KR100226276B1 - Loading weight measuring method of construction equipment - Google Patents

Abstract

It is possible to adjust the zero point even when the load of the loader, excavator, crane, etc. is unloaded after loading the equipment using the construction machine, and the load weight value for various boom raising operation patterns can be reduced. It is.

According to a preferred embodiment, a boom in which a bucket is rotatably mounted, a boom cylinder for raising and lowering the boom, a first detection stage for detecting an operation displacement of the boom cylinder, the hydraulic pressure for supporting the load of the boom cylinder and the boom A load weight measuring method for a construction machine comprising a second detecting means for detecting a pressure of a cylinder, the boom rotation being detected by the first detecting means and the second detecting means when the boom cylinder is driven in the no-load state of the bucket. A first step of storing the boom cylinder pressure for the angle in the first storage means, and the boom cylinder for the boom rotation angle by the first detection means and the second detection means when the boom cylinder is driven under the load of the bucket After calculating the pressure, the boom cylinder pressure for the same boom rotation angle of the no-load state of the bucket is compared with the detected value stored in the first storage means. And a third step of adopting, as a load weight value, an average value of a peak value and a part of the bottom value among the load weight values calculated by the second step. It provides a weight measuring method.

As a result, additional reinforcement is attached to the bucket at the time of shipment of the equipment, and even if it is different from the bucket weight at the time of shipment of the equipment, only the boom cylinder displacement and the boom pressure line are obtained while lifting the bucket with no load. It provides convenience and calculates the load weight of the load by using the boom cylinder pressure when the boom is raised to a predetermined height after loading the load into the bucket. By using the average value used as the load weight value, it is possible to reduce the error of the measured load weight value, thereby improving the work efficiency.

Description

Load Weight Measurement Method of Construction Machinery

The present invention relates to a method for measuring the load weight of a construction machine, and more particularly, zero-point adjustment is possible when the weight of a bucket in a no-load state is changed after shipment of equipment during loading work using a construction machine such as a loader, an excavator, a crane, and the like. In addition, the present invention relates to a method for measuring a load weight of a construction machine to reduce an error of a load weight value for various boom raising operation patterns.

In general, it is required to accurately measure the weight of the load loaded on the bucket during loading operation using a construction machine such as a loader. That is, when loading the load on the loading tray of the dump truck, it is to be loaded by the prescribed load weight corresponding to the dump truck. Therefore, when the driver can measure the weight of the load during the loading operation, it is possible to increase the efficiency of loading operation.

As shown in FIG. 1, the prior art weight measuring device for a construction machine disclosed in US Pat. No. 5,105,896 (filed March 5, 1991), as described in the Abstract thereof, The dynamic payload monitor detects the hydraulic pressure of the leaf arm cylinder and measures and displays the payload weight of the loader. The payload weight calculates the different pressures according to the second polynomial command for the second cylinder pressure and produces a graph with the pressure or time parabola for the position obtained during the measurement. Dynamic payloads can be applied to many work tools with one or more work tool linkages and one or more hydraulic cylinders to modify the linkage geometry.

That is, load the known weight (W) in the bucket of the loader, raise the boom cylinder of the no-load bucket to obtain the boom cylinder pressure diagram for the above-described boom cylinder position, and then the load (W1) to be measured To raise the boom cylinder with the bucket loaded into the bucket to obtain the boom cylinder pressure diagram for the boom cylinder position at this time. Therefore, as shown in FIG. 1, the loading weight W is obtained by interpolation using the values of the deviations ΔP1, ΔP2, and ΔP3 of the pressure in the specific section D2-D3.

However, U. S. Patent No. 5,105, 896 as described above is required to obtain the boom cylinder displacement and the pressure diagram with respect to the known loading weight (W), so that a separate reinforcement plate or the like is attached to the bucket by the user after the equipment is shipped. In this case, since the boom cylinder displacement and the pressure line inputted at the time of shipment of the equipment are obsolete, the user needs to regain the boom cylinder displacement and the pressure line with respect to the previously known loading weight (W). It is difficult to measure the expert even when the adjustment work to obtain a sample weight, and even if the adjustment work to obtain the above-described sample weight has a problem that should be helped by an expert.

