WO2008115790A1 - Articulation de détection de force - Google Patents

Articulation de détection de force Download PDF

Info

Publication number
WO2008115790A1
WO2008115790A1 PCT/US2008/056997 US2008056997W WO2008115790A1 WO 2008115790 A1 WO2008115790 A1 WO 2008115790A1 US 2008056997 W US2008056997 W US 2008056997W WO 2008115790 A1 WO2008115790 A1 WO 2008115790A1
Authority
WO
WIPO (PCT)
Prior art keywords
linkage
axis
improved
improved linkage
disposed
Prior art date
Application number
PCT/US2008/056997
Other languages
English (en)
Inventor
Graham F. Mcdearmon
Orestes J. Varonis
Donald J. Remboski
Todd A. Barr
Original Assignee
The Timken Company
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by The Timken Company filed Critical The Timken Company
Publication of WO2008115790A1 publication Critical patent/WO2008115790A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C7/00—Connecting-rods or like links pivoted at both ends; Construction of connecting-rod heads
    • F16C7/04—Connecting-rods or like links pivoted at both ends; Construction of connecting-rod heads with elastic intermediate part of fluid cushion
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/3604—Devices to connect tools to arms, booms or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2350/00—Machines or articles related to building
    • F16C2350/26—Excavators

Definitions

  • the present invention is related generally to a system and method for measuring the weight, force, and moments on the load-lifting assembly of a utility vehicle, and in particular, to a linkage assembly for coupling the load- lifting assembly of a utility vehicle to an actuating mechanism which incorporates a sensor for measuring forces exerted on the load-lifting assembly during operation there of.
  • Utility vehicles commonly known as skid-steers or front-end loaders, are commonly utilized in a wide range of applications in the landscaping, construction, and load-lifting environments. These vehicles are characterized by a very short wheelbase, and are often steered by locking or braking wheels on one side of the vehicle, facilitating turning in a very tight radius.
  • the operator is generally seated in a protective cage in the middle of the vehicle, with an engine and counterweight being disposed at the rear, to offset the weight of any load carried by hydraulically powered implements such as buckets or forks, which are coupled to the front of the vehicle.
  • hydraulically powered implements such as buckets or forks
  • the implements coupled to the front of the vehicle are interchangeable, and are coupled and uncoupled to the vehicle via an attachment assembly.
  • the front- mounted implements such as buckets.
  • an operator may have difficulty in gauging the weight of a load before or after it is picked up with the front- mount ⁇ d implements.
  • the hydraulic power which can be directed to the front- mounted implements to lift or move loads is often considerable, and it is possible for an operator to lift a load which may not be safely moved at a high rate of speed.
  • a linkage component for use in the attachment assembly of such a utility vehicle which incorporates sensors capable of providing an indication of the forces acting on the attached implements during operation of the vehicle. It would be further advantageous to provide such a linkage which is sensitive to forces acting along a specific axis of the linkage, and which is relatively decoupled from the effects of forces acting perpendicular to the specific axis.
  • the present disclosure provides an improved linkage for use in an implement attachment assembly of a utility vehicle.
  • the improved linkage assembly is configured to have compliance along a selected axis, and to incorporate at least one sensor for measuring the effect of forces in the improved linkage along the selected axis. Placement of the sensor, and the configuration of the improved linkage, are selected to decouple the sensor from the effects of forces which are exerted perpendicular to the selected axis.
  • an improved linkage for use in an implement attachment assembly of a front-end loader is provided with end couplings at opposite ends of a longitudinal X-axis, configured for attachment between components of the front-end loader and the implement attachment.
  • a central transverse opening passes through the improved linkage parallel to the Z-axis, and has a width parallel to the Y-axis, which is less than the width of the improved linkage.
  • a displacement sensor is centrally disposed across the central transverse opening on the longitudinal X-axis of the improved linkage.
  • a plurality of side openings passing through the improved linkage parallel to the Z-axis each extend inward from the peripheral edge of the improved linkage.
  • Each side opening has a transverse length parallel to the Y-axis, which is less than half the transverse width of the improved linkage, and is displaced longitudinally from, and parallel to, the central opening.
  • each opening may be filled with an elastomeric compound and/or enclosed within a protective cover. Forces acting on the improved linkage along the longitudinal X-axis vary the width of the central opening, and are measured by the displacement sensor. Lateral forces acting on the improved linkage along the Y-axis and the Z-axis are decoupled from the displacement sensor by the side openings.
  • Figure 1 illustrates a linkage assembly of the present invention, the linkage is shown without an optional protective covering
  • Figure 2 illustrates the linkage assembly of Fig. 1 with an optional protective covering
  • Figure 3 illustrates the linkage assembly of Fig. 1 , incorporating additional displacement sensors, the linkage is shown without an optional protective covering
  • Figure 4 illustrates the improved linkage of Figs. 1 -3 installed on an implement attachment assembly of a utility vehicle; and Figure 5 is a close-up illustration of the installed improved linkage of
