JPS606828A - Display device for loading weight of hydraulic shovel - Google Patents

Abstract

PURPOSE:To carry out proper operation by calculating and displaying loading weight when a front mechanism is at a set position on the basis of the amounts of displacement of a boom and an arm and the pressure of at least one of hydraulic cylinders. CONSTITUTION:A loading-point distance arithmetic part 10 inputs signals Ealpha1, Ebeta1, and Egamma1 corresponding to angles alpha1, beta1, and gamma1 to calculate horizontal distance l8. A front moment 11 inputs the signal Ealpha1 and signals Epb and Epr corresponding to pressures Pb and Pr to calculate moment M1. A set position decision part 12 inputs the signals Ealpha1 and Ebeta1 and also inputs a signal Es from a set position signal generator 8 to store the signals Ealpha1 and Ebeta1 inputted at that time, and compares the stored signals with signals Ealpha1 and Ebeta1 which are inputted while varying by the movement of a front mechanism, thereby generating an arithmetic command signal Ec when the signal Ealpha1 and Ebeta1 are nearly equal to said stored signals.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a load M amount display device for a hydraulic excavator that calculates and displays the weight of a front mechanism of a hydraulic excavator.

Hydraulic excavators can perform many different types of tasks using their configuration. Among these operations, one of the operations that is frequently performed is the operation of moving the debris from one location to another. A typical example of this work is shown in the first example.
This will be explained with reference to the configuration of the hydraulic excavator shown in the figure.

FIG. 1 is a side view of a schematic configuration of a hydraulic excavator. In the figure, R is a lower traveling body, S is an upper rotating body on the lower traveling body IL, and T is a front mechanism rotatably attached to a boom rotation fulcrum A of the upper rotating body S.

The front mechanism T is composed of a boom 1, an arm 2, and a packet 3. B indicates the arm co-movement fulcrum on boom 1, C indicates the packet rotation fulcrum on arm 2, and 1) indicates the packet tip. 4 is a boom cylinder that raises and raises the boom 1; 5 is an arm cylinder that swings the arm 2; 6 is a packet 3
It is a bucket cylinder that rotates. Note that F indicates the bottom fulcrum of the boom cylinder 4, and E indicates the rod fulcrum of the boom cylinder 40.

When considering the work of such a hydraulic excavator, which involves excavating the ground and loading the excavated earth into a waiting dump truck, the hydraulic excavator drives the boom 1, arm 2, and packet 3 appropriately to dump the excavated earth into a bucket!・The excavated earth and sand are piled up in the container 3, the upper revolving body S is rotated, the packet 3 is moved to the dump truck, and the earth and sand is loaded onto the dump truck.

Conventionally, when carrying out such work, the recognition of the weight of the earth and sand loaded into the dump truck relied exclusively on visual estimation by the worker. On the other hand, dump trucks have a fixed rated loading capacity, so when loading by visual inspection as described above, it is common for dump trucks to be overloaded or underloaded compared to the rated loading weight. Met. Therefore, if the dump truck is loaded with too much earth and sand, this may cause problems such as damage to the dump truck, accidents, or shortened lifespan, while if the dump truck is loaded with too little earth and sand, the work efficiency is reduced.

Furthermore, to give another example of XCm-material movement using a hydraulic excavator, for example, in a chemical plant (1) there is work in which multiple layers of limestone are charged into a reactor.In such a case, the weight of limestone required for the reaction is Since the amount is set at a predetermined amount, the procedure is to weigh the limestone once and then introduce it using a hydraulic excavator, which requires a lot of effort and time.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned conventional problems and to provide a hydraulic excavator load display device that allows the user to know the weight of a hydraulic excavator's load.

In order to achieve this object, the present invention detects small displacements of the front mechanism of a hydraulic excavator (boom and arm, and simultaneously detects the pressure of the boom cylinder, arm cylinder, etc.). A position setting mechanism is provided that determines the appropriate position to be taken by the front mechanism, and calculates the requested load amount of the front mechanism based on the displacement amount and the driving pressure at the set position of the front mechanism. It is characterized in that it is displayed for each movement or by integrating the movement of a plurality of times.

Hereinafter, the present invention will be explained and explained based on the illustrated embodiments.

FIGS. 2 and 3 are explanatory diagrams for explaining calculations in the calculation section of the embodiment of the present invention.

In Figure 2, A, B, C%D, and E%F are the boom rotation fulcrum, arm rotation fulcrum, packet rotation fulcrum, packet claw tip, boom cylinder bottom fulcrum, and boom cylinder bottom fulcrum shown in Figure 1. shows. α1 is the boom angle between the horizontal plane at fulcrum A and straight line AB on boom 1, α2 is straight, and %A
The angle between B and straight line AE, α3 is the angle between the boom cylinder rod and straight line AE, β1 is the arm angle obtained by subtracting 90° from the angle between straight line AB and straight line BC on arm 2, γ1
is the packet angle formed by the straight line B1 and the straight line 0 on the packet 3. Jl is the distance between the straight line A-E, 12 is the distance between the fulcrum E and the point where a line drawn perpendicularly from the fulcrum E to the straight line 0 intersects the straight line 0, J, 3 is the distance between the fulcrum A and the fulcrum F and the perpendicular i Distance Ml
, 14 is the horizontal distance between the fulcrum A and the fulcrum F. Pb is the bottom side pressure of the boom cylinder 4, Pr is the boom cylinder 40 rod side pressure, Sb is the bottom side pressure receiving area of the boom cylinder 4, and Sr is the rod side pressure receiving area of the boom cylinder 4. 1<, indicates the pushing force of the boom cylinder 4, and K2 indicates its component force. Since two boom cylinders 4 are normally used, it is assumed that two boom cylinders 4 are provided in this embodiment as well, and, All moments are considered centered around fulcrum A.

In this state of the front mechanism 1 of the hydraulic excavator, the rotational moment due to the front mechanism T is supported by the pushing force of the boom cylinder by 1 and 2, so the moment) Ml acting on the fulcrum A is as follows: become that way.

Ml = K2 X Jl = Kl s in αa X
Jl --- (1) Here, the angle α3 is therefore the above equation (1) = KI X J, I X cos θ ...
...(2) However, the extrusion force of the boom cylinder is 1 because there are two boom cylinders, one on the left and one on the left, so Kl = 2X (
Pb”Sb −Pr@Sr) Therefore, the 2-in equation is as follows.

R44=2 (Pb'Sb Pr ・81) X J
, l x CO3θ... (3 times this moment) Ml is the moment acting on the hydraulic excavator main body when there is a load in the packet 3.

Here, in order to calculate the amount v of the cargo in packet 3, it is necessary to divide the moment at the fulcrum A due to the weight of the cargo itself by the distance n-f' between the fulcrum A and the center of gravity of the cargo. be. Of these, the moment of the load itself can be calculated by subtracting the moment of the front mechanism when there is no load in packet 3 (no-load moment, this moment is M) from the moment 1Mt determined by equation (3). You can get it.

This no-load moment MO is equal to the moment of the front mechanism when the packet 3 is empty, that is, the moment M1 determined by equation (3). However, Momen) M4. M(, of course, is the front mechanism's position 1 ne 1 (
Since the moment M changes depending on the
To reduce Mo (moment)Mo from s, both moments M1. If you don't like M6, it's fine. However, since it is impossible for the packet 3 to have two states, one with cargo and one with no cargo, at the same time, the above subtraction becomes impossible.

By the way, considering the above-mentioned installation work of hydraulic excavators,
Most of the work is repetitive work, and there is a section in which the front mechanism and structure take roughly the same posture each time the work is repeated. On the other hand, since the load N needle of the packet 3 is always constant during the - times of movement, it is not necessary to constantly perform the above-mentioned subtraction for the movement of the front mechanism. From this point of view, we set a certain position (posture) that the front mechanism takes during the loading operation, calculate the moment (moment) Mt + Mo required to be in this position, and calculate the above-mentioned exceptions based on this value. If you do this, you can obtain the load amount.

Then, with Packet 3 empty, set the Freon 4% structure to the above setting position, and at that time (the moment set by the 3-ring type, that is, the no-load moment) No.
If this is remembered, in future loading operations, each time the front mechanism reaches the set position, the current moment (Ml) and the stored no-load moment (Mo) can be subtracted.

Next, the calculation of the distance between the above-mentioned fulcrum A and the center of gravity of the load will be explained based on FIG. In the figure, the same fulcrums, the same positions, and the same lengths as in FIG. 2 are given the same reference numerals.

, T is the weight on the packet + 1ffif load 0) the center of gravity position,
γ3 is the angle between straight line O) and straight line C-1, j5 is straight line AB
, 16 is the length of the straight line "-C," 18 is the horizontal distance between the fulcrum A and the center of gravity, and 7 is the horizontal distance between the fulcrum C and the center of gravity.
This is a separation between the ship and T.

When determined as above, the distance flt J8 is 2g =
J 5 cosα1 + J, sin (α1+β])
-27sin (α1+β1+γ1+ r3) ---
--------(4).

Therefore, the load amount W) in packet 3 is 8 It can be considered as

Below, based on such calculations (actual MIi fl of the present invention)
Let's talk about l.

FIG. 4 shows oil F1 according to a simple embodiment of the present invention: shovel/l
FIG. 2 is a block diagram of a load amount display device of /.

In this actual M fl, angle detectors are provided at the -1 axis fulcrums A113 and A113, respectively, and these angles 11
Boom angle α1, arm angle β], back angle γ for one device
J is detected, and a signal corresponding to this angle, Eα1.1 and β
1, Eγ1 is output. Also 1. Pressure detectors are provided to detect pressures Pb and Pr on the bottom side and the rond side of the boom cylinder 4, and signals Epb and 1 part r corresponding to these pressures are output from each LE force detector. In the figure, 7 is a calculation unit of the apparatus of this embodiment, 8 is a set position signal generator that determines the set position to obtain the above-mentioned;
numeral 9a is a numerical display screen, and 9b is a buzzer that indicates the display on the numerical display screen 9a. The set position signal generator 8 will be further explained. When starting the soaking operation, the hydraulic excavator operator should leave Packet 3 empty and prepare for the subsequent familiarization work.
Perform the same action as in the 1st work. And the front machine tf'
At an appropriate position 11'i of j, the set position signal generator 8 is activated by a button such as a push button. At this time, the setting position signal generator 8
A signal ■C5 is outputted from , and this signal determines the current no-load moment MO and the position of the front structure I6.
will be memorized. 1. In this embodiment, #f position 11q of the 70-point mechanism is defined by the boom angle αl and arm angle β1 at that time.

The calculation unit 7 is configured as shown in the figure. 1111, 10
11 is the signal Eα1 and the signal Epb according to the pressure PbxPr, which inputs the signal ■U(χ1・−Uβ, Eγ1 and calculates the horizontal distance 18) according to the angle α1, βl, γ1, This is the front moment calculation section which calculates Mz by inputting Epr. , the signals Eα] and Eβ1 that were input at that time, and compare the stored signals with the signals Eα1 and ICβ1 that are input while changing due to the movement of the front mechanism.
This is a setting position determining section that generates the computation command signal EC when β1 becomes approximately equal to the memory 1- signal. Reference numeral 13 denotes a storage device which inputs the front moment signal Ey (σ) from the front moment calculation unit 11 and stores the signal EM input at that time when the signal E5 from the set position signal generator 8 is input. be. As mentioned above, the front moment at this time is the no-load moment) M
o, the signal stored in the memory 13 is the corresponding no-load moment signal EMO, and from now on, this signal 1 field is stored from the memory 13. is output. 14 is the signal EM of the front moment calculating section 11 to the memory 13
Signal EM.

15 is a subtracter that divides the signal EM-Mo of the subtracter 14 by the signal EJs of the load point distance calculation unit 10 and outputs a signal Ew corresponding to the load amount W. It is a vessel. 16.1γ is an accumulation storage device, and the accumulation storage device 16 is used, for example, as a storage device for storing the accumulated weight of cargo loaded onto one dump truck, and the accumulation storage device 17 is used, for example, for a predetermined period (one day, one week). It is used as a storage device to store the cumulative weight of cargo over a period of 1 month, etc.). 18.
Reference numeral 19 denotes a memory erasing switch for erasing the values stored in the integration memories 16 and 17, respectively. 20 is a divider 15;
This is a display changeover switch having terminals connected to the integration storage devices 16 and 17, and a desired display is made on the display section 9 by switching the switch K.

The operation of this embodiment will be explained below.

First, the operation of the load point distance calculation section 10 shown in FIG. 4 will be explained based on the block diagram showing a specific example of the load point distance calculation section shown in FIG. The boom angle signal Eα1 is input to the trigonometric function generator 21 to generate a signal Ec corresponding to the cosine of the angle αl.
osαl is taken out and multiplied by a signal corresponding to the distance 15 in the coefficient multiplier 22 to obtain the signal EJ Ii CO8α1.

On the other hand, the arm angle signal 1]β1 is added to the boom angle signal in the adder 23, and the added signal Eαl+β1 is input to the trigonometric function generator 24 and is converted into a signal Es1n(α1+β1) corresponding to the sine of the angle (αl+β1). This signal is taken out and multiplied by a signal corresponding to the distances J and 6 in a coefficient multiplier 25 to become a signal EJssin (α1→−β1).

This signal is added to the output signal of the coefficient multiplier 22 in an adder 26, and the signal EJscosαH+Efe si
n (α1+β1) is obtained. Also, the packet angle signal E
γ1 is an adder 27 and the output signal Eα1+ of the adder 23 is
The adder 28 adds the signal Eγ3 corresponding to the angle γ3 stored in the memory 29 to the signal Eα1+β1+γ1+γ.
It becomes 3. This signal is input to the trigonometric function generator 30 and a signal corresponding to the sine of the angle (α1+β1+γ1+γ3) is extracted, and this signal is multiplied by a signal corresponding to the distance 17 in the coefficient multiplier 31 to generate the signal HJ7sin(α1+β1+γ1+
γ3). This signal is added to the output signal of adder 26 in adder 32 to output signal EJ8. This signal E
18 is a signal corresponding to the horizontal distance between the fulcrum A and the center of gravity position 1 shown in equation (4).

Next, the operation of the front moment calculation section 11 shown in FIG. 4 will be explained based on a block diagram showing a specific example of the front moment calculation section shown in FIG. 6. Boom angle signal E
α1 is added by the adder 34 to the signal Eα2 corresponding to the angle α2 stored in the memory 33 to become the signal Eα1+α2, which is input to the trigonometric function generator 35 and is then added to the signal Eα2 corresponding to the angle α2 stored in the memory 33. (α□+α2) is extracted and multiplied by a signal corresponding to the distance 11 by the coefficient multiplier 36, resulting in the signal EJtsin, (α1+α2). This signal is inputted to the adder 38 by the value 13 stored in the memory 37.
is added to the signal corresponding to the signal Ei1sin (αI
+ α2) + 23 is generated. On the other hand, the output signal of the adder 34 is input to the trigonometric function generator 39, and a signal E cos (α1
+α2) is extracted and multiplied by a signal corresponding to the distance J1 by the coefficient multiplier 40 to obtain a signal EJtcos(α1+α2)
becomes. This signal is added in an adder 41 with a signal E 2 m corresponding to the value 14 stored in a memory 42.
The output signal of the 0 adder 41, which outputs the signal EJl cos (α1+α2)-14, is divided by the output signal of the adder 38 in the divider 43, and the signal corresponding to the quotient is sent to the inverse trigonometric function generator 44. A signal corresponding to the arctangent of the angle of this signal is extracted. This extracted signal is sent to the adder 45
is added to the output signal Eα1+α2 of the adder 34 and the signal E
becomes θ. This iH signal is input to a trigonometric function generator 46, and a signal HcosO corresponding to the cosine of the angle θ is extracted.
A signal corresponding to the value 2J-□ is multiplied by the coefficient unit 47, and the signal E 2J,! cos θ is obtained. On the other hand, the bottom side pressure signal Epb of the boom cylinder 4 is guided to a coefficient multiplier 48 and multiplied by a signal corresponding to the value Sb, resulting in a signal Epb-sb.
becomes. In addition, the rond side pressure signal EP of the boom cylinder 4
r is led to the coefficient multiplier 49 and multiplied by a signal corresponding to the value S1, resulting in No. 46 EPr*Elr. These two signals are subtracted in a subtracter 50, and the signal E(pb-8b-P
r e Sr). This signal and the output signal of the coefficient multiplier 47 are input to a multiplier 51 and multiplied, resulting in a signal EM□
is output. This signal 1 effect □ is at the fulcrum A shown in equation (3)
This signal corresponds to the moment (moment acting on) Mr.

Next, the operation of the setting position determining section 12 shown in FIG. 4 will be explained based on a block diagram showing a specific example of the setting position ftf determining section shown in FIG. 7. The boom angle signal Eα1 is constantly input to the memory 52, and when the signal E is output from the set position signal generator 8, the boom angle signal Es at that time is stored in the memory. This boom angle signal determines the set position of the boom, and this signal is designated as signal E゛αS. Reference numeral 53 denotes a memory device in which an appropriately determined value EΔα is stored, and a signal EΔα corresponding to this value is output.
>'ti'7 is designed to calculate the cargo 1F amount only when it passes through a predetermined setting position during the operation, but the front mechanism during the implantation operation It is not always the case that the vehicle passes through the set position accurately each time, and in this case, a problem arises in that the load amount is not calculated.

