WO2016163194A1 - 作業機械の外力計測システムおよび作業機械 - Google Patents
作業機械の外力計測システムおよび作業機械 Download PDFInfo
- Publication number
- WO2016163194A1 WO2016163194A1 PCT/JP2016/057262 JP2016057262W WO2016163194A1 WO 2016163194 A1 WO2016163194 A1 WO 2016163194A1 JP 2016057262 W JP2016057262 W JP 2016057262W WO 2016163194 A1 WO2016163194 A1 WO 2016163194A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- strain
- strain gauges
- work machine
- external force
- hydraulic cylinder
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2287—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges constructional details of the strain gauges
-
- 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
- E02F9/26—Indicating devices
-
- 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
- E02F9/20—Drives; Control devices
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
- G01G19/083—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles lift truck scale
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G3/00—Weighing apparatus characterised by the use of elastically-deformable members, e.g. spring balances
- G01G3/12—Weighing apparatus characterised by the use of elastically-deformable members, e.g. spring balances wherein the weighing element is in the form of a solid body stressed by pressure or tension during weighing
- G01G3/14—Weighing apparatus characterised by the use of elastically-deformable members, e.g. spring balances wherein the weighing element is in the form of a solid body stressed by pressure or tension during weighing measuring variations of electrical resistance
- G01G3/1402—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
- G01G3/1408—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports the supports being of the column type, e.g. cylindric
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2206—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
- G01L1/2218—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports the supports being of the column type, e.g. cylindric, adapted for measuring a force along a single direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/24—Investigating strength properties of solid materials by application of mechanical stress by applying steady shearing forces
Definitions
- the present invention relates to a work machine external force measurement system and a work machine.
- Patent Document 1 derives a Lagrangian equation of motion for obtaining a reaction force acting on an action point for each link, detects the rotation angle of each link, and pivots on the heavy machinery main body side of each link.
- the reaction force load is calculated by solving the Lagrange's equation of motion based on the estimated torque around the center, and the reaction force load that the tip link receives from the object at the point of action is calculated based on the reaction force load. To do.
- the reaction force load is calculated by estimating the torque around the pivot line on the heavy machinery body side of each link and solving the equation of motion.
- two strain gauges are used. Is used to measure the axial force acting on the cylinder rod.
- the strain gauge is attached to the cylinder rod as in Patent Document 1, it is difficult to accurately measure the reaction force load due to the influence of moment load during turning and impact load during excavation.
- An object of the present invention is to accurately calculate an external force acting on a hydraulic shovel bucket.
- a hydraulic cylinder that drives a front portion in the work machine; and a plurality of strain gauges that sense the amount of strain of a cylinder rod in the hydraulic cylinder, and the plurality of strain gauges are configured by at least two sets of strain gauges.
- at least two sets of strain gauges are external force measuring systems for work machines arranged opposite to each other, and the strain amounts of the respective pairs of strain gauges arranged opposite to each other.
- An external force measurement system for a work machine having a load calculation unit that calculates a load acting on a hydraulic cylinder based on the difference between the two.
- a hydraulic cylinder that drives a front portion in the work machine; and a plurality of strain gauges that sense the amount of strain of a cylinder rod in the hydraulic cylinder, and the plurality of strain gauges are configured by at least two sets of strain gauges.
- the at least two sets of strain gauges are external force measuring systems for work machines arranged opposite to each other, and are based on an average value of strain amounts of at least two sets of strain gauges,
- An external force measurement system for a work machine having a load calculation unit for calculating a load acting on a hydraulic cylinder.
- a hydraulic cylinder that drives a front portion in the work machine; and a plurality of strain gauges that sense the amount of strain of a cylinder rod in the hydraulic cylinder, and the plurality of strain gauges are configured by at least two sets of strain gauges.
- a work machine in which at least two sets of strain gauges are opposed to each other when viewed from the axial direction of the cylinder rod.