In addition, since the above-described boom cylinder displacement and pressure diagram are calculated by a constant boom operation pattern, when the actual workroom boom is raised to a predetermined height and then stops and then rises again, it is different from the constant boom operation pattern. The pattern of the pressure diagram is also different. Therefore, the accuracy of the measured loading weight value is lowered.

Accordingly, an object of the present invention is to provide a reinforcement to the bucket at the time of shipment of the equipment, even if the bucket weight at the time of shipment of the equipment, the boom cylinder displacement and the boom pressure line is obtained while lifting the bucket in the no-load state, so zero adjustment It is to provide a method for measuring the weight of the load of the construction machine to facilitate the convenience to the operator.

Another object of the present invention is to calculate the load weight of the load by using the boom cylinder pressure when the boom is raised to a predetermined height after loading the load into the bucket, a part of the peak value and the bottom value of the calculated load weight value By using the average value as a load weight value to reduce the error of the measured load weight value, thereby providing a load weight measurement method of construction machinery to improve the work efficiency.

1 is a graph showing a loading weight measurement algorithm according to the prior art,

2 is a schematic diagram of an apparatus to which a load weight measuring method of a construction machine according to an embodiment of the present invention is applied;

3 is a graph showing the relationship between the boom cylinder displacement and the load weight in the load weight measuring method of the construction machine according to the embodiment of the present invention.

Explanation of symbols for main parts of the drawings

1: bucket 2: boom

3: boom cylinder

The above object of the present invention is a boom in which a bucket is rotatably mounted, a boom cylinder for elevating the boom, first detection means for detecting an operation displacement of the boom cylinder, the boom cylinder and the load for supporting the boom. A load weight measuring method for a construction machine comprising a second detecting means for detecting a pressure of a hydraulic cylinder, wherein the boom is detected by the first detecting means and the second detecting means when the boom cylinder is driven in the no-load state of the bucket. A first step of storing the boom cylinder pressure for the rotation angle in the first storage means, and the boom for the boom rotation angle by the first detection means and the second detection means when the boom cylinder is driven in the load state of the bucket Find the cylinder pressure, and then find the boom cylinder pressure for the same boom rotational angle at the no-load of the bucket, then press the boom cylinder for the same boom rotational angle at the no-load of the bucket A second step of calculating the load weight by comparing the force with a detected value stored in the first storage means, and the average value of a part of the peak value and the bottom value among the load weight values calculated by the second step. It is achieved by providing a method for measuring the load weight of a construction machine, comprising a third step of adopting a value.

Preferably, the following equation is used in the calculation process of the second step.

붐의 회동중심점과 이와 직각을 이루는 붐실린더 로드 중심사이의 수직거리,

은 버킷의 회동중심점에 대한 수직선과 이와 직각을 이루는 붐위 회동중심점사이의 수직거리 이다.)(P is the pressure on the upside of the boom cylinder when loading the load W in the bucket, P` is the pressure on the upside of the boom cylinder without load, D is the diameter of the boom cylinder head,

Vertical distance between the center of rotation of the boom and the center of the boom cylinder rod

Is the vertical distance between the vertical line to the center of rotation of the bucket and the center of rotation above the boom.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are not intended to limit the technical scope of the present invention.

2 is a schematic diagram of an apparatus to which a load weight measuring method of a construction machine according to an embodiment of the present invention is applied, and FIG. 3 shows a relationship between a boom cylinder displacement and a load weight of a load weight measuring method of a construction machine according to an embodiment of the present invention. It is a graph to show.