  • the improved linkage assembly 10 has a planar rectangular body 1 OA, and is configured with a set of transverse openings 12 and 14 to have compliance along a selected longitudinal X-axis, and to incorporate at least one displacement sensor 100 for measuring the effect of forces in the improved linkage 10 along the selected X-axis. Placement of the displacement sensor 100, and the configuration of the transverse openings 12 and 14 in the improved linkage 10, are selected to decouple the displacement sensor 100 from the effects of forces which are exerted perpendicular to the selected longitudinal X-axis.
  • the displacement sensor 100 may be configured to communicate output to an associated electronic controller via either a wired connection or a wireless communications link. Furthermore, the displacement sensor 100 may be replaced with a variety of similarly suitable sensors configured to provide an output signal which is responsive to the forces exerted on the improved linkage assembly 100, such as a strain gauge.
  • the improved linkage 10 is shown in one exemplary embodiment for use in an implement attachment assembly of a utility vehicle such as a skid-steer or front-end loader in Figures 4 and 5. However, it will be recognized that the improved linkage 10 may be used in a variety of applications wherein loads or forces will be conveyed between two or more connections coupled by the improved linkage 10.
  • Th ⁇ improved linkage 10 is provided with a linkage body 1 OA.
  • the thickness and specific dimensions of the linkage body 1 OA may be varied depending upon the structural requirements for the particular application in which the improved linkage 10 is to be utilized, and may be coated to prevent corrosion or other environmental damage as required.
  • End couplings 1 1 and 13 at opposite ends of a longitudinal X-axis of the improved linkage body 1 OA are configured for securing the improved linkage 10 between components of the utility vehicle and the implement attachment mechanisms, such as seen in Figures 4 and 5.
  • the end couplings 1 1 and 13 may be varied depending upon the particular requirements for securing the improved linkage 10 in place without departing from the scope of the invention.
  • the central body portion 1 OA of the improved linkage 10 is configured to provide a mechanical reaction to forces exerted along the longitudinal X-axis of the improved linkage 10.
  • a central transverse opening 14 passes through the improved linkage body 10A parallel to the Z-axis, and has a width parallel to the Y-axis, which is less than the width of the improved linkage body 10A.
  • a displacement sensor 100 is centrally disposed across the central transverse opening 14 parallel to the longitudinal X-axis of the improved linkage 10.
  • the sensor 100 may be disposed on an outer surface of the linkage body 10A, as seen in Figures 1 and 3, may be disposed within a recess in the surface, or may be disposed within an internal cavity within the linkage body 10A so long as the sensor 100 is disposed to acquire measurements as set forth here in.
  • An extension (compression) force (Fx) applied to the improved linkage 10 along the x-direction will increase (decrease) the width of the central opening 14 in proportion to the force.
  • the displacement sensor 100 is disposed to measure displacements across the central opening 14 (in the x- direction), which are a function of the applied force along the x-axis of the improved linkage 10.
  • any suitable type of displacement sensor 100 can be used (e.g., capacitive, inductive, optical, etc.).
  • the linkage assembly 10 may be optionally pre-stressed oppositely (i.e., tension or compression) in order to increase the operating range.
  • a plurality of side openings 12 pass through the improved linkage body 1 OA parallel to the Z-axis, each extend inward from the peripheral edge of the improved linkage body 1 OA, as best seen in Figures 1 and 3.
  • Each side opening 12 has a transverse length, which is less than half the transverse width of the improved linkage body 10A.
  • Each side opening 12 is displaced longitudinally from, and parallel to, the central opening 14, such that a total of at least two side openings 12 are present in the improved linkage body 10A on each side of the central opening 14.
  • each side or central opening 12, 14 may be filled with an elastomeric compound and/or enclosed within a protective cover 16.
  • mechanical stops may be provided within the openings 12, 14, or external thereto, which prevent excessive movement of the improved linkage 10 which may result in damage.
  • more than one sensor 100 may be utilizes on the linkage assembly 10 to provide multiple measures of the forces transferred through the linkage assembly 10.
  • additional sensors 102a through 102f may be disposed across openings 12 and disposed on the linkage body 1 OA.
  • the additional sensors 102 may be disposed on an outer surface of the linkage body 1 OA, as seen in Fig. 3, may be disposed within a recess in the outer surface, or may be disposed within an internal cavity within the linkage body 10A so long as each sensor 102 is disposed to acquire measurements as set forth here in.
  • various additional measurements may be acquired when the end couplings 1 1 and 13 transmit forces and torques through the linkage assembly 10.
  • the output from sensors 102a through 102d when configured to measure displacements in the X-axis direction across openings 12, may be summed to provide a measure of force along the X-axis, while the difference of signals from sensors 102a and 102b, and/or 102c and 102d can provide a measure of the torque about the Z-axis.
  • the output from sensors 102a through 102d when configured to measure displacements in the Z-axis direction across openings 12, can provide a measure of the torque about the X-axis by observing the difference of signals from sensors 102a and 102b, and/or 102c and 102d.
  • a measure of torque about the X-axis axis may further be acquired by providing sensors 102e and 102f as shear strain sensors on the surface of the linkage body 10a, between openings 12 on opposite sides of the X-axis.
  • a second set of sensors 104a-104d may be disposed in mirror image from sensors 102a-102d, on the opposite surface of the linkage assembly 10.
  • the resulting measurements may be used to measure torque about the Y-axis by determining the difference in displacement along the X-axis from sensor pairs 102a with 104a, 102b with 104b, 102c with 104c, and/or 102d with 104d.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