Above +7) Constant Δα (・0 to eliminate this problem) - Q, when the boom angle is within the range of ±Δα 1tll with the boom angle αS set as the set position as the center. , the boom angle is considered to be the specified boom angle αS. Therefore, the signal EαS is added to the signal EΔα in the adder 54 and the boom angle (αS
On the other hand, the subtracter 55 generates a signal EαS-Δα corresponding to the boom angle (αS-Δα)K.The signal EaS+Δα is generated by the comparator 5
6, it is compared with the boom angle signal Eα1 and Eα1≦E
When αS+Δα, the comparator 56 outputs the W6 level σ) signal E1. Also, the signal EαS−Δα is output from the comparator 57.
is compared with the signal Eα1, ]Cα1≧1s α, −
A high level signal E2 is output from the Δα edge comparator 5γ. The arm angle is also based on the same idea as the boom angle VC.
It is processed every 4t. That is, the arm angle signal Eβl(・
], is input to the memory 58, and the signal 1) βS obtained when the signal Es is manually input is held. The memory device 59 has the memory device 5
A constant Δβ having the same meaning as the constant Δα in 3 is stored, and the adder 60 outputs the first m-th EβS+Δβ of the signal EβS and the signal EΔβ, and the subtracter 61 outputs the mth number EβS+Δβ of the signal Eβ5 and the signal EΔβ. The difference signal J (βS−Δβ is output. The signal Eβ, +Δβ is output as signal 1 by the comparator 62.
It is compared with the original β1, and when Eβ1≦ICβ, 10Δβ, a high level signal “h” is output from the comparator 62. Also, I
The signal EβS-Δβ is compared with the signal β1 by the comparator 63, and when Eβ1≧E/l−Δβ, the comparator 63 outputs a signal E4 at the control level. No. 1 E1, E2, E3.
The signal 1 is input to the A N J gate 64 and the signal 1 is output from the A i'J D gate 64 only when all signals are present. is output. In the end, the setting position determination section 12
(Yo) Only when the above equation (6) is satisfied, it is determined that the front mechanism is at the set position, and a signal EC is output to command the performance of the box load i1j meter.

As mentioned above, before starting the loading operation, the operator activates the tilting front mechanism in the same way as when loading the load in an empty state, and activates the set position signal generator at a certain position of the front mechanism. 8. At this time, signal E
3 is generated and 7 no-load moment) MolC is generated in the memory 13.
The signal No. 1 M responded. is stored, and the signals 11]α and EβS are set in the set position determination unit 12. Then,
When loading work is carried out in a loaded state, each time the front mechanism reaches the set position, the set position determination unit 12 outputs a computation command signal EC to the divider 15, and the divider 15
Now, calculate according to equation (5), EMI −MO/ Eig
is performed, and a signal Ew corresponding to the cargo load amount WK is obtained.

By switching the display changeover switch 20, the operator can display the load amount for each dump truck, the load amount for each dump truck, or the load amount for a predetermined period using the signal EW r "'.
It is displayed on the display section 9 by WTI +EwT2. In addition,
Signal E.

For the operator's convenience, a buzzer 9b sounds every time the output is output to notify the operator of the display or change of the display. ,1
When the loading of the vehicle into the dump truck is completed, or when the accumulation for a predetermined period is completed, the memory erase switch 18.
19, and signal EQl.

Bq,2 is generated to erase the memory in the integration memory 16, 17 and prepare for the next operation.

In this way, in this embodiment, the load point resistance and the moment of the front mechanism during loading are calculated based on the signals from the angle detector and the pressure detector of the boom cylinder, and the predetermined position of the front mechanism during work is calculated. By setting , the no-load moment of the front mechanism is memorized, and based on these values, a predetermined calculation is performed only at the set position of the front mechanism to calculate the load amount of the packet, and that value or its integration is calculated. Since the value can be displayed, it is possible to immediately know the loading amount of the hydraulic excavator's packets or its cumulative electric current, and this makes it possible to prevent overloading or underloading. It can be expected to extend lifespan, improve work efficiency, and facilitate work management. Moreover, the amount of work of the hydraulic excavator itself can be easily known. Furthermore, for quantitative work in chemical factories, it is no longer necessary to install an ILT device, and work efficiency can be improved.

Next, other embodiments of the present invention will be explained.

FIG. 8 is a block diagram of a load amount display device for a hydraulic excavator according to another embodiment of the present invention. In the figure, parts that are the same as those shown in FIG. 4 are denoted by 1bj-, and their explanation will be omitted. The difference between this embodiment and the previous embodiment is that, in contrast to the Sagi embodiment, the unloaded moment was stored in the memory 13 at the set position of the front mechanism as the no-load moment (Mo). In this embodiment, the no-load moment is obtained by a no-load moment calculation section 65, a subtracter 66, and a divider 67.

