequence detecting means for detecting each operating sequence of the turning operation of the hydraulic excavator, pressure detecting means for measuring the differential pressure between the bottom side pressure and the rod side pressure of the boom cylinder of the hydraulic shovel during the first turning operation, Means for detecting the position and orientation of the front of the excavator, transfer determining means for determining that the conveyed object has been transferred from a position or attitude immediately before the bucket dump operation to a predetermined location, and wherein the detected operation sequence is a predetermined operation When it is determined that the operation has been performed in the order and the transfer has been performed by the transfer determination unit, the load of the conveyed object is calculated from the differential pressure immediately before the bucket dump operation. Load measuring device for a hydraulic excavator which is characterized by comprising a load measuring means. 5. A load measuring device for a hydraulic shovel for scooping and transporting a conveyed object and transferring the conveyed object to another place, wherein a first turning operation for transporting the conveyed object, a bucket dumping operation, and a second operation for not conveying the conveyed object. Operation sequence detecting means for detecting each operation sequence of the turning operation of the hydraulic excavator, and a differential pressure between a bottom side pressure and a rod side pressure of the boom cylinder of the hydraulic shovel during the first turning operation and the second turning operation. , A position and orientation detection unit at the front of the excavator, a transfer determination unit to determine that the conveyed object has been transferred from the position and orientation detection unit to a predetermined position, and the detected operation The order is operated in a predetermined operation order, and the difference between the measured pressures of the respective differential pressures is equal to or more than a predetermined value, and it is determined that the transfer has been performed by the transfer determination unit. And a load measuring means for calculating a load of the conveyed object from a differential pressure immediately before the bucket dump operation between the first turning operation and the second turning operation. apparatus. 6. The transfer judging means according to claim 4, wherein the transfer judging means is provided immediately before the bucket dump operation, when the boom angle is in a certain range and the arm angle is in a certain range, or A load measuring device for a hydraulic shovel, wherein when a boom angle is within a certain range or an arm angle is within a certain range, it is determined that a conveyed object has been transferred to a predetermined place. 7. A load measuring device for a hydraulic shovel that scoops and conveys a conveyed object and transfers the conveyed object to another location, wherein a bottom pressure and a rod-side pressure of a boom cylinder during a turning operation of scooping and conveying the conveyed object. Pressure detecting means for measuring a differential pressure between the hydraulic shovel and the pressure excavator; a differential pressure storing means for storing the differential pressure when the integrated value of the turning operation time reaches a predetermined value or immediately before the subsequent bucket dump operation; Front position and orientation detection means, measurement control means for determining the start and end of measurement from the position or orientation measured by the position and orientation detection means, and between the start and end of the measurement determined by the measurement control means A load measuring device for calculating a load of the conveyed object from the stored differential pressure immediately before the bucket dump operation, wherein the load measuring device for a hydraulic shovel is provided. 8. A load measuring device for a hydraulic shovel that scoops and conveys a conveyed object and transfers the conveyed object to another location. Operating sequence detecting means for detecting each operating sequence of the turning operation of the hydraulic excavator, pressure detecting means for measuring the differential pressure between the bottom side pressure and the rod side pressure of the boom cylinder of the hydraulic shovel during the first turning operation, A position / posture detecting unit at the front of the hydraulic shovel, a measurement control unit that determines the start and end of the measurement from the position or posture measured by the position / posture detecting unit, and the detected operation sequence is operated in a predetermined operation sequence. And calculating the load of the conveyed object from the differential pressure immediately before the bucket dump operation, which is between the start and end of the measurement determined by the measurement control unit. Hydraulic excavator load measuring apparatus being characterized in that the heavy measuring means, the provided. 9. A load measuring device of a hydraulic shovel for scooping and rotating a transferred object to transfer it to another place, wherein a first turning operation for transporting the transferred object, a bucket dumping operation, and a second operation for not transferring the transferred object. Operation sequence detecting means for detecting each operation sequence of the turning operation of the hydraulic excavator, and a differential pressure between a bottom side pressure and a rod side pressure of the boom cylinder of the hydraulic shovel during the first turning operation and the second turning operation. , A position / posture detection unit at the front of the hydraulic shovel, a measurement control unit that determines start and end from the position or posture measured by the position / posture detection unit, and the detected operation sequence. Are operated in a predetermined operation order, and when the difference between the measured pressures of the respective differential pressures is equal to or more than a certain value, between the first turning operation and the second turning operation Load measurement means for calculating the load of the conveyed article from the differential pressure immediately before the bucket dump operation, between the start and end of the measurement determined by the measurement control means. Measuring device. 10. The method according to claim 7, wherein:
In the description of the two claims, the measurement control means, the measured boom angle reaches a certain range, determines that the start of the measurement when the measured arm angle reaches a certain range, the boom angle and A load measuring device for a hydraulic shovel, wherein it is determined that the measurement is completed when the arm angle is out of the range. 11. The method according to claim 7, wherein
In the description of the claims, the measurement control means, when the measured boom angle reaches a certain range, or when the measured arm angle reaches a certain range, determines that the start of the measurement, the said A load measuring device for a hydraulic shovel, wherein the end of the measurement is determined when the boom angle or the arm angle is out of the respective ranges. 12. The method according to claim 7, wherein:
In the description of the claims, the measurement control means is configured to calculate a position of the tip of the arm of the excavator from a rotation angle of the boom and the arm when the tip of the arm reaches a certain range in the height direction and the length direction. A load measurement device for a hydraulic shovel, wherein the load measurement device determines that measurement has started, and determines that measurement has ended when the measurement value is out of the range.