L'invention concerne une articulation améliorée (10) telle que pour l'utilisation dans un ensemble d'attache d'accessoires d'un véhicule industriel, où des forces sont transmises entre deux couplages ou plus (11, 13). L'ensemble d'articulation améliorée (10) est configuré pour avoir une souplesse le long d'un axe X sélectionné, et pour incorporer au moins un capteur de déplacement (100) pour mesurer l'effet des forces dans l'articulation améliorée (10) le long de l'axe X sélectionné. Un placement du capteur de déplacement (100) et la configuration du corps d'articulation améliorée (10A), y compris l'inclusion d'une pluralité d'ouvertures latérales et centrales (12, 14), sont sélectionnés pour découpler le capteur de déplacement (100) des effets de forces qui sont exercées perpendiculairement à l'axe X sélectionné. Un couvercle protecteur (16) facultatif peut être prévu pour enfermer le capteur de déplacement (100) et le corps d'articulation améliorée (10A).
PCT/US2008/056997 2007-03-16 2008-03-14 Articulation de détection de force WO2008115790A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US89523907P 2007-03-16 2007-03-16
US60/895,239 2007-03-16

Publications (1)

Publication Number Publication Date
WO2008115790A1 true WO2008115790A1 (fr) 2008-09-25

Family

ID=39595553

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2008/056997 WO2008115790A1 (fr) 2007-03-16 2008-03-14 Articulation de détection de force

Country Status (1)

Country Link
WO (1) WO2008115790A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5044204A (en) * 1990-07-09 1991-09-03 Teledyne Industries, Inc. Device with strain gaged threaded portion
EP0548927A1 (fr) * 1991-12-27 1993-06-30 ISHIDA CO., Ltd. Boîte dynamométrique et dispositif de pesage l'utilisant
US6311566B1 (en) * 1999-06-29 2001-11-06 Kavlico Corporation Redundant linkage and sensor assembly
DE10150089C1 (de) * 2001-10-11 2003-07-31 Ralf Brinkmann Schwenklöffel
US6830223B1 (en) * 2000-11-16 2004-12-14 Tyee Aircraft Force sensor rod

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5044204A (en) * 1990-07-09 1991-09-03 Teledyne Industries, Inc. Device with strain gaged threaded portion
EP0548927A1 (fr) * 1991-12-27 1993-06-30 ISHIDA CO., Ltd. Boîte dynamométrique et dispositif de pesage l'utilisant
US6311566B1 (en) * 1999-06-29 2001-11-06 Kavlico Corporation Redundant linkage and sensor assembly
US6830223B1 (en) * 2000-11-16 2004-12-14 Tyee Aircraft Force sensor rod
DE10150089C1 (de) * 2001-10-11 2003-07-31 Ralf Brinkmann Schwenklöffel

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