As shown in detail in FIG. 2, the bucket 1, the boom 2 on which the bucket 1 is rotatably mounted at the end, and the boom cylinder 3 for raising and lowering the aforementioned boom 2 during driving. ), The first detecting means for detecting the above-described operation displacement of the boom cylinder 3, and the first detecting means for detecting the pressure of the hydraulic cylinder 3 supporting the load of the boom cylinder 3 and the boom 2 described above. 2 Applicable to construction machinery with detection means.

Therefore, according to a preferred embodiment of the present invention, when the above-described boom cylinder 3 is driven in the no-load state of the bucket 1 described above, the boom rotation angle detected by the above-described first and second detection means is detected. The first step of storing the boom cylinder pressure in the first storage means, and the boom by the first detection means and the second detection means described above when the above-described boom cylinder 3 is driven under the load of the bucket 1 described above. After calculating the boom cylinder pressure for the rotation angle, the load weight is calculated by comparing the boom cylinder pressure for the same boom rotation angle in the no-load state of the bucket 1 described above with the detection value stored in the above-described first storage means. And a peak value (a load weight value forming a peak when the load weight is reversed from an increase step to a decrease step) and a bottom value (load weight decrease step) among the load weight values calculated by the second step. Maximum when reversed in increments A loading portion mounting a mean value of the weight value) is thats a third step of adopting the weight value.

At this time, the following equation is used in the above-described second step calculation process.

은 붐(2)의 회동중심과 이와 직각을 이루는 붐실린더(3)로드 중심사이의 수직거리,

은 버킷(1)의 회동중심점에 대한 수직선과 이와 직각을 이루는 붐(2)의 회동중심사이의 수직거리를 나타낸다.At this time, W is the weight of the load loaded on the bucket 1, W 'is the self-weight of the boom 2 and the bucket 1 when the bucket (1) in the no-load state, F is the load weight (W) in the bucket (1) ), The force acting on the rod of the boom cylinder (3) when loading, F is the force acting on the rod of the boom cylinder (3) in the case of a bucket (1) without load, F 'is the loading weight (W) in the bucket (1) Pressure on the rising side of the boom cylinder (3) when loading, P on the rising side of the boom cylinder (3) when loading the load (W) in the bucket (1), P 'on the rising side of the boom cylinder (3) without load Pressure, D is the diameter of the head of the boom cylinder (3),

Is the vertical distance between the center of rotation of the boom (2) and the center of the rod of the boom cylinder (3) perpendicular to it,

Denotes a vertical distance between the vertical line with respect to the pivot center of the bucket 1 and the pivot center of the boom 2 which forms a right angle thereto.

의해 적재중량(W)을 용이하게 구할 수 있다. 그러나 로우더 등을 이용하여 상차작업시 전술한 붐(2)이 붐실린더(3)구동으로 연속적으로 회동하게되므로 전술한 수학식을 이용하여 적재중량(W)을 구할 수 없게 된다. 이로인해 동적인 해석에 의하여 적재중량(W)을 구해야되며, 이때 적재물의 관성모멘트를 구하기가 힘들고, 붐실린더(3)와 붐(2)을 포함한 작업장치의 모델링이 어려워 정량적 해석에 의한 제어 알고리즘을 구하기가 실제 작업시 어렵게 된다.Referring to the use of the present invention as described above, when the above-described boom (2) is in a stationary state

By this, the loading weight W can be calculated | required easily. However, since the above-described boom 2 is continuously rotated by driving the boom cylinder 3 during the loading operation using the loader or the like, the loading weight W cannot be obtained using the above-described equation. Due to this, it is necessary to obtain the loading weight (W) by dynamic analysis. At this time, it is difficult to obtain the moment of inertia of the load, and it is difficult to model the work equipment including the boom cylinder (3) and the boom (2). It is difficult to get the actual work.

Therefore, the above-described boom 2 is continuously operated by driving the above-described boom cylinder 3 in the no-load state of the bucket 1 mentioned above, wherein the above-described detection signals of the first and second detection means The pressure P 'of the boom cylinder 3 with respect to the boom rotation angle is obtained and stored in the first storage means.

