Construction machine and control device for construction machine

Abstract

The present application provides a construction machine and a control device for a construction machine that calculates the weight of a load with high accuracy. The construction machine includes an attachment device having at least a boom, a stick attached to a front end of the boom, a terminal attachment attached to a front end of the stick, and an upper swing body, and a control device that compensates for a rotation torque that rotates the boom based on at least either a centrifugal force of the stick or an inertial force of the stick, and calculates the weight of a load carried by the attachment device based on the compensated rotation torque.

Description

Technical Field

[0001] This invention relates to a construction machine. Background Technology

[0002] For example, an excavator is disclosed that calculates the weight of sand in the bucket based on the measured values ​​of angle sensors that detect the relative angle between the upper rotating body and the boom, the measured values ​​of angle sensors that detect the relative angle between the boom and the stick, the measured values ​​of pressure sensors that detect the pressure of the working oil supplied to the boom cylinder, and the measured values ​​of pressure sensors that detect the pressure of the working oil supplied to the stick cylinder (see Patent Document 1).

[0003] Previous technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2002-4337 Summary of the Invention

[0006] The technical problem to be solved by the invention

[0007] However, for example, during the operation of auxiliary devices such as boom raising, the pressure of the actuators fluctuates. Therefore, even if the weight of sand in the bucket is constant, the calculated weight of sand may change due to external disturbances.

[0008] Therefore, in view of the above-mentioned issues, the object of the present invention is to provide a construction machine and a control device for the construction machine that can calculate the weight of the load with high accuracy.

[0009] means for solving technical problems

[0010] To achieve the above objectives, in one embodiment of the present invention, a construction machine is provided, comprising: an auxiliary device having at least a boom, a stick mounted at the front end of the boom, and an end attachment mounted at the front end of the stick, and mounted on an upper rotating body; and a control device that compensates for the torque causing the boom to rotate based on at least one of the centrifugal force of the stick and the inertial force of the stick, and calculates the weight of the transported object carried by the auxiliary device based on the compensated torque.

[0011] Invention Effects

[0012] According to the above embodiments, it is possible to provide a construction machine and a control device for construction machine that can calculate the weight of the load with high accuracy. Attached Figure Description

[0013] Figure 1 This is a side view of an excavator, which is an excavator according to the first embodiment.

[0014] Figure 2 This is a diagram that schematically illustrates an example of the structure of the excavator according to the first embodiment.

[0015] Figure 3 This is a diagram that schematically illustrates an example of the structure of the hydraulic system of the excavator according to the first embodiment.

[0016] Figure 4A This is a diagram that schematically illustrates an example of a structural component related to the operating system in the hydraulic system of the excavator according to the first embodiment.

[0017] Figure 4B This is a diagram that schematically illustrates an example of a structural component related to the operating system in the hydraulic system of the excavator according to the first embodiment.

[0018] Figure 4C This is a diagram that schematically illustrates an example of a structural component related to the operating system in the hydraulic system of the excavator according to the first embodiment.

[0019] Figure 5 This is a diagram that schematically illustrates an example of a structural component related to the sand load detection function in the excavator according to the first embodiment.

[0020] Figure 6 This diagram illustrates the deep digging and loading actions of an excavator.

[0021] Figure 7A This is a diagram illustrating the parameters of an excavator.

[0022] Figure 7B This is a diagram illustrating the parameters of an excavator.

[0023] Figure 8 This is a schematic diagram of an excavator's auxiliary device, illustrating the relationship between the opening and closing action of the boom and the torque around the boom foot pin.

[0024] Figure 9 This is a block diagram illustrating the processing of the load weight calculation unit in the excavator according to the first embodiment.

[0025] Figure 10 This is a block diagram illustrating the processing of the load weight calculation unit in the excavator according to the second embodiment.

[0026] Figure 11A This is a schematic diagram of an excavator's auxiliary device, illustrating the relationship between the opening and closing actions of the boom and bucket and the torque around the boom foot pin.

[0027] Figure 11BThis is a schematic diagram of an excavator's auxiliary device, illustrating the relationship between the opening and closing actions of the boom and bucket and the torque around the boom foot pin.

[0028] Figure 12 This is a block diagram illustrating the processing of the load weight calculation unit in the excavator according to the third embodiment.

[0029] Figure 13 This is a side view of the construction machinery involved in the third embodiment.

[0030] Figure 14A This diagram illustrates an example of the operation of the construction machinery involved in the third embodiment.

[0031] Figure 14B This diagram illustrates an example of the operation of the construction machinery involved in the third embodiment.

[0032] Figure 15 This is a schematic diagram of an excavator accessory that shows the relationship between the rotational motion of the gripper of the grab and the torque around the boom foot pin.

[0033] Figure 16 This is a block diagram illustrating the processing of the load weight calculation unit in the construction machinery according to the fourth embodiment.

[0034] Figure 17 This is a diagram illustrating a structural example of a loading support system. Detailed Implementation

[0035] The following description, with reference to the accompanying drawings, illustrates the methods for carrying out the invention.

[0036] [Overview of Excavators]

[0037] First, refer to Figure 1 An overview of the excavator (construction machinery) 100 according to the first embodiment will be described.

[0038] Figure 1 This is a side view of the excavator 100, which is an excavator according to the first embodiment.

[0039] In addition, Figure 1 In this diagram, the excavator 100 is positioned on a horizontal plane facing the upwardly inclined surface ES of the construction object, and an example of the target construction surface, namely the upwardly inclined surface BS (i.e., the shape of the inclined surface after construction on the upwardly inclined surface ES), is also shown. Additionally, a cylindrical body (not shown) indicating the normal direction of the target construction surface, i.e., the upwardly inclined surface BS, is provided on the upwardly inclined surface ES of the construction object.

[0040] The excavator 100 according to the first embodiment includes a lower traveling body 1; an upper rotating body 3 that is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2; a boom 4, a stick 5 and a bucket 6 constituting an auxiliary device (construction machine); and an operator's cab 10.

[0041] The lower traveling body 1 is connected by traveling hydraulic motors 1L and 1R (see below) Figure 2 The excavator 100 moves by hydraulically driving a pair of left and right tracks respectively. That is, a pair of travel hydraulic motors 1L and 1R (an example of travel motors) drive the lower traveling body 1 (tracks) as the driven part.

[0042] The upper rotating body 3 is powered by a rotary hydraulic motor 2A (see below). Figure 2 Driven by the upper rotating body 3, the upper rotating body 3 is rotated relative to the lower traveling body 1. That is, the rotary hydraulic motor 2A drives the upper rotating body 3 as the driven part and can change the orientation of the upper rotating body 3.

[0043] Alternatively, the upper rotating body 3 can be electrically driven by an electric motor (hereinafter referred to as "rotation electric motor") instead of the rotary hydraulic motor 2A. That is, similar to the rotary hydraulic motor 2A, the rotation electric motor is a rotation drive unit that drives the upper rotating body 3, which is a non-drive unit, and can change the orientation of the upper rotating body 3.

[0044] The boom 4 is pivotally mounted at the front center of the upper slewing body 3, and the stick 5 is pivotally mounted at the front end of the boom 4, allowing it to rotate up and down. The bucket 6, serving as an end attachment, is pivotally mounted at the front end of the stick 5, allowing it to rotate up and down. The boom 4, stick 5, and bucket 6 are hydraulically driven by the boom cylinder 7, stick cylinder 8, and bucket cylinder 9, respectively, which are hydraulic actuators.

[0045] In addition, the bucket 6 is an example of an end-connection accessory. Depending on the work content, other end-connection accessories such as slope buckets, dredging buckets, breakers, magnetic cranes, grappling hooks, forks, and logging machines including chainsaws can be installed at the front end of the boom 5 instead of the bucket 6.

[0046] The operator's cab 10 is the driver's cab for the operator and is located on the front left side of the upper rotating body 3.

[0047] [Structure of an excavator]

[0048] Next, besides Figure 1 In addition, also refer to Figure 2 The specific structure of the excavator 100 according to the first embodiment will be described.

[0049] Figure 2 This is a diagram that schematically illustrates an example of the structure of the excavator 100 according to the first embodiment.

[0050] In addition, Figure 2 In the diagram, the mechanical power system, working oil pipeline, pilot line, and electrical control system are represented by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0051] The drive system of the excavator 100 according to the first embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17. Furthermore, as described above, the hydraulic drive system of the excavator 100 according to the first embodiment includes hydraulic actuators such as travel hydraulic motors 1L and 1R, a swing hydraulic motor 2A, a boom cylinder 7, a stick cylinder 8, and a bucket cylinder 9, which respectively hydraulically drive the lower traveling body 1, the upper slewing body 3, the boom 4, the stick 5, and the bucket 6.

[0052] Engine 11 is the main power source in the hydraulic drive system, for example, mounted at the rear of the upper rotating body 3. Specifically, under the direct or indirect control of the controller 30 described later, engine 11 rotates at a constant target speed, driving the main pump 14 and the pilot pump 15. Engine 11 is, for example, a diesel engine that uses light oil as fuel.

[0053] Regulator 13 controls the discharge volume of main pump 14. For example, regulator 13 adjusts the angle (deflection angle) of the ramp of main pump 14 according to control commands from controller 30. As described later, regulator 13 includes, for example, regulators 13L and 13R.

[0054] The main pump 14, for example, is mounted at the rear of the upper rotating body 3, similar to the engine 11, and supplies working oil to the control valve 17 via a high-pressure hydraulic line. As described later, the main pump 14 is driven by the engine 11. The main pump 14 is, for example, a variable-capacity hydraulic pump, which, as described above, adjusts the piston stroke length by adjusting the deflection angle of the swashplate via the regulator 13 under the control of the controller 30, and controls the discharge flow rate (discharge pressure). As described later, the main pump 14 includes, for example, main pumps 14L and 14R.

[0055] Control valve 17, for example, is mounted in the center of the upper rotating body 3, and is a hydraulic control device that controls the hydraulic drive system based on the operation of the operating device 26 by the operator. As described above, control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line, and selectively supplies working oil from the main pump 14 to the hydraulic actuators (travel hydraulic motors 1L and 1R, swing hydraulic motor 2A, boom cylinder 7, stick cylinder 8, and bucket cylinder 9) according to the operating state of the operating device 26. Specifically, control valve 17 includes control valves 171 to 176 that control the flow rate and flow direction of the working oil supplied from the main pump 14 to each hydraulic actuator. More specifically, control valve 171 corresponds to travel hydraulic motor 1L, control valve 172 corresponds to travel hydraulic motor 1R, and control valve 173 corresponds to swing hydraulic motor 2A. Furthermore, control valve 174 corresponds to bucket cylinder 9, control valve 175 corresponds to boom cylinder 7, and control valve 176 corresponds to stick cylinder 8. Furthermore, as described later, control valve 175 includes, for example, control valves 175L and 175R, and as described later, control valve 176 includes, for example, control valves 176L and 176R. Details regarding control valves 171 to 176 will be described later.

[0056] The operating system of the excavator 100 according to the first embodiment includes a pilot pump 15 and an operating device 26. Furthermore, the operating system of the excavator 100 includes a reciprocating valve 32 as a structure related to equipment control functions performed by the controller 30 described later.

[0057] The pilot pump 15 is mounted, for example, at the rear of the upper rotating body 3, and supplies pilot pressure to the operating device 26 via pilot lines. The pilot pump 15 is, for example, a fixed-capacity hydraulic pump, as described above, driven by the engine 11.

[0058] The operating device 26 is located near the operator's seat in the control room 10 and serves as the input mechanism for the operator to operate various motion components (lower traveling body 1, upper slewing body 3, boom 4, stick 5, and bucket 6, etc.). In other words, the operating device 26 is the input mechanism for the operator to operate the hydraulic actuators that drive each motion component (i.e., traveling hydraulic motors 1L and 1R, slewing hydraulic motor 2A, boom cylinder 7, stick cylinder 8, bucket cylinder 9, etc.). The operating device 26 is directly connected to the control valve 17 via its secondary side pilot line, or indirectly connected to the control valve 17 via the reciprocating valve 32 (described later) located on the secondary side pilot line. Thus, the control valve 17 can input pilot pressure from the operating device 26 corresponding to the operating state of the lower traveling body 1, upper slewing body 3, boom 4, stick 5, and bucket 6, etc. Therefore, the control valve 17 can drive each hydraulic actuator according to the operating state of the operating device 26. The operating device 26 includes, for example, a joystick device for operating the boom 5 (boom cylinder 8). Furthermore, the operating device 26 includes, for example, joystick devices 26A to 26C (for reference) for operating the boom 4 (boom cylinder 7), the bucket 6 (bucket cylinder 9), and the upper slewing body 3 (slewing hydraulic motor 2A), respectively. Figures 4A to 4C Furthermore, the operating device 26 includes, for example, a joystick or pedal device for operating the left and right pairs of tracks (travel hydraulic motors 1L and 1R) of the lower walking body 1 respectively.

[0059] The reciprocating valve 32 has two inlet ports and one outlet port, and outputs working oil with the higher pilot pressure from the two inlet ports to the outlet port. One of the two inlet ports of the reciprocating valve 32 is connected to the operating device 26, and the other port is connected to the proportional valve 31. The outlet port of the reciprocating valve 32 is connected via a pilot line to the pilot port of the corresponding control valve in the control valve 17 (see details). Figures 4A to 4C Therefore, the reciprocating valve 32 enables the higher of the pilot pressure generated by the operating device 26 and the pilot pressure generated by the proportional valve 31 to act on the pilot port of the corresponding control valve. That is, the controller 30, described later, controls the corresponding control valve independently of the operator's operation of the operating device 26 by outputting a pilot pressure from the proportional valve 31 that is higher than the pilot pressure output from the secondary side of the operating device 26, thereby controlling the operation of each actuating element. As described later, the reciprocating valve 32 includes, for example, reciprocating valves 32AL, 32AR, 32BL, 32BR, 32CL, and 32CR.

[0060] Alternatively, the operating devices 26 (left operating lever, right operating lever, left travel lever, and right travel lever) can be electrical, outputting electrical signals, rather than hydraulically piloted, outputting pilot pressure. In this case, the electrical signal from the operating devices 26 is input to the controller 30, which controls each of the control valves 171 to 176 within the control valve 17 according to the input electrical signal, thereby realizing the operation of various hydraulic actuators corresponding to the operation of the operating devices 26. For example, the control valves 171 to 176 within the control valve 17 can be solenoid solenoid spool valves driven by commands from the controller 30. Furthermore, for example, a solenoid valve that operates according to the electrical signal from the controller 30 can be configured between the pilot pump 15 and the pilot port of each control valve 171 to 176. At this time, if manual operation using the electric operating device 26 is performed, the controller 30 controls the solenoid valve and increases or decreases the pilot pressure according to the electrical signal corresponding to its operation amount (e.g., joystick operation amount), thereby enabling each control valve 171 to 176 to operate according to the operation content of the operating device 26.

[0061] The control system of the excavator 100 according to the first embodiment includes a controller 30, an exhaust pressure sensor 28, an operating pressure sensor 29, a proportional valve 31, a display device 40, an input device 42, a sound output device 43, a storage device 47, a boom angle sensor S1, a stick angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, a slewing state sensor S5, a camera device S6, a positioning device P1, and a communication device T1.

[0062] The controller 30 (an example of a control device) is, for example, located in the operator's cab 10 and performs drive control of the excavator 100. The controller 30 can implement its functions through any hardware, software, or a combination thereof. For example, the controller 30 is configured around a microcomputer including a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), non-volatile auxiliary storage devices, and various input / output interfaces. The controller 30 implements various functions, for example, by executing various programs stored in ROM and non-volatile auxiliary storage devices on the CPU.

[0063] For example, the controller 30 sets a target speed based on a pre-set operating mode or the specified operation by the operator, and performs drive control to keep the engine 11 rotating at a constant speed.

[0064] Furthermore, for example, the controller 30 outputs control commands to the regulator 13 as needed and changes the discharge volume of the main pump 14.

[0065] Furthermore, for example, controller 30 performs control related to equipment guidance functions, such as guiding manual operations of the excavator 100 by an operator via operating device 26. Also, controller 30 performs control related to equipment control functions, such as automatically supporting manual operations of the excavator 100 by an operator via operating device 26. That is, controller 30 includes an equipment guidance unit 50 as a functional unit related to both equipment guidance and equipment control functions. Furthermore, controller 30 includes a sand and soil load handling unit 60, described later.

[0066] Furthermore, some of the functions of controller 30 can also be implemented by other controllers (control devices). That is, the functions of controller 30 can also be implemented in a distributed manner by multiple controllers. For example, equipment guidance functions and equipment control functions can also be implemented by dedicated controllers (control devices).

[0067] Discharge pressure sensor 28 detects the discharge pressure of the main pump 14. A detection signal corresponding to the discharge pressure detected by discharge pressure sensor 28 is input to controller 30. As described later, discharge pressure sensor 28 includes, for example, discharge pressure sensors 28L and 28R.

[0068] As described above, the operating pressure sensor 29 detects the pilot pressure on the secondary side of the operating device 26, that is, the pilot pressure in the operating device 26 corresponding to the operating state (e.g., operating direction or operating amount) related to each actuating element (i.e., hydraulic actuator). The detection signal of the pilot pressure in the operating device 26 corresponding to the operating state of the lower traveling body 1, upper slewing body 3, boom 4, stick 5, and bucket 6, detected by the operating pressure sensor 29, is input to the controller 30. As described later, the operating pressure sensor 29 includes, for example, operating pressure sensors 29A to 29C.

[0069] Alternatively, in place of the operating pressure sensor 29, other sensors capable of detecting the operating status of each action element in the operating device 26 may be provided, such as encoders or potentiometers capable of detecting the operating amount (tilting amount) or tilting direction of the joystick devices 26A to 26C.

[0070] A proportional valve 31 is provided in the pilot line connecting the pilot pump 15 and the reciprocating valve 32, and is configured to change its flow area (the cross-sectional area through which the working oil can flow). The proportional valve 31 operates according to control commands input from the controller 30. Thus, even when the operator does not operate the operating device 26 (specifically, the joystick devices 26A to 26C), the controller 30 can supply the working oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve within the control valve 17 via the proportional valve 31 and the reciprocating valve 32. As described later, the proportional valve 31 includes, for example, proportional valves 31AL, 31AR, 31BL, 31BR, 31CL, and 31CR.

[0071] The display device 40 is positioned within the control room 10 in a location easily visible to the operator. Under the control of the controller 30, it displays various information images. The display device 40 can be connected to the controller 30 via an in-vehicle network such as CAN (Controller Area Network), or via a dedicated one-to-one line.

[0072] The input device 42 is located within the reach of the operator seated in the control room 10, receives various operational inputs from the operator, and outputs signals corresponding to the operational inputs to the controller 30. The input device 42 includes a touch panel on a display of a display device for displaying various information images, a rotary switch located at the front end of the joystick portion of the joystick devices 26A-26C, push-button switches, joysticks, toggle keys, and a rotary dial located around the display device 40. Signals corresponding to the operations performed on the input device 42 are input to the controller 30.

[0073] The sound output device 43 is installed, for example, inside the control room 10 and connected to the controller 30, and outputs sound under the control of the controller 30. The sound output device 43 is, for example, a speaker or a buzzer. The sound output device 43 outputs various information based on the sound output commands from the controller 30.

[0074] Storage device 47 is installed, for example, within the operator's cab 10, and stores various information under the control of controller 30. Storage device 47 is, for example, a non-volatile storage medium such as semiconductor memory. Storage device 47 can store information output by various devices when the excavator 100 is operating, or information acquired by various devices before the excavator 100 begins operation. Storage device 47 can also store, for example, data related to the target construction surface acquired via communication device T1 or set via input device 42. This target construction surface can be set (saved) by the operator of the excavator 100 or by the construction manager, etc.

[0075] A boom angle sensor S1 is mounted on the boom 4 and detects the pitch angle (hereinafter referred to as "boom angle") of the boom 4 relative to the upper rotating body 3. For example, it detects the angle formed by the straight line connecting the two fulcrums of the boom 4 relative to the plane of rotation of the upper rotating body 3 when viewed from the side. The boom angle sensor S1 may include, for example, a rotary encoder, an accelerometer, a six-axis sensor, an IMU (Inertial Measurement Unit), etc. Furthermore, the boom angle sensor S1 may also include a potentiometer using a variable resistor, a cylinder sensor that detects the stroke of the hydraulic cylinder (boom cylinder 7) corresponding to the boom angle, etc. The same applies to the stick angle sensor S2 and the bucket angle sensor S3. The detection signal corresponding to the boom angle detected by the boom angle sensor S1 is input to the controller 30.

[0076] A stick angle sensor S2 is installed on the stick 5 to detect the rotation angle of the stick 5 relative to the boom 4 (hereinafter referred to as the "stick angle"). For example, it detects the angle formed by the straight line connecting the two ends of the stick 5 to the straight line connecting the two ends of the boom 4 when viewed from the side. The detection signal corresponding to the stick angle detected by the stick angle sensor S2 is input to the controller 30.

[0077] A bucket angle sensor S3 is installed on the bucket 6 to detect the rotation angle of the bucket 6 relative to the stick 5 (hereinafter referred to as the "bucket angle"). For example, it detects the angle formed by the straight line connecting the fulcrum of the bucket 6 and the front end (tip) relative to the straight line connecting the fulcrums at both ends of the stick 5 when viewed from the side. The detection signal corresponding to the bucket angle detected by the bucket angle sensor S3 is input to the controller 30.

[0078] The body tilt sensor S4 detects the tilt state of the excavator 100 (upper rotating body 3 or lower traveling body 1) relative to the horizontal plane. The body tilt sensor S4 is, for example, mounted on the upper rotating body 3, and detects the tilt angles (hereinafter referred to as "front-back tilt angle" and "left-right tilt angle") of the excavator 100 (i.e., the upper rotating body 3) around two axes in the front-back and left-right directions. The body tilt sensor S4 may include, for example, a rotary encoder, an accelerometer, a six-axis sensor, and an IMU. The detection signals corresponding to the tilt angles (front-back tilt angle and left-right tilt angle) detected by the body tilt sensor S4 are input to the controller 30.

[0079] The slewing state sensor S5 outputs detection information related to the slewing state of the upper slewing body 3. The slewing state sensor S5, for example, detects the slewing angular velocity and slewing angle of the upper slewing body 3. The slewing state sensor S5 may include, for example, a gyroscope sensor, a resolver, and a rotary encoder. The detection signal corresponding to the slewing angle or angular velocity of the upper slewing body 3 detected by the slewing state sensor S5 is input to the controller 30. The boom angle sensor S1, stick angle sensor S2, bucket angle sensor S3, body tilt sensor S4, and slewing state sensor S5 are included in the posture sensor. Through the posture sensor, not only the tip position of the bucket 6 is detected, but also the boom angle, boom angular velocity, and boom angular acceleration are detected.

[0080] The camera device S6, which serves as a spatial recognition device, captures images of the periphery of the excavator 100. The camera device S6 includes a camera S6F that captures images of the front of the excavator 100, a camera S6L that captures images of the left side of the excavator 100, a camera S6R that captures images of the right side of the excavator 100, and a camera S6B that captures images of the rear of the excavator 100.

[0081] Camera S6F is installed, for example, in the ceiling of the operator's cab 10, i.e., inside the operator's cab 10. Furthermore, camera S6F can be installed on the roof of the operator's cab 10, the side of the boom 4, or on the exterior of the operator's cab 10. Camera S6L is installed on the left end of the upper surface of the upper rotating body 3, camera S6R is installed on the right end of the upper surface of the upper rotating body 3, and camera S6B is installed on the rear end of the upper surface of the upper rotating body 3.

[0082] The imaging device S6 (cameras S6F, S6B, S6L, S6R) is, for example, a single-lens wide-angle camera with a very wide field of view. Furthermore, the imaging device S6 can also be a stereo camera or a distance imaging camera, etc. The images captured by the imaging device S6 are input to the controller 30 via the display device 40.

[0083] The camera device S6, serving as a spatial recognition device, can also function as an object detection device. In this case, the camera device S6 can detect objects present around the excavator 100. Detected objects may include, for example, people, animals, vehicles, construction machinery, buildings, pits, etc. Furthermore, the camera device S6 can also calculate the distance from the camera device S6 or the excavator 100 to the detected object. The camera device S6, as an object detection device, may include, for example, a stereo camera, a distance image sensor, etc. Moreover, the spatial recognition device may be, for example, a monocular camera with an imaging element such as a CCD or CMOS, which outputs the captured image to the display device 40. Furthermore, the spatial recognition device may also be configured to calculate the distance from the spatial recognition device or the excavator 100 to the detected object. In addition to the camera device S6, other object detection devices such as ultrasonic sensors, millimeter-wave radar, LiDAR, and infrared sensors may also be provided as spatial recognition devices. When the spatial identification device 80 utilizes millimeter-wave radar, ultrasonic sensors, or lidar, it can also send multiple signals (laser beams, etc.) to an object and receive its reflected signals, thereby detecting the distance and direction from the reflected signals to the object.

[0084] In addition, the camera device S6 can also be directly and communicatively connected to the controller 30.

[0085] A boom rod pressure sensor S7R and a boom bottom pressure sensor S7B are installed in the boom cylinder 7. A stick pressure sensor S8R and a stick bottom pressure sensor S8B are installed in the stick cylinder 8. A bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B are installed in the bucket cylinder 9. The boom rod pressure sensor S7R, boom bottom pressure sensor S7B, stick rod pressure sensor S8R, stick bottom pressure sensor S8B, bucket rod pressure sensor S9R, and bucket bottom pressure sensor S9B are collectively referred to as "cylinder pressure sensors".

[0086] The boom rod pressure sensor S7R detects the pressure in the rod-side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure"). The boom bottom pressure sensor S7B detects the pressure in the bottom-side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom bottom pressure"). The stick pressure sensor S8R detects the pressure in the stick-side oil chamber of the stick cylinder 8 (hereinafter referred to as "stick pressure"). The stick bottom pressure sensor S8B detects the pressure in the bottom-side oil chamber of the stick cylinder 8 (hereinafter referred to as "stick bottom pressure"). The bucket rod pressure sensor S9R detects the pressure in the stick-side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure"). The bucket bottom pressure sensor S9B detects the pressure in the bottom-side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket bottom pressure").

[0087] Positioning device P1 measures the position and orientation of the upper rotating body 3. Positioning device P1, for example, is a GNSS (Global Navigation Satellite System) compass, which detects the position and orientation of the upper rotating body 3, and the detection signal corresponding to the position and orientation of the upper rotating body 3 is input to controller 30. Furthermore, the function of detecting the orientation of the upper rotating body 3 in positioning device P1 can also be replaced by an azimuth sensor installed on the upper rotating body 3.

[0088] The communication device T1 communicates with external devices through a defined network, including a mobile communication network with a base station as a terminal, a satellite communication network, and the Internet. The communication device T1 may be, for example, a mobile communication module corresponding to mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0089] The equipment guidance unit 50, for example, performs control of the excavator 100 related to the equipment guidance function. The equipment guidance unit 50, for example, transmits work information such as the distance between the target construction surface and the working part of the auxiliary device, specifically the termination attachment, via a display device 40 or a sound output device 43 to the operator. As described above, data related to the target construction surface is, for example, pre-stored in the storage device 47. The data related to the target construction surface is, for example, expressed in a reference coordinate system. The reference coordinate system is, for example, the World Geodetic System. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with the origin placed at the Earth's center of gravity, the X-axis taken in the direction of the intersection of the Greenwich Meridian and the equator, the Y-axis taken in the direction of 90 degrees east longitude, and the Z-axis taken in the direction of the North Pole. The operator can set any point on the construction site as a reference point and, through the input device 42, set the target construction surface according to its relative position to the reference point. The working parts of the bucket 6 are, for example, the tip of the bucket 6, the back of the bucket 6, etc. Furthermore, as an end-connection accessory, when a breaker is used instead of the bucket 6, the front end of the breaker corresponds to the working part. The equipment guidance unit 50 notifies the operator of work information through the display device 40, the sound output device 43, etc., and guides the operator to operate the excavator 100 through the operating device 26.

[0090] Furthermore, the equipment guide unit 50, for example, performs control of the excavator 100 related to equipment control functions. For instance, when the operator performs excavation operations manually, the equipment guide unit 50 can automatically move at least one of the boom 4, stick 5, and bucket 6 to align the target working face with the front end of the bucket 6.

[0091] The equipment guidance unit 50 acquires information from the boom angle sensor S1, stick angle sensor S2, bucket angle sensor S3, body tilt sensor S4, slewing state sensor S5, camera device S6, positioning device P1, communication device T1, and input device 42. Furthermore, based on the acquired information, the equipment guidance unit 50 calculates the distance between the bucket 6 and the target work surface, and notifies the operator of the degree of distance via sound from the sound output device 43 and an image displayed on the display device 40, or automatically controls the operation of auxiliary devices to align the front end of the auxiliary devices (specifically, the working part such as the tip or back of the bucket 6) with the target work surface. The equipment guidance unit 50, as a detailed functional structure related to the equipment guidance and control functions, includes a position calculation unit 51, a distance calculation unit 52, an information transmission unit 53, an automatic control unit 54, a slewing angle calculation unit 55, and a relative angle calculation unit 56.

[0092] The position calculation unit 51 calculates the position of the specified measuring object. For example, the position calculation unit 51 calculates the coordinate points in the reference coordinate system of the working parts such as the tip or back of the bucket 6 at the front end of the auxiliary device. Specifically, the position calculation unit 51 calculates the coordinate points of the working parts of the bucket 6 from the pitch angles (boom angle, stick angle, and bucket angle) of the boom 4, stick 5, and bucket 6.

[0093] The distance calculation unit 52 calculates the distance between two measuring objects. For example, the distance calculation unit 52 calculates the distance between the working part of the auxiliary device, specifically the tip or back of the bucket 6, and the target construction surface. Furthermore, the distance calculation unit 52 can also calculate the angle (relative angle) between the back of the bucket 6, which is the working part, and the target construction surface.

[0094] The information transmission unit 53 transmits (notifies) various information to the operator of the excavator 100 through a notification mechanism such as the display device 40 or the sound output device 43. The information transmission unit 53 notifies the operator of the magnitude (degree) of various distances, etc., calculated by the distance calculation unit 52. For example, it transmits the distance (magnitude) between the front end of the bucket 6 and the target construction surface to the operator using at least one of visual information displayed by the display device 40 and auditory information output by the sound output device 43. Furthermore, the information transmission unit 53 can also transmit the relative angle (magnitude) between the back of the bucket 6 (as the working part) and the target construction surface to the operator using at least one of visual information displayed by the display device 40 and auditory information output by the sound output device 43.

[0095] Specifically, the information transmission unit 53 uses intermittent tones output by the sound output device 43 to transmit the distance (e.g., vertical distance) between the working part of the bucket 6 and the target construction surface. In this case, the information transmission unit 53 can be configured such that the smaller the vertical distance, the shorter the interval between the intermittent tones; and the larger the vertical distance, the longer the interval between the intermittent tones. Furthermore, the information transmission unit 53 can use continuous tones, or it can represent different vertical distances by changing the pitch and intensity of the sound. Moreover, when the front end of the bucket 6 is below the target construction surface, i.e., exceeds the target construction surface, the information transmission unit 53 can also issue an alarm via the sound output device 43. This alarm is, for example, a continuous tone much longer than the intermittent tones.

[0096] Furthermore, the information transmission unit 53 can also display work information such as the distance between the working part of the front end of the auxiliary device, specifically the bucket 6, and the target construction surface, or the relative angle between the back end of the bucket 6 and the target construction surface, on the display device 40. Under the control of the controller 30, the display device 40 can, for example, simultaneously display image data received from the camera device S6 and work information received from the information transmission unit 53. The information transmission unit 53 can also use, for example, an image from an analog device or a barcode scanner to transmit the vertical distance to the operator.

[0097] The automatic control unit 54 automatically supports manual operation of the excavator 100 by the operator via the operating device 26 by automatically actuating the actuators. Specifically, as described later, the automatic control unit 54 can individually and automatically adjust the pilot pressure of the control valves (specifically, control valves 173, 175L, 175R, and 174) corresponding to the multiple hydraulic actuators (specifically, the swing hydraulic motor 2A, the boom cylinder 7, and the bucket cylinder 9). Thus, the automatic control unit 54 can automatically actuate each hydraulic actuator. For example, controls related to equipment control functions performed by the automatic control unit 54 can be executed when a predetermined switch included in the input device 42 is pressed. This predetermined switch is, for example, an equipment control switch (hereinafter referred to as the "MC (Machine Control) switch"), and can also be configured as a rotary switch at the front end of the handle held by the operator on the operating device 26 (e.g., a joystick device corresponding to the operation of the boom 5). The following explanation assumes that the device control function is effective when the MC switch is pressed.

[0098] For example, when the MC switch or the like is pressed, the automatic control unit 54, in response to the action of the boom cylinder 8, automatically extends or retracts at least one of the boom cylinder 7 and the bucket cylinder 9 to support excavation or shaping work. Specifically, when the operator manually performs the boom 5 closing operation (hereinafter referred to as "boom closing operation"), the automatic control unit 54 automatically extends or retracts at least one of the boom cylinder 7 and the bucket cylinder 9 to align the target working surface with the working part such as the tip or back of the bucket 6. At this time, the operator, for example, can perform the boom closing operation only on the control lever device corresponding to the operation of the boom 5, and close the boom 5 while aligning the tip of the bucket 6 with the target working surface.

[0099] Furthermore, when the MC switch or the like is pressed, the automatic control unit 54 can also automatically rotate the rotary hydraulic motor 2A (an example of an actuator) to ensure that the upper rotary body 3 is aligned with the target construction surface. Hereinafter, the control performed by the controller 30 (automatic control unit 54) to align the upper rotary body 3 with the target construction surface will be referred to as "alignment control." Thus, operators can align the upper rotary body 3 with the target construction surface simply by pressing a designated switch, or by operating the joystick device 26C (described later) corresponding to the rotation operation while the switch is pressed. Furthermore, by simply pressing the MC switch, operators can align the upper rotary body 3 with the target construction surface and begin equipment control functions related to the excavation work at the target construction surface.

[0100] For example, the upper rotating body 3 of the excavator 100 is positioned facing the target construction surface in a state where, according to the operation of the auxiliary device, the front end of the auxiliary device (e.g., the tip or back of the bucket 6 as the working part) can move along the inclined direction of the target construction surface (upward slope BS). Specifically, the upper rotating body 3 of the excavator 100 is positioned facing the target construction surface in a state where the operating surface of the auxiliary device (auxiliary device operating surface) perpendicular to the rotation plane of the excavator 100 includes the normal to the target construction surface corresponding to the cylindrical body (in other words, along this normal).

[0101] When the operating surface of the excavator 100's auxiliary device is not aligned with the normal to the target construction surface corresponding to the cylindrical body, the front end of the auxiliary device cannot move in the inclined direction of the target construction surface. Therefore, as a result, the excavator 100 cannot properly construct the target construction surface. In contrast, the automatic control unit 54 automatically rotates the rotary hydraulic motor 2A, enabling the upper rotating body 3 to be aligned. Thus, the excavator 100 can properly construct the target construction surface.

[0102] In the orientation control, for example, when the left vertical distance (hereinafter referred to as "left vertical distance") between the coordinate point of the left end of the bucket 6 tip and the target construction surface and the right vertical distance (hereinafter referred to as "right vertical distance") between the coordinate point of the right end of the bucket 6 tip and the target construction surface are equal, the automatic control unit 54 determines that the excavator is facing the target construction surface. Furthermore, when the left and right vertical distances are not equal (i.e., the difference between the left and right vertical distances is zero) but the difference is below a predetermined value, the automatic control unit 54 can also determine that the excavator 100 is facing the target construction surface.

[0103] Furthermore, in the orientation control, the automatic control unit 54 can, for example, operate the rotary hydraulic motor 2A based on the difference between the left and right vertical distances. Specifically, if the control lever 26C corresponding to the rotation operation is operated while a specified switch such as the MC switch is pressed, it determines whether the control lever 26C has been operated in the direction that makes the upper rotating body 3 face the target construction surface. For example, when the control lever 26C is operated in the direction that increases the vertical distance between the tip of the bucket 6 and the target construction surface (upward slope BS), the automatic control unit 54 does not perform orientation control. On the other hand, when the rotation control lever is operated in the direction that decreases the vertical distance between the tip of the bucket 6 and the target construction surface (upward slope BS), the automatic control unit 54 performs orientation control. As a result, the automatic control unit 54 can operate the rotary hydraulic motor 2A in a way that reduces the difference between the left and right vertical distances. Then, if the difference becomes below a predetermined value or zero, the automatic control unit 54 stops the rotary hydraulic motor 2A. Furthermore, the automatic control unit 54 can also set the rotation angle at which the difference becomes below a predetermined value or zero as a target angle, and control the operation of the rotary hydraulic motor 2A in a manner that makes the angle difference between this target angle and the current rotation angle (specifically, the detection value based on the detection signal from the rotation state sensor S5) zero. At this time, the rotation angle is, for example, the angle of the front and rear axes of the upper rotary body 3 relative to the reference direction.

[0104] Furthermore, as will be described later, when a rotary electric motor is mounted on the excavator 100 instead of the rotary hydraulic motor 2A, the automatic control unit 54 sets the rotary electric motor (an example of an actuator) as the controlled object and performs direct control.

[0105] The rotation angle calculation unit 55 calculates the rotation angle of the upper rotating body 3. This allows the controller 30 to determine the current orientation of the upper rotating body 3. For example, the rotation angle calculation unit 55 calculates the angle between the front and rear axes of the upper rotating body 3 and a reference direction based on the output signal of the GNSS compass included in the positioning device P1. Furthermore, the rotation angle calculation unit 55 can also calculate the rotation angle based on the detection signal of the rotation state sensor S5. Moreover, when a reference point is set at the construction site, the rotation angle calculation unit 55 can also set the direction from which the reference point is observed from the rotation axis as the reference direction.

[0106] The rotation angle represents the direction in which the operating surface of the auxiliary device extends relative to the reference direction. The operating surface of the auxiliary device is, for example, an imaginary plane that longitudinally transcribes the auxiliary device and is arranged perpendicular to the rotation plane. The rotation plane is, for example, an imaginary plane including the bottom surface of the rotating frame perpendicular to the rotation axis. For example, when it is determined that the operating surface of the auxiliary device includes the normal to the target construction surface, the controller 30 (equipment guide 50) determines that the upper rotating body 3 is facing the target construction surface.

[0107] The relative angle calculation unit 56 calculates the rotation angle (relative angle) required to make the upper rotating body 3 face the target construction surface. The relative angle is, for example, the angle between the direction of the front-rear axis of the upper rotating body 3 when it faces the target construction surface and the current direction of the front-rear axis of the upper rotating body 3. The relative angle calculation unit 56 calculates the relative angle, for example, based on data related to the target construction surface stored in the storage device 47 and the rotation angle calculated by the rotation angle calculation unit 55.

[0108] If the joystick device 26C corresponding to the rotation operation is operated while the specified switch such as the MC switch is pressed, the automatic control unit 54 determines whether a rotation operation has been performed in the direction that aligns the upper rotating body 3 with the target construction surface. When it is determined that a rotation operation has been performed in the direction that aligns the upper rotating body 3 with the target construction surface, the automatic control unit 54 sets the relative angle calculated by the relative angle calculation unit 56 as the target angle. Furthermore, when the change in rotation angle after operating the joystick device 26C reaches the target angle, the automatic control unit 54 can determine that the upper rotating body 3 is now aligned with the target construction surface and stops the operation of the rotation hydraulic motor 2A. Thus, the automatic control unit 54... Figure 2The structure shown assumes that the upper rotating body 3 is directly facing the target construction surface. In the above-described embodiment of facing control, an example of facing control of the target construction surface is shown, but it is not limited to this. For example, during the digging operation when temporarily placed sand is loaded onto a dump truck, a target digging track equivalent to the target volume can be generated, and facing control can be performed by rotating the auxiliary device so that it faces the target digging track. In this case, the target digging track changes with the digging operation. Therefore, after discharging soil into the dump truck, facing control is performed on the newly changed target digging track.

[0109] Furthermore, the rotary hydraulic motor 2A has a first port 2A1 and a second port 2A2. Hydraulic sensor 21 detects the pressure of the working oil at the first port 2A1 of the rotary hydraulic motor 2A. Hydraulic sensor 22 detects the pressure of the working oil at the second port 2A2 of the rotary hydraulic motor 2A. The detection signal corresponding to the discharge pressure detected by hydraulic sensors 21 and 22 is input to the controller 30.

[0110] Furthermore, port 2A1 is connected to the working oil tank via safety valve 23. Safety valve 23 opens when the pressure at port 2A1 reaches the specified overflow pressure, discharging the working oil from port 2A1 to the working oil tank. Similarly, port 2A2 is connected to the working oil tank via safety valve 24. Safety valve 24 opens when the pressure at port 2A2 reaches the specified overflow pressure, discharging the working oil from port 2A2 to the working oil tank.

[0111] Hydraulic system of an excavator

[0112] Next, refer to Figure 3 The hydraulic system of the excavator 100 according to the first embodiment will be described.

[0113] Figure 3 This is a diagram that schematically illustrates an example of the structure of the hydraulic system of the excavator 100 according to the first embodiment.

[0114] In addition, with Figure 2 Similarly, in the case of... Figure 3 In the diagram, the mechanical power system, working oil pipeline, pilot line, and electrical control system are represented by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0115] The hydraulic system implemented through this hydraulic circuit circulates working oil from the main pumps 14L and 14R driven by the engine 11 through the central bypass oil lines C1L and C1R, and the parallel oil lines C2L and C2R to the working oil tank.

[0116] The central bypass oil circuit C1L starts from the main pump 14L and passes through the control valves 171, 173, 175L and 176L arranged in the control valve 17 in sequence, and reaches the working oil tank.

[0117] The central bypass oil circuit C1R starts from the main pump 14R, passes through control valves 172, 174, 175R, and 176R arranged in control valve 17, and reaches the working oil tank.

[0118] Control valve 171 is a slide valve that supplies working oil discharged from main pump 14L to travel hydraulic motor 1L and discharges working oil discharged from travel hydraulic motor 1L to working oil tank.

[0119] Control valve 172 is a slide valve that supplies working oil discharged from main pump 14R to travel hydraulic motor 1R and discharges working oil discharged from travel hydraulic motor 1R to working oil tank.

[0120] Control valve 173 is a slide valve that supplies working oil discharged from main pump 14L to rotary hydraulic motor 2A and discharges working oil discharged from rotary hydraulic motor 2A to working oil tank.

[0121] Control valve 174 is a slide valve that supplies working oil discharged from main pump 14R to bucket cylinder 9 and discharges working oil in bucket cylinder 9 to working oil tank.

[0122] Control valves 175L and 175R are spool valves that supply working oil discharged by main pumps 14L and 14R to boom cylinder 7 and discharge working oil in boom cylinder 7 to working oil tank, respectively.

[0123] Control valves 176L and 176R supply working oil discharged by main pumps 14L and 14R to boom cylinder 8 and discharge the working oil in boom cylinder 8 to the working oil tank.

[0124] Control valves 171, 172, 173, 174, 175L, 175R, 176L, and 176R adjust the flow rate of the working oil supplied to and discharged from the hydraulic actuator, or switch the flow direction, according to the pilot pressure acting on the pilot port.

[0125] Parallel oil passage C2L and center bypass oil passage C1L supply working oil to control valves 171, 173, 175L, and 176L. Specifically, parallel oil passage C2L is configured to branch off from center bypass oil passage C1L upstream of control valve 171, and can supply working oil to main pump 14L in parallel with control valves 171, 173, 175L, and 176L respectively. Thus, when the flow of working oil through center bypass oil passage C1L is restricted or cut off due to one of the control valves 171, 173, and 175L, parallel oil passage C2L can supply working oil to more downstream control valves.

[0126] Parallel oil passage C2R, in parallel with the center bypass oil passage C1R, supplies working oil to the main pump 14R to control valves 172, 174, 175R, and 176R. Specifically, parallel oil passage C2R is configured to branch off from the center bypass oil passage C1R upstream of control valve 172, and can supply working oil to the main pump 14R in parallel with control valves 172, 174, 175R, and 176R. When the flow of working oil through the center bypass oil passage C1R is restricted or cut off due to one of the control valves 172, 174, and 175R, parallel oil passage C2R can supply working oil to a more downstream control valve.

[0127] Regulators 13L and 13R, under the control of controller 30, adjust the deflection angle of the swashplates of main pumps 14L and 14R, thereby adjusting the discharge volume of main pumps 14L and 14R.

[0128] Discharge pressure sensor 28L detects the discharge pressure of main pump 14L and inputs the detection signal corresponding to the detected discharge pressure to controller 30. The same applies to discharge pressure sensor 28R. Thus, controller 30 can control regulators 13L and 13R based on the discharge pressure of main pumps 14L and 14R.

[0129] In the central bypass oil circuits C1L and C1R, negative control throttles (hereinafter referred to as "negative control throttles") 18L and 18R are installed between the downstream control valves 176L and 176R and the working oil tank. Thus, the flow of working oil discharged by the main pumps 14L and 14R is restricted by the negative control throttles 18L and 18R. Furthermore, the negative control throttles 18L and 18R generate control pressures (hereinafter referred to as "negative control pressures") for controlling the regulators 13L and 13R.

[0130] Negative control pressure sensors 19L and 19R detect negative control pressure, and the detection signal corresponding to the detected negative control pressure is input to controller 30.

[0131] The controller 30 can control the regulators 13L and 13R and adjust the discharge volume of the main pumps 14L and 14R based on the discharge pressure detected by the discharge pressure sensors 28L and 28R. For example, the controller 30 can control the regulator 13L and adjust the swashplate deflection angle of the main pump 14L based on an increase in the discharge pressure of the main pump 14L, thereby reducing the discharge volume. The same applies to the regulator 13R. Thus, the controller 30 can control the total horsepower of the main pumps 14L and 14R in such a way that the absorbed horsepower of the main pumps 14L and 14R, expressed as the product of the discharge pressure and the discharge volume, does not exceed the output horsepower of the engine 11.

[0132] Furthermore, the controller 30 can control the regulators 13L and 13R based on the negative control pressure detected by the negative control pressure sensors 19L and 19R, thereby adjusting the discharge volume of the main pumps 14L and 14R. For example, the controller 30 controls the discharge volume of the main pumps 14L and 14R as follows: the higher the negative control pressure, the lower the discharge volume of the main pumps 14L and 14R; the lower the negative control pressure, the higher the discharge volume of the main pumps 14L and 14R.

[0133] Specifically, when the hydraulic actuator in the excavator 100 is in a standby state without any operation ( Figure 3 In the state shown, the working oil discharged from the main pumps 14L and 14R reaches the negative control throttle valves 18L and 18R through the central bypass oil passages C1L and C1R. Then, the flow of the working oil discharged from the main pumps 14L and 14R increases the negative control pressure generated upstream of the negative control throttle valves 18L and 18R. As a result, the controller 30 reduces the discharge volume of the main pumps 14L and 14R to the minimum permissible discharge volume, suppressing pressure loss (suction loss) as the discharged working oil passes through the central bypass oil passages C1L and C1R.

[0134] On the other hand, when a hydraulic actuator is operated via the operating device 26, the working oil discharged from the main pumps 14L and 14R flows into the hydraulic actuator of the target hydraulic actuator via the control valve corresponding to the target hydraulic actuator. Then, the flow of working oil discharged from the main pumps 14L and 14R reduces or eliminates the amount reaching the negative control throttle valves 18L and 18R, lowering the negative control pressure generated upstream of the negative control throttle valves 18L and 18R. As a result, the controller 30 increases the discharge volume of the main pumps 14L and 14R, allowing the working oil to circulate sufficiently within the target hydraulic actuator, thereby reliably driving the target hydraulic actuator.

[0135] [Detailed information about the structure related to the equipment control functions of an excavator]

[0136] Next, refer to Figures 4A to 4C The details of the structure related to the equipment control function of the excavator 100 are described.

[0137] Figures 4A to 4C This diagram schematically illustrates an example of a structural component related to the operating system within the hydraulic system of the excavator 100 according to the first embodiment. Specifically, Figure 4A This diagram illustrates an example of the pilot circuit for the control valves 175L and 175R, which apply pilot pressure to hydraulically control the boom cylinder 7. Furthermore, Figure 4B This diagram illustrates an example of the pilot circuit for the control valve 174, which applies pilot pressure to hydraulically control the bucket cylinder 9. Furthermore, Figure 4C This diagram illustrates an example of the pilot circuit of the control valve 173 that applies pilot pressure to hydraulically control the rotary hydraulic motor 2A.

[0138] And, as Figure 4A As shown, for example, the joystick device 26A is used by an operator to operate the boom cylinder 7 corresponding to the boom 4. The joystick device 26A uses the working oil discharged from the pilot pump 15 to output pilot pressure corresponding to the operation to the secondary side.

[0139] The two inlet ports of the reciprocating valve 32AL are respectively connected to the pilot line of the secondary side of the control lever device 26A corresponding to the operation in the lifting direction of the boom 4 (hereinafter referred to as "boom lifting operation") and the pilot line of the secondary side of the proportional valve 31AL. The outlet port is connected to the pilot port on the right side of the control valve 175L and the pilot port on the left side of the control valve 175R.

[0140] The two inlet ports of the reciprocating valve 32AR are respectively connected to the pilot line of the secondary side of the control lever device 26A corresponding to the operation in the lowering direction of the boom 4 (hereinafter referred to as "boom lowering operation") and the pilot line of the secondary side of the proportional valve 31AR, and the outlet port is connected to the pilot port on the right side of the control valve 175R.

[0141] That is, the joystick device 26A applies a pilot pressure corresponding to the operation content (e.g., operation direction and operation amount) to the pilot ports of control valves 175L and 175R via reciprocating valves 32AL and 32AR. Specifically, when the boom is raised, the joystick device 26A outputs a pilot pressure corresponding to the operation amount to one of the inlet ports of reciprocating valve 32AL, and applies it to the right pilot port of control valve 175L and the left pilot port of control valve 175R via reciprocating valve 32AL. Furthermore, when the boom is lowered, the joystick device 26A outputs a pilot pressure corresponding to the operation amount to one of the inlet ports of reciprocating valve 32AR, and applies it to the right pilot port of control valve 175R via reciprocating valve 32AR.

[0142] The proportional valve 31AL operates according to the control current input from the controller 30. Specifically, the proportional valve 31AL uses the working oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to another inlet port of the reciprocating valve 32AL. Thus, the proportional valve 31AL can adjust the pilot pressure acting on the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the reciprocating valve 32AL.

[0143] The proportional valve 31AR operates according to the control current input from the controller 30. Specifically, the proportional valve 31AR uses the working oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to another inlet port of the reciprocating valve 32AR. Thus, the proportional valve 31AR can adjust the pilot pressure acting on the right pilot port of the control valve 175R via the reciprocating valve 32AR.

[0144] That is, the proportional valves 31AL and 31AR can adjust the pilot pressure output to the secondary side in a manner that allows the control valves 175L and 175R to be stopped at any valve position without relying on the operating state of the lever device 26A.

[0145] Similar to proportional valve 31AL, proportional valve 33AL functions as a control valve for equipment control. Proportional valve 33AL is located in the pipeline connecting operating device 26 and reciprocating valve 32AL, and is configured to change the flow area of ​​its pipeline. In the first embodiment, proportional valve 33AL operates according to the control command output by controller 30. Therefore, regardless of operator input to operating device 26, controller 30 reduces the pressure of the working oil discharged from operating device 26 and supplies it via reciprocating valve 32AL to the pilot port of the corresponding control valve within control valve 17.

[0146] Similarly, the proportional valve 33AR functions as a control valve for equipment control. The proportional valve 33AR is disposed in the pipeline connecting the operating device 26 and the reciprocating valve 32AR, and is configured to change the flow area of ​​its pipeline. In the first embodiment, the proportional valve 33AR operates according to the control command output by the controller 30. Therefore, regardless of the operator's operation of the operating device 26, the controller 30 can reduce the pressure of the working oil discharged by the operating device 26 and supply it to the pilot port of the corresponding control valve in the control valve 17 via the reciprocating valve 32AR.

[0147] The operating pressure sensor 29A detects the operation performed by the operator on the joystick device 26A by means of pressure (operating pressure), and the detection signal corresponding to the detected pressure is input to the controller 30. Thus, the controller 30 can grasp the operation performed on the joystick device 26A.

[0148] The controller 30, independent of the operator's boom raising operation via the joystick device 26A, can supply working oil discharged from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31AL and the reciprocating valve 32AL. Furthermore, independent of the operator's boom lowering operation via the joystick device 26A, the controller 30 can supply working oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31AR and the reciprocating valve 32AR. In other words, the controller 30 can automatically control the lifting and lowering of the boom 4. Moreover, even when operating a specific operating device 26 is in progress, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to that specific operating device 26.

[0149] Proportional valve 33AL operates according to the control command (current command) output by controller 30. Furthermore, it reduces the pilot pressure generated by the working oil introduced from pilot pump 15 via lever device 26A, proportional valve 33AL, and reciprocating valve 32AL to the right pilot port of control valve 175L and the left pilot port of control valve 175R. Proportional valve 33AR operates according to the control command (current command) output by controller 30. Furthermore, it reduces the pilot pressure generated by the working oil introduced from pilot pump 15 via lever device 26A, proportional valve 33AR, and reciprocating valve 32AR to the right pilot port of control valve 175R. Proportional valves 33AL and 33AR can adjust the pilot pressure in a manner that allows control valves 175L and 175R to be stopped at any valve position.

[0150] According to this structure, even when the operator is performing a boom raising operation, the controller 30 can, as needed, reduce the pilot pressure acting on the pilot ports of the raising side of the control valve 175 (the left pilot port of control valve 175L and the right pilot port of control valve 175R) and forcibly stop the boom 4 closing action. The same applies to the situation where the operator is performing a boom lowering operation and the lowering action of the boom 4 is forcibly stopped.

[0151] Alternatively, even when the operator is performing a boom raising operation, the controller 30 can, as needed, control the proportional valve 31AR to increase the pilot pressure at the pilot port on the lowering side of the control valve 175 (the right pilot port of the control valve 175R), opposite to the pilot port on the raising side of the control valve 175, and force the control valve 175 to return to the neutral position, thereby forcibly stopping the boom 4's raising action. In this case, the proportional valve 33AL can be omitted. The same applies to the case where the boom 4's lowering action is forcibly stopped when the operator is performing a boom lowering operation.

[0152] And, as Figure 4B As shown, the joystick device 26B is used by the operator to operate the bucket cylinder 9 corresponding to the bucket 6. The joystick device 26B uses the working oil discharged from the pilot pump 15 to output pilot pressure corresponding to the operation to the secondary side.

[0153] The two inlet ports of the reciprocating valve 32BL are respectively connected to the pilot line of the secondary side of the control lever device 26B corresponding to the operation in the closing direction of the bucket 6 (hereinafter referred to as "bucket closing operation") and the pilot line of the secondary side of the proportional valve 31BL, and the outlet port is connected to the pilot port on the left side of the control valve 174.

[0154] The two inlet ports of the reciprocating valve 32BR are respectively connected to the pilot line of the secondary side of the control lever device 26B corresponding to the operation of the opening direction of the bucket 6 (hereinafter referred to as "bucket opening operation") and the pilot line of the secondary side of the proportional valve 31BR, and the outlet port is connected to the pilot port on the right side of the control valve 174.

[0155] That is, the joystick device 26B applies a pilot pressure corresponding to the operation to the pilot port of the control valve 174 via reciprocating valves 32BL and 32BR. Specifically, when a bucket closing operation is performed, the joystick device 26B outputs a pilot pressure corresponding to the operation amount to one of the inlet ports of the reciprocating valve 32BL, and applies it to the left pilot port of the control valve 174 via the reciprocating valve 32BL. Furthermore, when a bucket opening operation is performed, the joystick device 26B outputs a pilot pressure corresponding to the operation amount to one of the inlet ports of the reciprocating valve 32BR, and applies it to the right pilot port of the control valve 174 via the reciprocating valve 32BR.

[0156] The proportional valve 31BL operates according to the control current input from the controller 30. Specifically, the proportional valve 31BL uses the working oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to another pilot port of the reciprocating valve 32BL. Thus, the proportional valve 31BL can adjust the pilot pressure acting on the left pilot port of the control valve 174 via the reciprocating valve 32BL.

[0157] The proportional valve 31BR operates according to the control current output by the controller 30. Specifically, the proportional valve 31BR uses the working oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to another pilot port of the reciprocating valve 32BR. Thus, the proportional valve 31BR can adjust the pilot pressure acting on the right pilot port of the control valve 174 via the reciprocating valve 32BR.

[0158] That is, the proportional valves 31BL and 31BR can adjust the pilot pressure output to the secondary side in a manner that allows the control valve 174 to be stopped at any valve position without relying on the operating state of the lever device 26B.

[0159] Similar to proportional valve 31BL, proportional valve 33BL functions as a control valve for equipment control. Proportional valve 33BL is disposed in the pipeline connecting operating device 26 and reciprocating valve 32BL, and is configured to change the flow area of ​​its pipeline. In the first embodiment, proportional valve 33BL operates according to control commands output by controller 30. Therefore, regardless of operator input to operating device 26, controller 30 can reduce the pressure of the working oil discharged from operating device 26 and supply it via reciprocating valve 32BL to the pilot port of the corresponding control valve within control valve 17.

[0160] Similarly, the proportional valve 33BR functions as a control valve for equipment control. The proportional valve 33BR is located in the pipeline connecting the operating device 26 and the reciprocating valve 32BR, and is configured to change the flow area of ​​its pipeline. In the first embodiment, the proportional valve 33BR operates according to the control command output by the controller 30. Therefore, regardless of the operator's operation of the operating device 26, the controller 30 can reduce the pressure of the working oil discharged by the operating device 26 and supply it to the pilot port of the corresponding control valve in the control valve 17 via the reciprocating valve 32BR.

[0161] The operating pressure sensor 29B detects the operation of the joystick device 26B by the operator using pressure (operating pressure), and the detection signal corresponding to the detected pressure is input to the controller 30. Thus, the controller 30 can understand the operation of the joystick device 26B.

[0162] The controller 30, independent of the operator's operation of closing the bucket via the joystick device 26B, can supply working oil discharged from the pilot pump 15 to the pilot port on the left side of the control valve 174 via the proportional valve 31BL and the reciprocating valve 32BL. Furthermore, independent of the operator's operation of opening the bucket via the joystick device 26B, the controller 30 can supply working oil discharged from the pilot pump 15 to the pilot port on the right side of the control valve 174 via the proportional valve 31BR and the reciprocating valve 32BR. In other words, the controller 30 can automatically control the opening and closing of the bucket 6. Moreover, even when operating a specific operating device 26 is in progress, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to that specific operating device 26.

[0163] Furthermore, the operation of proportional valves 33BL and 33BR, which forcibly stop the movement of bucket 6 when the operator is performing bucket closing or bucket opening operations, is the same as the operation of proportional valves 33AL and 33AR, which forcibly stop the movement of boom 4 when the operator is performing boom raising or boom lowering operations, so repeated explanations are omitted.

[0164] And, for example, such as Figure 4C As shown, the joystick device 26C is used by operators to operate the rotary hydraulic motor 2A corresponding to the upper rotary body 3 (rotation mechanism 2). The joystick device 26C uses the working oil discharged from the pilot pump 15 to output pilot pressure corresponding to the operation to the secondary side.

[0165] The two inlet ports of the reciprocating valve 32CL are respectively connected to the pilot line of the secondary side of the control lever device 26C corresponding to the left-hand rotation operation (hereinafter referred to as "left rotation operation") of the upper rotating body 3 and the pilot line of the secondary side of the proportional valve 31CL, and the outlet port is connected to the pilot port on the left side of the control valve 173.

[0166] The two inlet ports of the reciprocating valve 32CR are respectively connected to the pilot line of the secondary side of the control lever device 26C corresponding to the right-hand rotation operation (hereinafter referred to as "right rotation operation") of the upper rotating body 3 and the pilot line of the secondary side of the proportional valve 31CR, and the outlet port is connected to the pilot port on the right side of the control valve 173.

[0167] That is, the joystick device 26C applies a pilot pressure corresponding to the left or right direction of operation to the pilot port of the control valve 173 via the reciprocating valves 32CL and 32CR. Specifically, when a left turn operation is performed, the joystick device 26C outputs a pilot pressure corresponding to the operation amount to one of the inlet ports of the reciprocating valve 32CL, and applies it to the left pilot port of the control valve 173 via the reciprocating valve 32CL. Similarly, when a right turn operation is performed, the joystick device 26C outputs a pilot pressure corresponding to the operation amount to one of the inlet ports of the reciprocating valve 32CR, and applies it to the right pilot port of the control valve 173 via the reciprocating valve 32CR.

[0168] The proportional valve 31CL operates according to the control current input from the controller 30. