JP2002285589A - Device for monitoring work amount of hydraulic excavator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for monitoring the work amount of a hydraulic excavator, which can accurately measure a weight of minerals or sediment, with which a dump truck is actually loaded, even if an operator does not make the dump truck loaded with all of a bucket of the minerals or the sediment, or even if an arm is dumped to load the dump truck with the minerals or the sediment. SOLUTION: A first carried-object weight Wio [i-1] is computed by a load computing means in a case (a measuring range) where a slewing angle of an upper structure falls within a first angle range (a soil discharge range). A second carried-object weight Wio [i] is computed by the load computing means in a case (a measuring range) where the slewing angle of the upper structure gets out of the first angle range (the soil discharge range). A difference between the weight Wio [i-1] and the weight Wio [i] is determined and judged as a weight Wb of a carried object.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work load monitoring device for a hydraulic shovel, and more particularly to a work load monitoring device for a hydraulic shovel for loading minerals into a dump truck in a mine.

[0002]

2. Related Background Art FIG. 1 is a diagram showing an example of a working form of a hydraulic shovel operated in a mine. In the figure,
Reference numeral 11 denotes a boom attached to the upper swing body 2 of the excavator 1, reference numeral 12 denotes a boom cylinder for raising and lowering the boom 11, reference numeral 13 denotes an arm, and reference numeral 14 denotes an arm 13.
, A reference numeral 15 denotes a bucket, and a reference numeral 16 denotes a bucket cylinder for rotating the bucket.
Reference numeral 17 denotes a turning device for rotating the upper turning body 2 right and left.

[0003] As shown in the figure, when the dump truck 3 stops before the excavator 1, the excavator 1 scoops minerals or earth and sand from an excavation site (not shown), turns around the revolving unit 2, and unloads the bucket 15. It is taken over the area, i.e. the vessel 4 of the dump truck 3, and the mineral or earth and sand is loaded into the vessel 4. Thereafter, the excavator 1 pivots the revolving superstructure 2 to the excavation site to further load minerals or earth and sand. This operation is repeated several times, and the hydraulic shovel 1 loads the vessel 4 of the dump truck 3 with a predetermined amount of minerals or earth and sand. When the loading operation is completed, the dump truck 3 transports the mineral or earth and sand to a predetermined place.

[0004] In such an operation, the mine manager needs to measure the amount of the hydraulic shovel loaded on the dump truck in order to control the production of minerals or earth and sand. Therefore, conventionally, in order to measure the mineral or earth loaded on the dump truck by the excavator, the operator of the excavator operates the button each time immediately before loading the mineral or earth onto the dump truck, and at that timing, The weight of the mineral or earth and sand was measured.

[0005] Japanese Patent Application Laid-Open No. 6-10378 discloses that
A method is disclosed in which a hydraulic excavator measures the weight of earth and sand before dumping a bucket.

[0006]

However, the operator does not always load the entire bucket of the hydraulic shovel into the dump truck, and may return to the excavation site while leaving some minerals or earth and sand inside the bucket. in this case,
In the above-described conventional technology, the weight of the mineral or earth and sand immediately before the button is pressed or the bucket is operated to be dumped is determined as the weight of the mineral or earth and sand loaded on the dump truck, and the hydraulic excavator actually performs the dump truck operation. May be different from the weight of the load.

Further, in the above publication, there is a case where the arm is dumped and minerals or earth and sand are loaded on the dump truck before the operator performs the dumping operation of the bucket. In this case, the arm is dumped and loaded. It may not be possible to measure the weight of the loaded mineral or earth and sand.
SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and an object of the present invention is to solve the problem when an operator does not load all the minerals or earth and sand for one bucket, or dumps the arm to remove the mineral or earth and sand. It is an object of the present invention to provide a hydraulic shovel operation amount monitoring device capable of accurately measuring the weight of minerals or earth and sand actually loaded on a dump truck even when the dump truck is loaded on a dump truck.

[0008]

In order to achieve the above object, according to the first aspect of the present invention, there is provided a hydraulic shovel for scooping a conveyed object with a bucket and transferring the conveyed object to another place. Load calculating means for calculating the weight of the internal load, bucket position measuring means for measuring the position of the bucket, and discharge range setting means for setting the discharge operation range of the load within the workable range of the bucket. The first load weight calculated by the load calculating means when the position of the bucket falls within the discharge operation range and the first load weight calculated by the load calculation means when the position of the bucket falls outside the discharge operation range. Load determining means for determining a difference between the weight of the second conveyed object and determining the difference as the weight of the conveyed conveyed object.

Therefore, when the bucket that has scooped the goods enters the discharge operation range, the weight of the first goods is calculated, while when the bucket that discharges the goods leaves the discharge operation range, the weight of the second goods is calculated. The difference between the weight of the first conveyed object and the weight of the second conveyed object is determined as the weight of the transferred object. That is, when the load is a mineral or earth and sand at an excavation site, the weight of the mineral or earth and sand is changed when the bucket enters and leaves the loading range of the dump truck. , And the difference between the weights of these minerals or earth and sand is the weight of the minerals or earth and sand loaded on the dump truck by the hydraulic shovel.

Accordingly, the weight of the mineral or earth and sand loaded on the dump truck by the hydraulic excavator is automatically measured in a series of operations of the bucket, and all of the mineral or earth and sand in the bucket is dumped. Even when it is not loaded into the ground, it is possible to accurately grasp the weight of the actually loaded mineral or earth and sand. According to the second aspect of the present invention, in a hydraulic shovel for transferring a conveyed object to another place by rotating a revolving body provided with a boom for scooping the conveyed object with a bucket, the weight of the conveyed object inside the bucket during operation , A turning angle measuring means for measuring a turning angle of the revolving structure, and an angle range setting for setting a first angle range for discharging the conveyed object within a revolvable range of the revolving structure. Means, the first transported object weight calculated by the load calculating means and the turning angle of the revolving unit when the turning angle of the revolving unit is within the first angle range are out of the first angle range. A load determining means for determining a difference between the weight of the second conveyed object calculated by the load calculating means and determining the difference as the weight of the conveyed conveyed object.

Therefore, when the boom rotates around the revolving structure together with the bucket that has scooped the conveyed object, and when the boom enters the first angle range, the first conveyed object weight is calculated. When the boom moves out of the first angular range, a second load weight is calculated, and the difference between the first load weight and the second load weight is determined as the weight of the transferred load.

That is, when the conveyed material is a mineral or earth and sand in a digging pit, the weight of the mineral or earth and sand is changed when the boom enters and exits the loading angle range of the dump truck. The weight of the mineral or earth and sand is calculated as the object weight and the second weight of the conveyed material, and the difference between the weight of the mineral or earth and sand is the weight of the mineral or earth and sand loaded on the dump truck by the hydraulic shovel.

Accordingly, the weight of the mineral or earth and sand loaded on the dump truck by the hydraulic excavator is automatically measured during a series of turning operations of the boom, and all of the mineral or earth and sand in the bucket is dumped by the dump truck. Even when the material is not loaded on the ground, the weight of the loaded mineral or earth and sand can be accurately grasped. In the invention according to claim 3, the weight of the first conveyed object is calculated by the load calculating means within a second angle range until the turning angle of the revolving body falls within the first angle range. The weight of the second conveyed object may be an average value of a plurality of weights, and the weight of the second conveyed object may be the second weight after the turning angle of the turning body is out of the first angle range. It is characterized in that it is an average value of a plurality of weights calculated by the load calculating means within the three angle ranges.

Therefore, while the hydraulic excavator is turning the boom, the bucket is only moving horizontally and is stable, and the range in which such a bucket is stable is defined as the second angle range and the third range. An angle range is set, and an average value of a plurality of weights of the conveyed articles calculated when the boom is within the second angle range and the third angle range is defined as the first conveyed article weight and the second conveyed article. By using the object weight, the first and second object weights can be accurately calculated.

[0015] In the invention of claim 5, the weight of the first conveyed object is calculated by the load calculating means within a predetermined period until the turning angle of the turning body falls within the first angle range. In the invention according to claim 6, the weight of the second conveyed object is a predetermined value after the turning angle of the revolving body is out of the first angle range. It is characterized by an average value of a plurality of weights calculated by the load calculating means during a period.

Therefore, while the hydraulic excavator is turning the boom, the bucket is only moving horizontally and is stable, and the boom is required to pass through a range in which the bucket is stable for a predetermined period. By setting the average value of the plurality of weights of the conveyed goods calculated when the boom is within the predetermined period as the first conveyed goods weight and the second conveyed goods weight, The weight and the second load weight can be calculated accurately.

In the invention according to claim 7, when the load determining means determines the difference between the weight of the first conveyed object and the weight of the second conveyed object as the weight of the conveyed conveyed object, A weight display means for displaying the weight is provided. In the invention according to claim 8, the weight display means displays an integrated value of the weight per transfer together with the weight per transfer. It is characterized by:

Therefore, the operator of the excavator can easily confirm the exact weight of the transferred article, and can easily confirm the accurate integrated value of the weight of the transferred article.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIG. 1 and FIGS. First, a first embodiment will be described. FIG. 2 is a block diagram showing a work amount monitoring device for a hydraulic shovel according to the present invention.

In the figure, reference numeral 121 denotes a bottom chamber of the boom cylinder 12, reference numeral 122 denotes a rod chamber of the boom cylinder 12, reference numeral 123 denotes a pressure sensor for measuring pressure of pressure oil in the bottom chamber 121, and reference numeral 124 denotes a rod chamber 122. A pressure sensor for measuring the pressure of the hydraulic oil of the hydraulic excavator 1; a hydraulic pump of the hydraulic shovel 1;
Is a control valve interposed between the hydraulic pump 30 and the boom cylinder 12.

Reference numeral 19 denotes a main body of a load measuring device for calculating the weight of the mineral or earth and sand (conveyed material) scooped by the bucket 15 based on various input data input.
0 is a boom angle sensor that measures the rotation angle of the boom 11 with respect to the support pin at the base of the boom 11, 21 is an arm angle sensor that measures the rotation angle of the arm 13 with respect to the support pin at the tip of the boom 11, and 22 is a bucket. 15 bucket angle sensor for measuring the rotation angle of 15
Reference numeral 3 denotes a turning angle sensor (bucket position measuring means, turning angle measuring means) for measuring the turning angle of the turning device 17 for turning the turning body 2, and reference numeral 24 denotes when the hydraulic excavator 1 loads minerals or earth and sand onto the dump truck 3. Button for instructing the turning angle of the boom 11 around the turning device 17.

The load measuring device main body 19 includes a pressure sensor 1
23, a boom rod pressure signal from the pressure sensor 124, a boom angle signal from the boom angle sensor 20, an arm angle signal from the arm angle sensor 21, and a bucket angle signal from the bucket angle sensor 22. You. Then, the load measuring device main body 19 calculates the load in the bucket 15, that is, the weight of the mineral or earth and sand in the bucket 15 based on these signals.

Each signal of the turning angle signal from the turning angle sensor 23 and the teaching position signal from the unearthing position teaching button 24 is input to the load measuring device main body 19. Further, the loading operation to the dump truck 3 is determined. Also, the load measuring device body 1
The data such as weight calculated by 9 is displayed on a display device (weight display means) 2 installed in the cab of the excavator 1.
5 is output.

FIG. 3 shows the load measuring device main body 19 shown in FIG.
FIG. The load measuring device main body 19 is mainly composed of a computer, reference numeral 191 is an input interface having an A / D converter and inputting various signals, and reference numeral 192 is a central processing unit (CPU) for executing various calculations and controls. , Reference numeral 193 denotes a timer for outputting a pulse signal of a fixed period, reference numeral 194 denotes a random access memory (RAM) for storing the operation result, and reference numeral 195 denotes C
A read-only memory (ROM) in which various processing programs of the PU 192 are stored, and reference numeral 196 denotes an output interface for outputting various data to the display device 25.

More specifically, the ROM 195 includes a start program (discharge range setting means, angle range setting means) 195a, a dumping position teaching program 195b, a load calculation program (load calculation means) 195c, an operation determination program 195d, A soil detection program (load determination means) 195e and a display program 195f are stored.

The start program 195a is executed once when the engine of the excavator 1 is started and the power is turned on to the load measuring device main body 19. The unloading position teaching program 195b is executed each time the unloading position teaching button 24 is pressed. Then, a load calculation program 195c, an operation determination program 195d, and a soil removal detection program 195
e, The display program 195f is repeatedly executed in order. When the engine of the excavator 1 stops, the load calculation program 195c, the operation determination program 195d, the earth removal detection program 195e, and the display program 195f that are repeatedly executed are terminated.

The operation of the work load monitoring device for a hydraulic shovel according to the present invention will now be described. FIG. 4 shows the unloading position which is used during the calculation processing of the load measuring device main body 19 and before the loading on the dump truck 3 is started or when the relative positional relationship between the dump truck 3 and the excavator 1 is changed. The teaching position θsw of the boom 11 around the turning device 17 set by the teaching button 24
FIG. 9 is a diagram illustrating a ref, a soil release range (first angle range), a measurement range (second and third angle ranges), and a transport range that are automatically generated based on the teaching position θswref.

First, the relationship between the teaching position θswref, the soil release range, the measurement range, and the transport range will be described. The teaching position θswref is set based on a turning angle signal from the turning angle sensor 23 in a teaching process described later. The earth discharging range is a range opened by a preset angle α in the left-right direction about the teaching position θswref. The angle α is set to an angle that can sufficiently cover the width of the vessel 4 around the center of the vessel 4 of the dump truck 3, for example. The soil release range is the teaching position θswre
It is not necessary that the left and right sides be equal around the center f. For example, α may be set to the left and another angle γ may be set to the right around the teaching position θswref.

The measurement range is a range set in advance from the soil release range to the outside. On the left side of the teaching position θswref, the measurement range is, for example, θswref + (α + β) to θ
On the right side of the teaching position θswref, the measurement range is, for example, θswref− (α + β) to θswre.
f−α. When the unburden angles are different between the left and right, the measurement range is determined by substituting different angles for α in the above measurement range.

The transporting range is a working range in which the excavator excavates minerals or earth and sand and transports it to the dump truck 3, and is a range other than the above-described discharging range and the measuring range.
Then, under the teaching position θswref, the soil release range, the measurement range, and the transport range set as described above, the load measuring device 19
The operation of the hydraulic shovel 1 to be loaded on the dump truck 3 is determined based on the taught θswref centered range. That is, when the boom 11 enters the unloading range from the transport range and then moves out of the unloading range, the load measuring device 19 performs the turning operation with the operation for loading the hydraulic excavator 1 onto the dump truck 3. judge.

FIG. 5 is a time chart showing an example of waveforms of various signals input to the load measuring device main body 19 and waveforms of various signals processed therein. In the example shown in the figure, when the excavator 1 makes a right turn from the excavation position to the vessel 4 of the dump truck 3, the turning angle signal crosses the teaching position θswref + α, and the boom 11 enters the unloading range. Then, when the excavator 1 finishes loading the dump truck 3 and turns left to return to the excavation position, the turning angle signal crosses the teaching position θswref + α again, and the boom 11 comes out of the dumping range. Note that the result is the same even if the excavator 1 completes loading and turns right as it crosses the teaching position θswref−α.

In the figure, the load W indicates the weight inside the bucket 15. The load W is calculated by the load calculation program 195
The calculation method of the load W is calculated as follows, for example. From the boom bottom pressure signal and the boom rod pressure signal input to the load measuring device main body 19, a force for supporting the boom 11, the arm 13, and the bucket 15 containing minerals or earth and sand is obtained. On the other hand, the position of the center of gravity of the boom 11, the arm 13, and the bucket 15 calculated from the boom angle signal, the arm angle signal, and the bucket angle signal are obtained, and the positions of the respective centers of gravity of the boom 11,
From the weight of the arm 13 and the empty bucket 15, the boom 11
The moment around the root support pin is determined. Then, the weight of the mineral or earth and sand inside the bucket 15 is calculated from the balance between the supporting force and the moment around the support pin at the base of the boom 11. Note that this calculation method is
It is well known by the calculation method described in JP-A-44930.

As shown in FIG.
The load W is always calculated by the above calculation method, and while the turning angle signal is first turning right crossing the teaching position θswref + α, the boom 11 scoops minerals or earth and sand from the excavation position and places it in the vessel 4 of the dump truck 3. Since the vehicle is turning toward the vehicle, the load W shows a large value. Also, during the left turn where the turning angle signal crosses the teaching position θswref + α next,
Since the boom 11 finishes loading the dump truck 3 and returns to the excavation position, the load W shows a small value.

Then, the previous average load (first transported object weight) Wio averaged within the measurement range during the right turn.
The difference Wb between [i-1] and the new averaged load (second load weight) Wio [i] averaged within the measurement range during the left turn.
Is greater than or equal to a certain value (the load difference Wswref for unburden determination), it can be determined that the hydraulic shovel 1 has loaded mineral or earth and sand into the dump truck 3, and the difference Wb is determined by the hydraulic shovel 1. Is the weight of the mineral or earth and sand loaded in the container, that is, the amount of unloaded soil per load. Here, i indicates the number of times that the boom 11 has entered the measurement range from the transport range or from the unearthed range.

By the way, as is clear from the figure, the load W is constant and stable in the measurement range. this is,
This is because the bucket 15 is turning horizontally without any vertical movement in the measurement range, whereby the average load Wio [i-1]
And the average load Wio [i] can be accurately obtained. Next, a detailed procedure of processing of each program will be described with reference to FIGS.

FIG. 6 shows a processing procedure of the start program 195a. In the start program 195a, first, in step S11, the unloading amount Wb per load and the integrated unloading amount Wbs output by the unloading detection program 195e.
Is initialized. In addition, the number m for averaging the load W used in the operation determination program 15d is initialized in addition to the above-mentioned i. Further, a state flag Fm for calculating a load W for averaging is initialized.

In step S12, the teaching position θswref used in the unloading position teaching program 195b, an angle α for determining the unloading range, and an angle β for determining the measurement range are set. Here, the previously taught turning angle is the teaching position θ.
Desirably swref. The measurement range is preferably set to an angle range in which the bucket 15 does not move up and down and the turning angular velocity ω is as constant as possible. Then, the unloading determination load difference Wswref used in the unloading detection program 195e is set.

FIG. 7 shows the procedure of the unloading position teaching program 195b. In the dumping position teaching program 195b, first, in step S21, the dumping position teaching button is turned on.
It is determined whether or not. Here, it is determined whether or not the teaching button signal is ON. When the unloading position teaching button is ON, in step S22, the turning angle θsw indicated by the turning angle signal at that time is fetched, and in step S23, the θsw is set as the turning angle teaching position θswref, and the teaching position is updated. . On the other hand, if it is determined in step S21 that the unearthing position teaching button is not ON, nothing is performed.
The process proceeds to the next load calculation program 195c. The load calculation program 195c is as described above.

FIGS. 8 and 9 show the operation determination program 195.
The processing procedure of d is shown. In the first embodiment, a program is referred to as an operation determination program (1) to distinguish it from a second embodiment described later. Status flag Fm used here
Indicates a state in which the turning angle θsw transitions among three ranges: a transport range, a measurement range, and a dumping range.

In the operation determination program (1), first, in step S301, it is determined whether or not the turning angle θsw is within the transport range. If it is within the carrying range, it is determined in step S302 whether the state flag Fm is in a transition state from the unburden range to the measurement range. If the state flag Fm is in the transition state from the unburden range to the measurement range, the average of the loads W per unit angle measured within the measurement range is calculated in step S303, and the average value is calculated as RA
M194 is stored in the average load buffer. Then, in step S304, the state flag Fm is changed to the state of the transport range. On the other hand, if it is determined in step S302 that the state flag Fm is not in the transition state from the unburden range to the measurement range, the operation determination program (1)
Through.

If it is determined in step S301 that the turning angle θsw is out of the carrying range, the process proceeds to step S305, and it is determined whether the turning angle θsw is within the earth discharging range.
If the turning angle θsw is within the earth discharging range, step S
Proceeding to 306, it is determined whether the state flag Fm is in a transition state from the transport range to the measurement range. Status flag Fm
Is in the transition state from the transport range to the measurement range,
Proceed to step S307. In step S307, the average of the load for each unit angle measured within the measurement range is calculated, and the average value is stored in the average load buffer of the RAM 194 as described above. Then, in step S308, the state flag Fm is changed to the state of the earth discharging range. On the other hand, if it is determined in step S306 that the state flag Fm is not in the transition state from the transport range to the measurement range, the process exits the operation determination program (1).

If it is determined in step S305 that the turning angle θsw is not within the earth discharging range, that is, if it is determined that the turning angle θsw is within the measurement range, the process proceeds to step S309. In step S309, the load W at the turning angle θsw at that time is
Is stored in the average load calculation buffer of the RAM 194 for use in calculating the average load value in step S303 or step S307.

In step S310, it is determined whether or not the current status flag Fm is in the transport range. If the status flag Fm is in the transport range, step S3
In step 11, the state flag Fm is changed to the state of the measurement range, and the process exits the operation determination program (1). On the other hand, if it is determined in step 310 that the state flag Fm is not in the carrying range, the process advances to step S312 to determine whether the state flag Fm is in the uncovering range. If the state flag Fm is in the unloading range, the state flag Fm is changed to the measurement range in step S313, and the process exits the operation determination program (1). Step S3
In step 12, if the state flag Fm is not in the range of the unburdened area, the process exits the operation determination program without doing anything.

FIG. 10 shows the processing procedure of the earth removal detection program 195e. In the soil release detection program 195e, first, in step S41, the operation determination program 195d
It is determined whether a new average value has been updated in the average load buffer by executing steps S303 and S307. If the average load buffer has been updated,
Proceeding to step S42, the difference between the previous average load Wio [i-1] in the average load buffer and the new average load Wio [i] is compared with the unloading determination load difference Wswref.

If the difference between the previous average load Wio [i-1] and the new average load Wio [i] is greater than or equal to the unloading determination load difference Wswref, the hydraulic shovel 1 determines the difference in step S43. The dumping amount Wb actually loaded on the dump truck 3 is assumed to be Wb. Then, in step S44, the accumulated soil discharge amount Wbs loaded on the dump truck 3 by the excavator 1 is added to the accumulated soil discharge amount per loading to update the accumulated soil discharge amount Wbs.

The unloaded amount Wb and the integrated unloaded amount Wbs per loading are supplied to the output interface 196, and the unloaded amount Wb and the integrated unloaded amount Wbs are displayed on the display device 25. As described above, in the first embodiment of the work amount monitoring device for a hydraulic shovel according to the present invention, the transport range, the measurement range, and the soil release range are provided in the turning angle, and the average value of the load W obtained in the two measurement ranges is set. The difference between Wio [i-1] and Wio [i] is calculated as the amount of unloaded soil W per load on the dump truck 3.
b. Therefore, when the entire bucket 15 is not dumped to the dump truck 3 or when the arm 13
Even when dumping is started and dumping is started, it is possible to accurately measure the weight of the mineral or earth and sand dumped to the dump truck 3. In addition, the unburdened amount Wb and the integrated unburdened amount Wbs
Is displayed on the display device 25, the operator can easily confirm the unloaded amount Wb and the integrated unloaded amount Wbs per loading.

Next, a second embodiment will be described. FIG. 11 is a time chart showing an example of waveforms of various signals input to the load measuring device body 19 and waveforms of various signals subjected to arithmetic processing in the second embodiment in the second embodiment. Hereinafter, based on FIG. 11, a description will be given of the relationship between the earth discharging range and the carrying range and the method of measuring the load W when the hydraulic excavator 1 unloads the dump truck 3 in the second embodiment.

In the second embodiment, the unburden range (first angle range) is defined by the angle ± α centered on the teaching position θswref.
Range. In addition, the earth discharging range may be configured by two different angles around the teaching position θswref. Further, in the second embodiment, the turning angle signal indicates the teaching position θ.
The point in time when the boom 11 crosses the swref + α and the boom 11 enters the unloading range from the transport range is defined as Tio [i-1], and the load W calculated during the measurement time (predetermined period) ΔTw before the Tio [i-1]. Is the previous average load Wio [i-1], and the turning angle signal again crosses the teaching position θswref + α, and the boom 11
Tio [i] is the point at which
The average value of the load W calculated during the measurement time (predetermined period) ΔTw after the Tio [i] is defined as a new average load Wio [i].
Here, i indicates the number of times that the boom 11 has entered the carrying range from the carrying range or from the carrying range.

In the second embodiment, if the difference between the previous average load Wio [i-1] and the new average load Wio [i] is equal to or greater than the unloading determination load difference Wswref, the hydraulic shovel 1 It is determined that the work has been dumped to the dump truck 3, and the difference is defined as the dumping amount Wb from the hydraulic shovel to the dump truck. In the second embodiment, only the start program 195a and the operation determination program 195d of the processing program inside the load measuring device main body 19 are different from those of the first embodiment. Here, the points different from the first embodiment will be described.

FIG. 6 shows the processing procedure of the start program 195a. In the second embodiment, the measurement time ΔTw is also set in step S12 (step S1).
2). The measurement time ΔTw is preferably set to a time corresponding to an angle range in which the bucket 15 does not move up and down and the turning angular velocity ω is as constant as possible.

FIGS. 12 and 13 show a processing procedure of the operation determination program 195d in the second embodiment. In addition,
In the second embodiment, the program is referred to as an operation determination program (2) to distinguish it from the first embodiment. In the operation determination program (2), first, in step S501, it is determined whether or not the current turning angle θsw is within the transport range. If it is within the carrying range, it is determined in step S502 whether or not the state flag Fm has a value of 1. If the status flag Fm has the value 1, step S503
To substitute the current counter value Nnow for the boundary passage time. Then, in step S504, the state flag F
Change m to value 2 and exit the operation determination program (2).

On the other hand, if the status flag Fm is not the value 1 in step S502, it is determined in step S505 whether the status flag Fm is the value 2. If the status flag Fm is 2, the process proceeds to step S506 to determine whether or not the current counter value Nnow is equal to or greater than the sum of the boundary passing time set in step S503 and the measurement time ΔTw. If the current counter value Nnow is equal to or greater than the sum of the boundary passage time and the measurement time ΔTw, in step S507, the load average value within the measurement time ΔTw is calculated and stored in the average load buffer in the RAM 194. Then, in step S508, the status flag F
Set m to a value of 0 and exit the operation determination program (2).

If it is determined in step S501 that the turning angle θsw is out of the transport range, it is determined in step S509 whether the status flag Fm is equal to zero. If the status flag Fm is 0, the process proceeds to step S510.
In step S510, the average load value before the measurement time ΔTw is calculated and stored in the average load buffer in the RAM 194. Then, in step S511, the state flag Fm is set to a value of 1, and the program exits the operation determination program (2).
If the state flag Fm is other than 0 in step S509, the process directly exits the operation determination program (2).

When the average load buffer in the RAM 194 is updated by the operation determination program (2), the previous average load Wio [i-1] and the new average load are used in the unloading detection program 195e as in the first embodiment. The difference from Wio [i] is compared with the load difference Wswref for unloading judgment, and the unloading amount Wb per load and the integrated unloading amount Wbs are obtained. Is output to the display device 25.

As described above, in the second embodiment of the work amount monitoring device for a hydraulic shovel according to the present invention, the transport range and the earth discharging range are provided for the turning angle, and the measurement is performed when the turning angle θsw transitions to each range. The difference between the average loads Wio [i-1] and Wio [i] during the time (predetermined period) ΔTw is set as the unloading amount Wb per load on the dump truck 3. Therefore, similarly to the first embodiment, even when the entire bucket 15 is not dumped to the dump truck 3 or when the arm 13 is dumped and the dumping is started, the mineral or the sand discharged to the dump truck 3 is also discharged. Can be accurately measured. In addition, by displaying the unloaded amount Wb and the integrated unloaded amount Wbs on the display device 25, the operator can easily check the unloaded amount Wb and the integrated unloaded amount Wbs per load.

In the second embodiment, the measurement time Δ
Although Tw is set on the transport range side, it may be set on the earth release range side.

[0057]

As described above, according to the work load monitoring device for a hydraulic shovel according to the first aspect of the present invention, when the bucket that has scooped the load enters the discharge operation range, the weight of the first load is reduced. On the other hand, when the bucket that discharged the conveyed product leaves the discharge operation range, the second conveyed product weight is calculated, and the difference between the first conveyed product weight and the second conveyed product weight is calculated. Since the weight is determined, for example, when the conveyed material is a mineral or earth and sand at the excavation site, the weight of the mineral or earth and sand loaded on the dump truck by the hydraulic shovel can be reliably measured automatically according to the movement of the bucket, Even when all of the minerals or earth and sand inside the vehicle are not loaded on the dump truck, the weight of the actually loaded minerals or earth and sand can be accurately grasped.

Further, according to the work amount monitoring device of the hydraulic shovel of the second aspect, the boom rotates around the revolving unit together with the bucket that has scooped the conveyed object, and when the boom enters the first angle range, the first angle is reached. The weight of the load is calculated, while the boom with the bucket that released the load leaves the first angular range, the weight of the second load is calculated, and the weights of the first and second loads are calculated. Is determined as the weight of the transferred object, for example, if the object is a mineral or earth and sand at an excavation site, the weight of the mineral or earth and sand loaded on the dump truck by the hydraulic shovel is determined in accordance with the turning of the rotating body. Automatically and reliably measures the weight of the actual loaded mineral or soil, even if all of the mineral or soil in the bucket is not loaded onto the dump truck.

According to the working amount monitoring device for a hydraulic shovel of the third and fourth aspects, the range in which the bucket is stable is set as the second angle range and the third angle range, Since the average value of the plurality of weights of the cargo calculated when the weight is within the second angle range and within the third angle range is defined as the first cargo weight and the second cargo weight, the first The weight of the load and the weight of the second load can be calculated accurately.For example, when the load is a mineral or earth and sand at an excavation site, the weight of the actually loaded mineral or earth and sand can be grasped more accurately. be able to.

Further, according to the working amount monitoring device of the hydraulic shovel according to the fifth and sixth aspects, the period required for the boom to pass through the stable range of the bucket is set as the predetermined period, and the boom is set to the predetermined period. Since the average value of the plurality of weights of the load calculated when the weight is within the first load weight and the second load weight, the first load weight and the second load weight are Accurate calculation can be performed. For example, when the conveyed material is a mineral or earth and sand at an excavation site, the weight of the actually loaded mineral or earth and sand can be grasped more accurately.

Further, according to the working amount monitoring device for a hydraulic shovel according to the seventh and eighth aspects, the operator of the hydraulic shovel can easily confirm the exact weight of the transferred goods, and An accurate integrated value of the weight of the conveyed load can be easily confirmed.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating an example of a work mode of a hydraulic shovel that operates at a work site such as a mine.

FIG. 2 is a block diagram showing a load measuring device and a display device of the hydraulic shovel according to the first embodiment of the present invention.

FIG. 3 is a configuration diagram of a load measuring device main body shown in FIG. 2;

4 is a diagram illustrating a teaching position θswref and various ranges that are used in a work determination process of the load measuring device main body illustrated in FIG. 2 and that are set in advance.

5 is a diagram showing, in a time chart, waveforms of various signals input to the load measuring device main body shown in FIG. 2 and waveforms of various signals calculated based on the contents thereof;

6 is a flowchart showing a processing procedure of a start program of the load measuring device main body shown in FIG.

FIG. 7 is a flowchart showing a processing procedure of a program for teaching a land release position of the load measuring device main body shown in FIG. 2;

8 is a part of a flowchart showing a processing procedure of an operation determination program (1) of the load measuring device main body shown in FIG.

FIG. 9 is the remaining part of the flowchart showing the processing procedure of the operation determination program (1) following FIG.

FIG. 10 is a flowchart showing a processing procedure of an earth removal detection program of the load measuring device main body shown in FIG. 2;

FIG. 11 is a time chart showing waveforms of various signals input to the load measuring device main body and waveforms of various signals arithmetically processed based on the contents in the second embodiment of the present invention.

FIG. 12 shows an operation determination program according to the second embodiment.
It is a part of a flowchart showing a processing procedure of (2).

FIG. 13 is the remaining part of the flowchart showing the processing procedure of the operation determination program (2) following FIG. 12;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Hydraulic excavator 11 Boom 12 Boom cylinder 13 Arm 14 Arm cylinder 15 Bucket 16 Bucket cylinder 17 Swivel device 19 Load measuring device main body 20 Boom angle sensor 21 Arm angle sensor 22 Bucket angle sensor 23 Swing angle sensor (bucket position measuring means, swing angle Measuring means) 25 Display device (weight display means) 123 Pressure sensor 124 Pressure sensor 195a Start program (release range setting means, angle range setting means) 195b Unearthing position teaching program 195c Load calculation program (load calculation means) 195d Operation determination program 195e Unearthing detection program (load judgment means) 195f Display program

 ──────────────────────────────────────────────────続 き Continued on the front page F-term (reference) 2D015 HA03 HB01

Claims (8)

[Claims] 1. A hydraulic excavator for scooping a load with a bucket and transferring the load to another location, a load calculating means for calculating the weight of the load inside the bucket during operation, and measuring the position of the bucket. Bucket position measuring means to perform, discharge range setting means for setting the discharge operation range of the conveyed product within the workable range of the bucket, and the load calculating means when the position of the bucket is within the discharge operation range. The difference between the calculated first load weight and the second load weight calculated by the load calculating means when the position of the bucket is out of the discharge operation range is obtained, and this difference is transferred. And a load determining means for determining the weight of the hydraulic shovel. 2. A hydraulic excavator for rotating a revolving structure provided with a boom for scooping a conveyed object by a bucket and transferring the conveyed object to another place, wherein a load for calculating the weight of the conveyed object inside the bucket during operation. Calculating means, turning angle measuring means for measuring a turning angle of the revolving structure, angle range setting means for setting a first angle range for discharging the conveyed material within a revolvable range of the revolving structure, When the revolving angle of the revolving unit is within the first angle range, the first load weight calculated by the load calculating unit and the revolving angle of the revolving unit are out of the first angle range. A load determining means for determining a difference between the weight of the second conveyed object calculated by the load calculating means and determining the difference as the weight of the conveyed conveyed object; . 3. The weight of the plurality of weights calculated by the load calculating means within a second angle range until the turning angle of the revolving structure falls within the first angle range. The work load monitoring device for a hydraulic shovel according to claim 2, wherein the work amount is an average value. 4. The plurality of weights calculated by the load calculating means in a third angle range after the turning angle of the revolving structure is out of the first angle range. 3. The work amount monitoring device for a hydraulic shovel according to claim 2, wherein the average value is: 5. The weight of the first conveyed object is an average value of a plurality of weights calculated by the load calculating means within a predetermined period until the turning angle of the revolving body falls within the first angle range. The work load monitoring device for a hydraulic shovel according to claim 2, wherein: 6. An average value of a plurality of weights calculated by the load calculating means within a predetermined period after the turning angle of the revolving structure is out of the first angle range, wherein the weight of the second conveyed object is set. The work amount monitoring device for a hydraulic shovel according to claim 2, wherein: 7. A weight display for displaying the weight when the load judging means judges the difference between the first conveyed object weight and the second conveyed object weight as the weight of the conveyed conveyed object. The work amount monitoring device for a hydraulic shovel according to any one of claims 1 to 6, wherein means is provided. 8. The work load monitoring device for a hydraulic shovel according to claim 7, wherein the weight display means displays an integrated value of the weight per transfer along with the weight per transfer.