The no-load moment is 1l of the pressure actually applied to the boom cylinder as in the Sagi example (II). In this embodiment, the no-load moment determined by calculation is used instead of the actual no-load moment. This calculation will be explained below.BJ4.

FIG. 9 is an explanation 1 explaining the calculation of the no-load moment when there is no load on the packet. In the figure, the same fulcrum as in Figure 3,
The same corners and lengths are given the same reference numerals. q is the position of the center of gravity of the arm, and WG is the weight of the boom. I+
+ is the position of the center of gravity of the arm, and the amount of the arm is WH. (2) is the position of the packet weight IU, and one unit of the packet is w2. α4 is the angle between straight line A G and straight line A-B,
β2 is the angle between straight line BC and straight line BH, γ2 is straight line C]
This is the angle formed by the line CI and the straight line CI. J5 is the length of straight line 0, 16
is the length of the IM line 1°C, and 19 is + between the fulcrum A and the center of gravity position G.
The distance C+, 1□0, is the distance between the fulcrum B and the center of gravity position H, and 1□1 is the distance between the fulcrum C and the center of gravity position 1.

If determined as above, the moment when the cargo is empty) Mo
c is M o (= W(3 bows. CO5(αI+ (12)
+ WH@ (J+5CO5α10, 11oSin (
α1+β1+β2))+J (,L5CO5α1+,
1. , sin (αI + β1 - 111 sin (α □ 10 β, + γ 1 0 r2)) ...... (7) In this way, the no-load moment M (l C
By the way, this no-load moment I~(QC and the actual no-load moment A4.0 according to equation (3) should be theoretically equal, but the error of fffh, packet/
The actual value is JA due to the fixation of earth and sand. Therefore, in this embodiment, instead of directly using the value of 40G for the no-load moment calculated above, the actual no-load moment MO is used to calculate the can load moment Mo
This is to correct. Then, the wing wall correction means corrects the weight of the packet which has a large influence on the front moment. Now, assuming that the difference between Mo + Moc (both no-load moments) is entirely due to the differential pressure of the packet weight, the difference ΔW in the packet weight can be determined by the following formula.

ΔWI=(MOCMo)/42 ・=・・・−river (8)
However, 1□2 is the horizontal distance between the fulcrum A and the packet center of gravity position iI, and is calculated as follows.

J'12 = J5cosα1 + J,6sin(α
Correct the packet weight tWr in equation (6) using this value (3) and use the corrected packet weight (W + ΔWx) instead of the packet N quantity W. The performance n is performed by

The operation of this embodiment will be described below.

First, the operation of the no-load moment calculating section 9 will be explained based on a block diagram showing a specific example of the no-load moment calculating section shown in the tenth factor. Boom angle signal E from angle detector
α1 and the signal Eα2 of the angle α2 stored in the memory 68 are added in an adder 69 to generate a signal Eα1+α2. This signal is input to the trigonometric function generator 70, which generates a signal Eco (αl+α) corresponding to the cosine of the angle (α1+α2).
2) is taken out, and the coefficient unit 71 calculates M ffl Wa
and distance 1. The signal corresponding to the value multiplied by
kowG' J-9·cos (α1+α2) is generated. On the other hand, the signal Eα1 is input to the trigonometric function generator T2,
A signal EC08 (χl) corresponding to the cosine of the angle α1 is taken out and multiplied by a signal corresponding to the distance Nu)−s by the coefficient unit 73 to obtain a signal J 5 cosα]. Also, boom angle signal Eβ! and the boom angle signal Eα1 are added in an adder T7 to become a signal Eα1+β1, and this signal is further added to a signal Eβ2 corresponding to the angle β2 stored in a memory 79 in an adder 18 to become a signal Eα1+β1+β2.

This signal is input to the trigonometric function generator 8o, and the angle (α1
+β1+β2) signal Esth 1(α1+β2)
1+β2) is taken out, and the distance is determined by the coefficient unit 81! ,. is multiplied by a signal corresponding to the signal J10 sin (αtome1+β2). This signal is added to the signal E25cosα1 of i17 in the adder 74, and further multiplied by a signal corresponding to the weight hIWH in the coefficient multiplier 75, so that the signal J! ;
WH (i5cosα1+, Jxosin (α1+β
1+β2)) (・This signal is multiplied by the force calculator T6 with the signal EWG ``f9'cO5((H+α2)) to produce the signal gwa, ``J!9 cos (α1+α
z>+wH(]5°cosα1+ 21OSin (α
The output signal Eα1+βI of the controller 11, which becomes the angle (α1+β2)), is input to the trigonometric function generator 82 and
Signal Es1n (αl+βl) according to the sine of 1+βs)
is extracted and multiplied by a signal corresponding to the distance #16 in the coefficient multiplier 83 to obtain the signal EJ6 sin (α1 + β1). This signal is added to the output signal of the coefficient multiplier 73 in the adder 84 to produce the signal EJ6 sin (α1 + β1). Jscosα1+ J, 6 sin
(αl+βl) is generated. The output signal of the adder '77 is also added to the packet angle signal Eγl by the adder 85 to generate the signal Eαl+β1+γ1, which is further added to the memory 8.
A signal Eγ2 corresponding to the angle γ2 stored in 7 and an adder 86
The signal IUal+7x+γ1+r2 is obtained.

This signal is input to the trigonometric function generator 88, and the angle (α1+
The signal J5in (α
l + β + γ1 + γ2) is taken out and the distance is determined by the coefficient unit 89! , 1 is multiplied by a signal corresponding to El 1
1 sin (α1 + βl + γ1 + γ2) This signal is added to the output signal of the adder 84 by an adder 90, and then multiplied by a signal corresponding to the weight W'1 by a coefficient multiplier 91, resulting in one signal "'Wl (jscosα1 + J,
asin <α1+β1)+Jusin(α1+β1+
This signal becomes (7
) The correction of the signal EMoc obtained from this no-load moment is performed as follows. That is,
As shown in FIG. 8, this signal EMOC is input to the reducer 66 together with the signal EM from the front moment calculating section 11, and the difference thereof, 4;M@EM OC-M, is output. This signal J'EMOC-M is removed together with the signal E112 corresponding to the distance 1□2? ? , is input to the device 67. Here, the signal E2 is nothing other than the output of the first adder 90 shown in FIG. , Therefore, the signal "Ml" at that time is equal to the signal EMo corresponding to the no-load moment (Mo) when the packet has no cargo.

Therefore, the calculation performed by the divider 67 is the calculation shown in equation (8), and its output is the signal EΔ corresponding to the value Δwl.
It will be different. Therefore, returning to FIG. 10, this signal EΔW is input to the no-load moment calculating section 65 and stored in the memory 93. On the other hand, the packet weight W2 is stored in the storage device 94, and the signals EΔw and Bwr output from both the storage devices 93 and 94 are added by the addition (+)j-'di95 to become the signal Ewl+ΔWI. This signal is multiplied by the signal E112 in the multiplier 96, and the third
term, Wl(25cosα, +J, 5in(αl+β1
) −Jll sxn (αl+β1 + rs +r
2)), instead of weight 5k J K, 71NA:<
The signal corresponds to the value using W + ΔW■). Then, by adding it with the output signal of the adder 76 in the adder 91, the value W in equation (7) is replaced by the value (W + ΔW).
Corrected no-load moment Mo obtained by substituting
A signal EMOCI corresponding to c1 is output.

Thereafter, this signal EMOCI is input to the subtracter 14 as a signal replacing the output signal EMO of the memory 13 in the previous embodiment, and passes through the divider 15 to obtain a signal Ew corresponding to the cargo load amount W.

In addition, as a correction means for the no-load moment Moc, instead of the correction for the packet weight 1LWr in the above embodiment,
It is also possible to adopt means of multiplying or adding an appropriate constant.

In this way, in this embodiment, instead of the actual no-load moment in the previous embodiment, the no-load moment determined by the calculation based on the configuration of the front mechanism and each angle is corrected and used. The same effect as the embodiment is achieved, and an accurate no-load moment (4f) can be obtained only by calculation.

In the above description of the embodiment, the case where the packet is attached to the tip of the arm is described, but the present invention is not limited to the packet and can be applied to other working members.

Further, although the displacement amounts of the boom, arm, and packet are detected by the angle detector, the displacement fit of the cylinder rod of each cylinder may also be detected.

Furthermore, as a pressure signal, Hlh Q” of Poomun Linda
However, it is also possible to detect the sliding pressure of cylinders other than the boom cylinder in the U+ structure, and these are not shameful dynamic pressures (even if they are cylinder pressures). Furthermore, it is also possible to approximate the load hX- using only the displacement amounts of the boom and arm.

Furthermore, the 141 constant VC of the front mechanism is
K instead of using a boom angle signal and an al wide angle signal.

Three angle signals can be used with or without a packet angle signal, or only the boom angle signal can be used in applications where the arm angle is approximately constant.

As described above, in the present invention, when the front mechanism is at a predetermined setting position based on the displacement amount of at least the boom and arm of the front mechanism and the pressure of at least one of the hydraulic cylinders that operate the front mechanism, , the load area of the front mechanism is calculated, and this weight or the integrated weight is displayed, so you can immediately know the load amount of the front mechanism of the hydraulic excavator or its cumulative nN amount, and make the appropriate adjustment. able to perform work.

[Brief explanation of the drawing]

FIG. 1 is a side view of a schematic configuration of a hydraulic excavator, FIGS. 2 and 3 are diagrams for explaining the calculations of the calculation section of the embodiment of the present invention, and FIG. 4 is an embodiment of the present invention. A block diagram of a load i1' display device of a hydraulic excavator according to an example, FIG.
6 and 7 are block diagrams of specific examples of the load point distance calculation section, front moment calculation section, and setting position judgment block shown in FIG. 4, respectively, and FIG. 8 is a block diagram of another embodiment of the present invention. A block diagram of the load amount display device b' of the hydraulic excavator, FIG. 9 is an explanatory diagram for explaining the calculation of the no-load moment calculation section shown in FIG. 8, and FIG. 10 is a block diagram of the no-load moment shown in FIG. 8. FIG. 2 is a block diagram of a specific example of a calculation unit. 1...Boom, 2...Arm, 3...
... Packet, 4 ... Boom cylinder, γ
...Calculation unit, 8...Setting position signal generator, 9...Display unit, 10...Off point distance calculation unit, 11... ...Front moment calculation section, 12...Setting position judgment section 5f, 13...
・Note 1: Container, 14.66...Subtractor, 15.
67...N divider, 16.17...Integration memory, 20...Display section and switch, 65
...No-load moment performance W +iiζ. Broom 1 Figure 2 Figure 3 Figure 9 Figure 4 Figure 5 Figure 6 Figure 7-8 Figure 10 Procedural amendment (voluntary) June 23, 1980 Commissioner of the Patent Office Kazuo Wakasugi ■ Indication of the case Patent application No. 1983-47299 2 Name of the invention Load amount display device for hydraulic excavators 3 Person making the amendment Relationship to the case Applicant Address 2-6-2 Otemachi, Chiyoda-ku, Tokyo Name Name
(552) Hitachi Construction Machinery Co., Ltd. Representative Bunpei Nishimoto 4 Agent address 7 Aiya Building, 1-6-13 Nishi-Shimbashi, Minato-ku, Tokyo 105 Subject of amendment (]) Detailed description of the invention in the specification Column (2) A column for a brief explanation of the drawings in the specification. (3) Drawing 8 Contents of amendment As stated in the attached sheet (1) Detail 1, line 13, line 7 [lfJ changed to “l!jM
Correct to +'J. (2) Correct "TJFu lo" in lines 8 and 9 of Akira#13Qi to [Ef+-1aoj. (3) "Increase device 41j'!1l" in the 9th line of the 16th line of the specification 1
−1 subtractor 41”. (4) 1” J k r on page 17, line 18 of the specification,
Correct to bja+J. (5) Details, rainbow 22nd shell, line 7 to 30th negative line 5 [Next,...
······be able to. ” is divided by r, 811. (6) Details Tatami, page 32, lines 4 to 9 [B0NOCRE1
, . . . . . . . . . '' was changed to ``This is a block diagram.'' (7) Cut plane 1 - “66” and “67” in line 15 of 32nd line of death
” to be deleted. (8) Thin blue 32nd negative 16th line 1 switch, J'(
<r switch. ”. (9) Statement on page 32, line 17 of the specification Fl! Eliminate ill. (10) Are drawings ヰ, 8, 9 and 1υ deleted, and drawings 4 and 5 as shown in the attached revised drawings? li
i Correct. 9 season τ 4 shi 4 shomo (1)

Claims (1)

[Claims] A traveling body, a revolving body supported by the traveling body, a boom,
Displacement detection for detecting displacement of at least the boom and arm of the front mechanism in a hydraulic excavator comprising an arm and a front mechanism comprising several working parts at the tip of the arm and rotatably supported by the revolving body. a pressure detection device that detects the pressure of at least one of the hydraulic cylinders that actuate the front mechanism; a position setting device that sets an arbitrary position of the front mechanism; means for determining the load amount of the front mechanism based on the detected values of the displacement detecting device and the pressure detecting device at the set position of the mechanism under no load and under load; and related to the load amount determined by this means. 1. A load amount display device for a hydraulic excavator, characterized in that a display unit for displaying a load amount of a hydraulic excavator is provided.