을 이용하여 적재중량(W)값을 연산하게 된다. 이때, 전술한 연산되는 적재중량값중 피크값(적재중량이 증가단계에서 감소단계로 반전될 때 봉우리를 이루는 적재중량값)과 바텀값(저재중량이 감소단계에서 증가단계로 반전될 때 최저의 적재중량값)의 일부의 평균값을 적재중량값으로 채택하게 된다.Next, the above-described boom 2 is raised and lowered by driving the above-described boom cylinder 3 while the load is loaded in the above-described bucket 1 to the detection signals of the above-described first and second detection means. Obtains the pressure P of the boom cylinder 3 with respect to the boom rotation angle, and stores the boom cylinder 3 pressure for the same boom rotation angle in the no-load state of the bucket 1 as described above in the first storage means. The above equation is compared with the detected detection value.

Calculate the loading weight (W) value using. At this time, the peak value (load weight value forming a peak when the load weight is reversed from the increase step to the decrease step) and the bottom value (the lowest value when the load weight is reversed from the decrease step to the increase step) The average value of a part of the load weight value) is adopted as the load weight value.

And, as shown in Figure 3, the above-mentioned load weight (W) value has a peak value and a bottom value, which is the pressure generated during the continuous operation of the boom (2) due to the above-described boom cylinder (3) drive It's caused by rocking. In addition, since the above-mentioned boom cylinder 3 has a severe ripple in the initial operation when the above-described boom 2 is operated continuously, it is understood that the above-mentioned boom 2 should be operated at a predetermined height and then the loading weight W should be obtained. do.

As described above, according to a preferred embodiment, in the case of a no-load bucket during load weight measurement, the boom cylinder displacement and the boom pressure diagram are obtained, and then the boom cylinder displacement and the boom pressure diagram are obtained while lifting the load to be measured. Since the loading weight is calculated using the difference in the boom pressure in the displacement, the boom cylinder displacement and the boom are mounted while lifting the bucket with no load even when it differs from the bucket weight when the equipment is shipped by installing additional reinforcement to the bucket when the equipment is shipped. Since only the pressure line is obtained, it is easy to adjust the zero point, which has the advantage of providing convenience to the driver.

In addition, after loading the load into the bucket, the boom is raised and then the load weight of the load is calculated using the boom cylinder pressure when the boom is raised to a predetermined height. By using the average value as a loading weight value it is possible to reduce the error of the measured loading weight value, thereby having the advantage of improving the work efficiency.

Claims (2)

For detecting a pressure of the boom in which the bucket is rotatably mounted, a boom cylinder for raising and lowering the boom, first detection means for detecting an operation displacement of the boom cylinder, the boom cylinder and the hydraulic cylinder for supporting the load of the boom A load weight measuring method for a construction machine having a second detecting means, comprising: a boom cylinder pressure with respect to a boom rotation angle detected by the first detecting means and the second detecting means when the boom cylinder is driven in the no-load state of the bucket. A first step of storing the data in the first storage means; The boom cylinder pressure for the boom rotation angle detected by the first detection means and the second detection means when driving the boom cylinder in the no-load state of the bucket, and then the boom cylinder for the same boom rotation angle of the no-load state of the bucket A second step of calculating a load weight by comparing a pressure with a detection value stored in said first storage means; And a third step of adopting an average value of a part of the peak value and the bottom value among the load weight values calculated by the second step as the load weight value. The method of claim 1, wherein the following equation is used in the calculation process of the first step.

(P is the pressure on the boom cylinder upside when P is loaded in the bucket, P 'is the pressure on the upside of the boom cylinder without load, D is the diameter of the boom cylinder head,

Is the vertical distance between the center of rotation of the boom and the center of the boom cylinder rod,

Is the vertical distance between the bucket's center of rotation and the boom's center of rotation perpendicular to it.

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