- FIGS. 1, 2, 3, and 4 A method for measuring the external force acting on the bucket during the operation with the hydraulic excavator will be described with reference to FIGS. 1, 2, 3, and 4.
- 1 is an overall view of a hydraulic excavator
- FIG. 2 is an enlarged view of a cylinder rod
- FIG. 3 is a sectional view of a cylinder rod with a strain gauge
- FIG. 4 is a work flow of a load calculation unit.
- the feature of the present embodiment is that it has a hydraulic cylinder that drives the front part in the work machine, and a plurality of strain gauges that sense the strain amount of the cylinder rod in the hydraulic cylinder, and the plurality of strain gauges is at least 2 It is composed of a set of strain gauges, and when viewed from the axial direction of the cylinder rod, at least two sets of strain gauges are external force measuring systems for work machines arranged opposite to each other. It is an external force measurement system for a work machine having a load calculation unit that calculates a load acting on a hydraulic cylinder based on a difference in strain amount between a pair of strain gauges.
- the excavator 100 includes a lower traveling body 1 shown in FIG. 1, an upper swing body 2 attached to the upper portion of the lower traveling body 1, a cab 3 attached to the upper swing body 2, a boom 4 attached to the upper swing body 2, and the tip of the boom 4.
- the arm 5 is attached to the arm 5 and the bucket 6 is attached to the tip of the arm 5.
- the boom 4, the arm 5, and the bucket 6 constitute a front part.
- the boom cylinder 4a, arm cylinder 5a, and bucket cylinder 6a which are hydraulic cylinders, are attached to the boom 4, the arm 5 and the bucket 6. Further, a boom stroke sensor 4b, an arm stroke sensor 5b, and a bucket stroke sensor 6b are attached to the boom 4, the arm 5, and the bucket 6.
- these hydraulic cylinders can adjust the amount of oil in the cylinders and expand and contract the hydraulic cylinders.
- the boom 4, the arm 5, and the bucket 6 (front part) can be driven by the expansion and contraction operation of the hydraulic cylinder.
- a load calculation unit 20 for calculating a load acting on the hydraulic cylinder is disposed.
- the load calculation unit 20 may be disposed outside the excavator 100 as an external force measurement system for the work machine.
- Fig. 2 is an enlarged view of the hydraulic cylinder.
- the hydraulic cylinder 5 a is coupled by passing a pin through the clevis 8 and the pin insertion hole 8 a of the arm 5.
- the opposite side of the hydraulic cylinder is coupled by passing the pin through the pin insertion hole 9a of the clevis 9 and the boom 4.
- the bucket 6 performs a cloud operation when the hydraulic cylinder 6a extends, and a dump operation when the hydraulic cylinder 6a contracts, and the boom 4 raises the boom when the boom cylinder 4a extends, and lowers the boom when the boom 4 contracts. Perform the action.
- FIG. 3 is a cross-sectional view of the cylinder rod, which is common to the boom cylinder 4a, the arm cylinder 5a, and the bucket cylinder 6a attached to the boom 4, the arm 5, and the bucket 6.
- a strain gauge 10, a strain gauge 11, a strain gauge 12, and a strain gauge 13 are attached to the cylinder rod 7.
- the strain gauge 10 and the strain gauge 11 are on the x-axis in the axial direction of the pin insertion hole shown in FIG.
- the strain gauges 12 and 13 are affixed on the z-axis at 90 degrees from the x-axis in the AA ′ cross section. Since the hydraulic cylinder is driven by the expansion and contraction of the cylinder rod 7, there is a place where the cylinder rod 7 enters the inside of the cylinder.
- the strain gauge 10, the strain gauge 11, the strain gauge 12, and the strain gauge 13 are attached to the base of the clevis 8 so as not to enter the hydraulic cylinder.
- the length of the cylinder rod 7 can be changed, the length of the cylinder rod 7 is increased, a portion that does not enter the hydraulic cylinder is provided, and a strain gauge 10, a strain gauge 11, a strain gauge 12, and a strain gauge 13 are attached thereto. May be. From the strain gauge 10, the strain gauge 11, the strain gauge 12, and the strain gauge 13 attached to the cylinder rod 7, the stress and load acting on the cylinder rod 7 are measured. In other words, the strain gauge 10, the strain gauge 11, the strain gauge 12, and the strain gauge 13 sense the strain amount of the cylinder rod 7.
- the cylinder rod 7 is subjected to various loads such as moment load and impact load in addition to loads in the compression and tension directions due to various movements of the hydraulic excavator 100. If only the loads in the compression and tension directions can be measured from these plural loads, the external force acting on the bucket 6 can be accurately calculated. Therefore, it is necessary to remove an extra load such as a moment load acting on the cylinder rod 7 of the excavator 100 and measure only the load value of the pure cylinder rod 7 in the axial direction. As a method of removing the moment load when the excavator 100 turns, a method of calculating a load acting on the cylinder rod 7 by attaching a plurality of strain gauges to the cylinder rod 7 will be described with reference to FIGS.
- FIG. 3 is a cross-sectional view of the cylinder rod, and the four strain gauges 10, the strain gauge 11, the strain gauge 12, and the strain gauge 13 are attached as described above. The values of these strain gauges during the work of the hydraulic excavator 100 are taken into the load calculation unit shown in FIG.
- FIG. 4 is a flow of processing (work flow) performed in the load calculation unit.
- the external force acting on the bucket of the hydraulic excavator 100 is expressed by using the load acting on the cylinder rod 7 calculated from the strain amount of the cylinder rod 7. calculate.
- a measurement value of a strain gauge which is information necessary for processing in the load calculation unit 20, will be described.
- FIG. 4 first, the operation of the excavator 100 is started. Next, the strain amount of the cylinder rod 7 is acquired using the strain gauge 10, the strain gauge 11, the strain gauge 12, and the strain gauge 13. Next, among the strain gauges 10, the strain gauges 11, the strain gauges 12, and the strain gauges 13 that face each other, the one having the smaller strain amount is selected. Next, the load acting on the cylinder rod 7 is calculated based on the selected strain amount.
- the strain gauge can calculate the stress and load acting on the material by measuring the amount of elongation of the material.
- the stress acting on a material can be calculated by dividing the cross-sectional area of the material from the load applied to the material.
- it is known to remove the strain amount from the Young's modulus, which is a material constant. Based on these relationships, the external force acting on the cylinder rod 7 is calculated. Can be calculated.
- the load calculator 20 calculates the external force acting on the bucket 6 from the attitude of the excavator 100.
- values of the stroke sensor 4b, the stroke sensor 5b, and the stroke sensor 6b attached to each hydraulic cylinder are used.
- FIG. 5 is an enlarged view of the shovel front portion. Since the boom 5 is attached to the tip of the boom 4 and the bucket 6 is attached to the tip of the arm 5, it is assumed that the moment around the base of the boom 4 and the external force component acting on the bucket 6 are equal, and the external force acting on the bucket 6 F 1 is calculated. The external force acting on the bucket 6 will be described with reference to FIG.
- Equation (1) and (2) From the balance of the moment at the base of the boom 4, equations (1) and (2) are obtained.
- L 1 is the distance from the boom 4 the root to the boom cylinder 4a tip
- L 2 from the boom 4 the root to the bucket 6 centroid
- F b1 boom cylinder 4a load F b2 Is the load caused by the moment around the base of the boom 4
- ⁇ 1 is the angle formed by L 1 and the boom cylinder 4 a.
- L 1 is a value determined for each aircraft, and L 2 calculates the position to the center of gravity using the dimensions of each part of the boom 4, arm 5, and bucket 6.
- ⁇ 1 can be calculated by the cosine theorem from the distance between the boom 4 root and the boom cylinder 4a root and L 1 and L 2 .
- Expression (1) is a balance expression of moments around the base of the boom 4.
- Expression (2) is a modification of Expression (1), and F 1 that is a component of external force acting on the tip of the bucket 6 can be calculated.
- Expression (3) and Expression (4) the balance of moments at the base of the arm 5 is as shown in Expression (3) and Expression (4).
- L 3 is the distance from the tip of the boom 4 to the tip of the arm cylinder 5a
- L 4 is the distance from the tip of the boom 4 to the center of gravity of the bucket 6
- F a1 is the load of the arm cylinder 5a
- F a2 Is a load due to a moment around the arm cylinder 5a.
- L 3 is a value determined for each aircraft
- L 4 is the distance from the tip of the boom 4 to the position of the center of gravity of the bucket 6, and is calculated from the dimensions of each part as in L 2 .
- ⁇ 2 is also calculated by the cosine theorem in the same manner as ⁇ 1 .
- the values of the arm stroke sensors 5b, L 3 and L 5 are used.
- L 5 represents, from the root arm cylinder 5a, a distance to the boom 4 tip, is a value that is determined for each aircraft.
- F 1 calculated by the above equations (1) to (4) is an external force calculated from the moment around the boom 4
- F 2 is an external force calculated from the moment around the arm 5
- F 1 and F 2 are By synthesizing, the external force F acting on the bucket 6 can be obtained.
- the calculation method of the external force is not limited to the above method, and can also be calculated by solving an equation of motion related to each joint of the front portion of the excavator 100.
- an extra load such as a moment load can be removed from an external force acting on the cylinder rod 7, and a load value of only a pure rod axial load can be measured.
- the tip of the bucket 6 of the excavator 100 It is possible to accurately calculate the external force acting on the.
- FIG. 4 is a flow of processing performed in the external force calculation device, which is the same as that of the first embodiment.
- FIG. 6 is a cross-sectional view of the cylinder rod. In addition to the strain gauge shown in FIG. 3, the strain gauge 14, the strain gauge 15, A strain gauge 16 and a strain gauge 17 are attached.
- Example 1 the load was calculated using the smaller value of the difference between the opposing strain gauges.
- an accurate load can be calculated by increasing the number of strain gauges.
- the selection of the strain gauge is the same as in the first embodiment, and the difference is calculated with each combination of strain gauges, and the value with the smallest difference is used for the load calculation.
- Combinations of strain gauges used for calculating the load are not limited to those facing each other, and the values of all strain gauges attached to the cylinder rod can be averaged and used for load calculation.
- the hydraulic cylinder that drives the front part in the work machine, and a plurality of strain gauges that sense the strain amount of the cylinder rod in the hydraulic cylinder, and the plurality of strain gauges includes at least two sets of strain gauges.
- An external force measurement system for a work machine which is composed of a gauge and is viewed from the axial direction of the cylinder rod, and at least two sets of strain gauges are opposed to each other. It is characterized by having an external force measurement system for a work machine having a load calculation unit for calculating a load acting on the hydraulic cylinder based on the value. With such a configuration, even if an abnormal value is measured from the strain gauge, the external force acting on the bucket 6 of the excavator 100 can be stably calculated.
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Component Parts Of Construction Machinery (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Operation Control Of Excavators (AREA)
- Measurement Of Force In General (AREA)
Abstract
Description
図4では、まず、油圧ショベル100の作業を開始する。次に、ひずみゲージ10、ひずみゲージ11、ひずみゲージ12、ひずみゲージ13を用いて、シリンダロッド7のひずみ量を取得する。次に、ひずみゲージ10、ひずみゲージ11、ひずみゲージ12、ひずみゲージ13の中で対向するひずみゲージのうち、ひずみ量が小さい方を選択する。次に、選択されたひずみ量に基づき、シリンダロッド7に作用する荷重を算出する。
F1=-(L1/L2)Fb2=-(L1/L2)Fb1sinθ1 (2)
L1は機体毎に決まっている値であり、L2はブーム4、アーム5、バケット6の各部の寸法を用いて、重心までの位置を算出する。θ1は、ブーム4根元とブームシリンダ4a根元間の距離と、L1、L2から、余弦定理によって算出することができる。式(1)は、ブーム4根元回りのモーメントの釣り合い式である。式(2)は、式(1)を変形したものであり、バケット6先端に作用する外力の成分であるF1を算出することができる。
F2=-(L3/L4)Fa2=-(L3/L4)Fa1sinθ2 (4)
L3は機体毎に決まっている値であり、L4はブーム4先端からバケット6重心位置までの距離であり、L2同様に、各部の寸法から算出する。θ2についても、θ1と同様に余弦定理によって算出する。θ2の算出には、アームストロークセンサ5b、L3、L5の値を用いる。L5は、アームシリンダ5a根元から、ブーム4先端までの距離であり、機体毎に決まっている値である。
荷重を算出するために用いるひずみゲージの組合せは、対向するものに限るものではなく、シリンダロッドに貼りつけた全てのひずみゲージの値を平均し、荷重演算に用いることもできる。換言すれば、作業機械中のフロント部を駆動する油圧シリンダと、油圧シリンダ中のシリンダロッドのひずみ量をセンシングする複数のひずみゲージと、を有し、複数のひずみゲージは、少なくとも2組のひずみゲージで構成され、シリンダロッドの軸方向から見たとき、少なくとも2組のひずみゲージは対向して配置されている作業機械の外力計測システムであって、少なくとも2組のひずみゲージのひずみ量の平均値に基づき、油圧シリンダに作用する荷重を算出する荷重演算部を有する作業機械の外力計測システムを有することを特徴とする。このような構成により、異常な値がひずみゲージから計測されても、油圧ショベル100のバケット6に作用する外力を安定して算出することができる。
Claims (5)
- 作業機械中のフロント部を駆動する油圧シリンダと、
前記油圧シリンダ中のシリンダロッドのひずみ量をセンシングする複数のひずみゲージと、を有し、
前記複数のひずみゲージは、少なくとも2組のひずみゲージで構成され、
前記シリンダロッドの軸方向から見たとき、前記少なくとも2組のひずみゲージは対向して配置されている作業機械の外力計測システムであって、
前記対向して配置されたそれぞれの組のひずみゲージのひずみ量の差に基づき、前記油圧シリンダに作用する荷重を算出する荷重演算部を有する作業機械の外力計測システム。 - 作業機械中のフロント部を駆動する油圧シリンダと、
前記油圧シリンダ中のシリンダロッドのひずみ量をセンシングする複数のひずみゲージと、を有し、
前記複数のひずみゲージは、少なくとも2組のひずみゲージで構成され、
前記シリンダロッドの軸方向から見たとき、前記少なくとも2組のひずみゲージは対向して配置されている作業機械の外力計測システムであって、
前記少なくとも2組のひずみゲージのひずみ量の平均値に基づき、前記油圧シリンダに作用する荷重を算出する荷重演算部を有する作業機械の外力計測システム。 - 作業機械中のフロント部を駆動する油圧シリンダと、
前記油圧シリンダ中のシリンダロッドのひずみ量をセンシングする複数のひずみゲージと、を有し、
前記複数のひずみゲージは、少なくとも2組のひずみゲージで構成され、
前記シリンダロッドの軸方向から見たとき、前記少なくとも2組のひずみゲージは対向して配置されている作業機械。 - 請求項3において、
前記対向して配置されたそれぞれの組のひずみゲージのひずみ量の差に基づき、前記油圧シリンダに作用する荷重を算出する荷重演算部を有する作業機械。 - 請求項3または4において、
前記油圧シリンダにクレビスが設けられ、
前記複数のひずみゲージは前記クレビスの根元に貼付されている作業機械。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/564,479 US20180073945A1 (en) | 2015-04-06 | 2016-03-09 | External Force Measurement System for Work Machine, and Work Machine |
JP2017511507A JPWO2016163194A1 (ja) | 2015-04-06 | 2016-03-09 | 作業機械の外力計測システムおよび作業機械 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015077314 | 2015-04-06 | ||
JP2015-077314 | 2015-04-06 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016163194A1 true WO2016163194A1 (ja) | 2016-10-13 |
Family
ID=57072215
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2016/057262 WO2016163194A1 (ja) | 2015-04-06 | 2016-03-09 | 作業機械の外力計測システムおよび作業機械 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20180073945A1 (ja) |
JP (1) | JPWO2016163194A1 (ja) |
WO (1) | WO2016163194A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109752039A (zh) * | 2017-11-01 | 2019-05-14 | 迪尔公司 | 用于作业车辆的接头磨损装置 |
CN111678631A (zh) * | 2020-05-09 | 2020-09-18 | 吴岩 | 一种矿用挖掘机挖掘力测力装置 |
CN113865899A (zh) * | 2021-08-27 | 2021-12-31 | 北京航空航天大学 | 一种基于模型观测器的挖掘机工作载荷谱监测方法 |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10385547B2 (en) * | 2016-12-23 | 2019-08-20 | Caterpillar Inc. | System and method for determining load distribution on a machine |
US11169045B2 (en) * | 2017-12-19 | 2021-11-09 | Knappco, LLC | Methods and systems for determining residual life of a swivel |
CN110261023B (zh) * | 2019-07-01 | 2024-06-07 | 徐州徐工矿业机械有限公司 | 一种挖掘机挖掘力测力装置及使用该测力装置的试验装备 |
US12000740B2 (en) * | 2020-11-17 | 2024-06-04 | Board Of Trustees Of Michigan State University | Sensor apparatus |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010107266A (ja) * | 2008-10-29 | 2010-05-13 | Yamato Scale Co Ltd | ロードセル |
JP2010281783A (ja) * | 2009-06-08 | 2010-12-16 | Hitachi Constr Mach Co Ltd | 作業機械及びピン型ロードセル |
JP2013108907A (ja) * | 2011-11-22 | 2013-06-06 | Toyota Motor Corp | 複数リンク型重機に於ける反力荷重推定方法及び装置 |
JP2015017838A (ja) * | 2013-07-09 | 2015-01-29 | 日立建機株式会社 | 荷重検出装置及びこれを備えた作業機械 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4058178A (en) * | 1971-09-13 | 1977-11-15 | Tadano Ironworks Co., Ltd. | Hydraulic cylinder unit |
US4131078A (en) * | 1977-04-29 | 1978-12-26 | The Manitowoc Company, Inc. | Collapsible crane backhitch and overload signal system |
AT384899B (de) * | 1984-09-17 | 1988-01-25 | Hoerbiger Ventilwerke Ag | Regelungsverfahren fuer einen fluidzylinder |
US4860639A (en) * | 1984-12-11 | 1989-08-29 | Bridgestone Corporation | Flexible tubular wall actuator with end-mounted strain gauge |
JPH0324304A (ja) * | 1989-06-20 | 1991-02-01 | Bridgestone Corp | 弾性伸長体を用いたアクチュエータ |
JPH04145206A (ja) * | 1990-10-04 | 1992-05-19 | Bridgestone Corp | 中空型弾性伸縮体 |
CA2125375C (en) * | 1994-06-07 | 1999-04-20 | Andrew Dasys | Tactile control for automated bucket loading |
JP3291258B2 (ja) * | 1998-10-14 | 2002-06-10 | 太陽鉄工株式会社 | 流体圧シリンダ装置 |
JP4528810B2 (ja) * | 2007-08-03 | 2010-08-25 | 日立建機株式会社 | 荷重センサおよび荷重センサの製造方法 |
US8561473B2 (en) * | 2007-12-18 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
CN103874807B (zh) * | 2011-09-20 | 2016-02-10 | 科技矿业企业有限公司 | 应力和/或累积损伤监测系统 |
CA2804438A1 (en) * | 2012-11-02 | 2014-05-02 | Helical Pier Systems Ltd. | Method and apparatus for measuring helical pile installation torque |
-
2016
- 2016-03-09 US US15/564,479 patent/US20180073945A1/en not_active Abandoned
- 2016-03-09 JP JP2017511507A patent/JPWO2016163194A1/ja active Pending
- 2016-03-09 WO PCT/JP2016/057262 patent/WO2016163194A1/ja active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010107266A (ja) * | 2008-10-29 | 2010-05-13 | Yamato Scale Co Ltd | ロードセル |
JP2010281783A (ja) * | 2009-06-08 | 2010-12-16 | Hitachi Constr Mach Co Ltd | 作業機械及びピン型ロードセル |
JP2013108907A (ja) * | 2011-11-22 | 2013-06-06 | Toyota Motor Corp | 複数リンク型重機に於ける反力荷重推定方法及び装置 |
JP2015017838A (ja) * | 2013-07-09 | 2015-01-29 | 日立建機株式会社 | 荷重検出装置及びこれを備えた作業機械 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109752039A (zh) * | 2017-11-01 | 2019-05-14 | 迪尔公司 | 用于作业车辆的接头磨损装置 |
CN111678631A (zh) * | 2020-05-09 | 2020-09-18 | 吴岩 | 一种矿用挖掘机挖掘力测力装置 |
CN111678631B (zh) * | 2020-05-09 | 2021-09-28 | 山东恒旺集团有限公司 | 一种矿用挖掘机挖掘力测力装置 |
CN113865899A (zh) * | 2021-08-27 | 2021-12-31 | 北京航空航天大学 | 一种基于模型观测器的挖掘机工作载荷谱监测方法 |
CN113865899B (zh) * | 2021-08-27 | 2023-08-18 | 北京航空航天大学 | 一种基于模型观测器的挖掘机工作载荷谱监测方法 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2016163194A1 (ja) | 2018-01-18 |
US20180073945A1 (en) | 2018-03-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2016163194A1 (ja) | 作業機械の外力計測システムおよび作業機械 | |
KR101738559B1 (ko) | 하중 검출 장치 및 이것을 구비한 작업 기계 | |
JP5406223B2 (ja) | 適応型ペイロード監視システム | |
JP5420061B2 (ja) | 作業アームの位置制御装置を備えた移動作業機械および移動作業機械の作業アームを位置制御する方法 | |
JP6616679B2 (ja) | 建設機械 | |
US11091900B2 (en) | Construction machine | |
JP6546558B2 (ja) | 建設機械及び建設機械の較正方法 | |
FI125560B (en) | Sensor arrangement for a mobile machine | |
JP5215878B2 (ja) | 作業機械及びピン型ロードセル | |
US10048154B2 (en) | Boom calibration system | |
JP6271080B2 (ja) | 荷重状態推定器を含む地ならし機 | |
US12011964B2 (en) | Method for determining an axle load of a tractor | |
JP2015017838A5 (ja) | ||
US20200217048A1 (en) | A method and a system for determining a load in a working machine | |
KR20110045517A (ko) | 하중 측정용 핀형 로드셀 및 이것을 구비한 굴삭기 | |
JP6335010B2 (ja) | ピン型ロードセル及びこれを備える作業機械 | |
JP2015158049A (ja) | 積載部の外力算出方法およびその装置 | |
CN211401395U (zh) | 一种液压挖掘机铲斗载物称重装置 | |
JP2010281783A (ja) | 作業機械及びピン型ロードセル | |
KR102215033B1 (ko) | 오토 캘리브레이션이 가능한 6축 힘/토크 센서 및 오토 캘리브레이션 방법 | |
TWI796428B (zh) | 轉矩感測器 | |
Gawlik et al. | Dynamic weighing system used in excavator | |
US20220333354A1 (en) | Loading weight measurement method of construction machine | |
JP2010249586A (ja) | 作業機械及び作業機械の力計測装置 | |
JPH0350047B2 (ja) |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16776363 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2017511507 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15564479 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 16776363 Country of ref document: EP Kind code of ref document: A1 |