Load weight indicating system for load moving machine

• US 4,627,013 A
• Filed: 11/30/1983
• Issued: 12/02/1986
• Est. Priority Date: 12/01/1982
• Status: Expired due to Term

• Current Assignee: Hitachi Construction Machinery Company Limited (Hitachi, Ltd.)
• Original Assignee: Hitachi Construction Machinery Company Limited (Hitachi, Ltd.)
• Inventors: Yasuda, Tomohiko, Aoyagi, Yukio, Ichiyama, Shuichi
• Primary Examiner(s): Gruber, Felix D.
• Application Number:
  US06/556,403
• Time in Patent Office: 1,098 Days
• Field of Search: 364/424, 364/463, 364/567, 340/685
• US Class Current: 702/174
• CPC Class Codes: E02F 9/264 Sensors and their calibration for indicating the position of the work tool

Abstract

A load weight calculating system for a load moving machine, such as a hydraulic excavator, including a support, and a front attachment pivotably supported by the support. The front attachment includes a first linkage element pivotably supported by the support, a second linkage element pivotably supported by the first linkage element, a loading section supported by the second linkage element, and first and second hydraulic actuators for moving the first and second linkage elements, respectively. The load weight calculating system includes a first displacement detector and a second displacement detector for obtaining displacements α₁ and β₁ of at least the first and second linkage elements, respectively, a pressing force sensor for obtaining a pressing force K₁ exerted by at least one of the first and second hydraulic actuators, a weight calculating unit for calculating the weight of a load carried by the loading section based on the values α₁, β₁ and K₁ obtained at least by the first and second displacement detector and pressing force sensor, and a weight indicating unit for indicating a value associated with the load weight obtained by the weight calculating unit.

Claims

1. A load weight indicating system for a load moving machine including a support, and a front attachment supported by said support for pivotal movement about a first pivot, said front attachment having a first linkage element supported by said support for pivotal movement about said first pivot, a second linkage element supported by said first linkage element for pivotal movement about a second pivot, a loading section supported by said second linkage element, and first and second hydraulic actuator means mounted for pivotally moving the first linkage element and the second linkage element, respectively;

said load weight indicating system comprising;

first and second displacement detector means for detecting displacement α

₁ and β

₁ of at least the first linkage element and the second linkage element, respectively, of said front attachment;

pressing force sensor means for obtaining values P_b, P_r associated with a pressing force K₁ exerted by at least one of the first and second hydraulic actuator means of said front attachment;

weight calculating means for calculating the weight of a load carried by the loading section based on the values α

₁, β

₁, P_b and P_r obtained at least by the first and second displacement detector means and the pressing force sensor means, respectively;

weight indicating means for indicating a value associated with the load weight obtained by said weight calculating means; and

position setting means for setting an arbitrarily selected position of said front attachement;

said weight calculating means including;

(a) a first means for calculating a moment of rotation M₀ of the front attachment about the first pivot when the loading section carries no load, based on the values α

₁, P_b and P_r obtained at least by said first displacement detector means and said pressing force sensor means when the front attachment is moved and passes through a set position set by said position setting means with the loading section carrying no load,

(b) a second means for calculating a moment of rotation M₁ of the front attachment about the first pivot when the loading section carries a load, based on the values α

₁, P_b and P_r obtained by said first displacement detector means and said pressing force sensor means when the front attachment is moved and passes through the set position with the loading section carrying the load,

(c) a third means for calculating a horizontal distance L_J between a position of the center of gravity of the load in the loading section and the first pivot, based on the values α

₁ and β

₁ obtained at least by said first and second displacement detector means when the front attachment is moved and passes through the set position, and

(d) a fourth means operative to calculate (M₁ -M₀)/L_J based on the results of the calculation performed by said first, second and third means.

2. A load weight indicating system as claimed in claim 1, wherein:

said position setting means includes signal generating means for giving a command to have said set position decided, and set position judging means operative to store, as a value indicating the set position, the values α

₁ and β

₁ obtained by first and second displacement detector means when the command is given by said signal generating means, said set position judging means being further operative to give a command to perform calculation each time values detected by said first and second displacement detector means become substantially equal to said stored values as the front attachment moves thereafter;

said second means includes front moment calculating means for obtaining the moment of rotation M₁ based on the values α

₁, P_b and P_r ;

said first means includes memory means for storing, as the moment of rotation M₀, the result of the calculation performed by said front moment calculating means when the command is given by said signal generating means;

said third means includes load point distance calculating means for calculating the horizontal distance L_J based on the values α

₁ and β

₁ ; and

said fourth means includes substraction means for calculating M₁ -M₀ based on the result M₁ of the calculation performed by the front moment calculating means and the output M₀ of said memory means, and divider means for calculating (M₁ -M₀)/L_J based on the result M₁ -M₀ of the calculation performed by said subtraction means and the result L_J of the calculation performed by the load point distance calculating means when the command is given by said set position judging means.

3. A load weight indicating system as claimed in claim 2, wherein said front moment calculating means is operative to calculate, as said moment of rotation M₁, a moment of rotation about the first pivot produced by the pressing force K₁ of said first hydraulic actuator means exerted on the front attachment.

4. A load weight indicating system as claimed in claim 1, further comprising third displacement detector means for detecting a displacement γ

₁ of said loading section, and wherein said weight calculating means is operative to calculate the load weight also based on the value γ

₁ obtained by said third displacement detector means.

5. A load weight indicating system as claimed in claim 1, wherein said pressing force sensor means includes pressure sensor means for detecting hydraulic pressure P_b, P_r applied to at least one of said first and second hydraulic actuator means.

6. A load weight indicating system for a load moving machine including a support, and a front attachment supported by said support for pivotal movement about a first pivot, said front attachment having a first linkage element supported by said support for pivotal movement about said first pivot, a second linkage element supported by said first linkage element for pivotal movement about a second pivot, a loading section supported by said second linkage element, and first and second hydraulic actuator means mounted for pivotally moving the first linkage element and the second linkage element, respectively;

said load weight indicating system comprising;

first and second displacement detector means for detecting displacement α

₁ and β

₁ of at least the first linkage element and the second linkage element, respectively, of said front attachment;

pressing force sensor means for obtaining values P_b, P_r associated with a pressing force K₁ exerted by at least one of the first and second hydraulic actuator means of said front attachment;

weight calculating means for calculating the weight of a load carried by the loading section based on the values α

₁, β

₁, P_b and P_r obtained at least by the first and second displacement detector means and the pressing force sensor means, respectively;

weight indicating means for indicating a value associated with the load weight obtained by said weight calculating means; and

position setting means for setting an arbitrarily selected position of said front attachment;

said weight calculating means including;

(a) a first means for calculating a moment of rotation M₂₀ of the front attachment about the first pivot when the loading section carries no load, based on the values α

₁, P_b and P_r obtained at least by said first displacement detector means and said pressing force sensor means when the front attachment is moved and passes through a first set position set by said position setting means with the loading section carrying no load,

(b) a second means for calculating a moment of rotation M₁ of the front attachment about the first pivot when the loading section carries a load, based on the values α

₁, P_b and P_r obtained by said first displacement detector means and said pressing force sensor means when the front attachment is moved and passes through a second set position set by said position setting means with the loading section carrying the load,

(c) a third means for calculating a horizontal distance L_J between a postion of the center of gravity of the load in the loading section and the first pivot, based on the values α

₁ and β

₁ obtained at least by said first and second displacement detector means when the front attachment is moved and passes through the second set position with the loading section carrying the load, and

(d) a fourth means operative to calculate (M₁ -M₀)/L_J based on the results of the calculation performed by said first, second and third means.

7. A load weight indicative system as claimed in claim 6, wherein:

said position setting means includes signal generating means for giving commands to have said first and second set positions decided, and set position judging means operative to store, as a value indicating the second set position, a value obtained by calculation from at least one of the values α

₁ and β

₁ obtained by said first and second displacement detector means when the command is given by said signal generating means, said set position judging means being further operative to give a command to perform calculation each time a corresponding value obtained by calculation from at least one of the values detected by said first and second displacment detector means becomes substantially equal to said stored value as the front attachment moves thereafter;

said second means includes front moment calculating means for obtaining the moment of rotation M₁ based on the values α

₁, P_b and P_r ;

said first means includes said front moment calculating means for calculating a moment of rotation M₀ of the front attachment about the first pivot when the loading section carries no load based on the values α

₁, P_b and P_r and loadless moment calculating means for calculating a moment of rotation M₂ of the front attachment about the first pivot when the loading section carries no load based on the values α

₁ and β

₁ obtained by said first and second displacement detector means, structural gravity center distance calculating means for calculating a horizontal distance L_I between the structural center of gravity of said loading section and the first pivot based on the values α

₁ and β

₁, first subtraction means for calculating M₀ -M₂ based on the result M₀ of calculation performed by the front moment calculating means and the result M₂ of calculation means, and first divider means for calculating Δ

W_I =(M₀ -M₂)/L_I based on the result L.sub. I of calculation performed by said structural gravity center distance calculating means and the result M₀ -M₂ of calculation performed by the first subtraction means when the command is given by said signal generating means, said loadless moment calculating means being operative to have inputted thereto the result Δ

W_I of calculation performed by said first divider means and change the weight W_I of the loading section already stored to W_I +Δ

W_I to thereby calculate a corrected loadless moment of rotation as said moment of rotation M₂₀ ;

said third means includes load point distance calculating means for calculating the horizontal distance L_J based on the values α

₁ and β

₁ ; and

said fourth means includes second subtraction means for calculating M₁ -M₂₀ based on the result M₁ of calculation performed by the front moment calculating means and the result M₂₀ of calculation performed by the loadless moment calculating means, and second divider means for calculating (M₁ -M₂₀)/L_J based on the result M₁ -M₂₀ of calculation performed by the second subtraction means and the result L_J of calculation performed by the load point distance calculating means when the command is given by said set position judging means.

8. A load weight indicating system as claimed in claim 7, wherein said front moment calculating means is operative to calculate, as said moment of rotation M₀, M₁, a moment of rotation about the first pivot produced by the pressing force K₁ of said first hydraulic actuator means exerted on the front attachment.

9. A load weight indicating system as claimed in claim 7, wherein said loadless moment calculating means is operative to calculate, as said moment of rotation M₂, a moment of rotation about the first pivot produced by the structural weight W_G and W_H of the first and second linkage elements and the structural weight W_I of the loading section, and to calculate, as said corrected loadless moment of rotation M₂₀, a moment of rotation about the first pivot produced by the structural weights W_G and W_H of the first and second linkage elements and the amended structural weight W_I +Δ

W_I of the loading section.

10. A load weight indicating system as claimed in claims 7, wherein said set position judging means is operative to calculate, as said value indicating said second set position, one of a horizontal and vertical position of the front attachment based on the value α

₁ and β

₁ obtained by said first and second displacement detector means, and to give a command to perform calculation each time the front attachment passes through said one of the horizontal and vertical positions.

11. A load weight indicating system as claimed in claim 7, further comprising third displacement detector means for detecting a displacement γ

₁ of said loading section, and wherein said weight calculating means is operative to calculate the load weight also based on the value γ

₁ obtained by said third displacement detector means.

12. A load weight indicating system as claimed in claim 7, wherein said pressing force sensor means include pressure sensor means for detecting hydraulic pressure P_b, P_r applied to at least one of said first and second hydraulic actuator means.

13. A load weight indicating system for a load moving machine including a support, and a front attachment supported by said support for pivotal movement about a first pivot, said front attachment having a first linkage element supported by said support for pivotal movement about said first pivot, a second linkage element supported by said first linkage element for pivotal movement about a second pivot, a loading section supported by said second linkage element, and first and second hydraulic actuator means mounted for pivotally moving the first linkage element and the second linkage element, respectively;

said load weight indicating system comprising;

first and second displacement detector means for detecting displacement α

₁ and β

₁ of at least the first linkage element and the second linkage element, respectively, of said front attachment;

first pressing force sensor means for obtaining values P_b, P_r associated with a pressing force K₁ exerted by at least one of the first and second hydraulic actuator means of said front attachment;

weight calculating means for calculating the weight of a load carried by the loading section based on the values α

₁, β

₁, P_b and P_r obtained at least by the first and second displacement detector means and the first pressing force sensor means, respectively;

weight indicating means for indicating a value associated with the load weight obtained by said weight calculating means;

said weight calculating means being operative to preform, based on the values α

₁, β

₁, P_b and P_r obtained at least by the first and second displacement detector means and the first pressing force sensor means, the operations of;

(a) calculating a moment of rotation M₁ of the front attachment about the first pivot when the loading section carries a load,

(b) calculating a moment of rotation M₂ of the front attachment about the first pivot when the loading section carries no load,

(c) calculating a horizontal distance L_x between a position of the center of gravity of a load in the loading section and the first pivot, and

(d) calculating (M₁ -M₂)/L_x ; and

second pressing force sensor means for obtaining values P_h, P'"'"'_r associated with a pressing force K'"'"'₁ of the other of said first and second hydraulic actuator means of said front attachment;

said weight calculating means being further operative to perform, based on the values α

₁, β

₁, P_h and P_r obtained at least by said first and second displacement detector means and said second pressing force sensor means, the following operation in addition to the operations (a), (b), (c) and (d) performed with regard to the moment about the first pivot;

(e) calculating a moment of rotation M_1B of the front attachment about the second pivot when the loading section carries a load,

(f) calculating a moment of rotation M_2B of the front attachment about the second pivot when the loading section carries no load,

(g) calculating a horizontal distance L_x -L_B between the position of the center of gravity of the load in the loading section and the second pivot,

(h) calculating (M_1B -M_2B)/L_x -L_B, and

(i) erasing the horizontal distance L_x between the position of the center of gravity of the load and the first pivot based on the formulas of (d) and (h) to thereby obtain a weight of the load in the loading section.

14. A load weight indicating system as claimed in claim 13, wherein said pressing force sensor means includes pressure sensor means for detecting hydraulic pressure P_b, P_r applied to at least one of said first and second hydraulic actuator means.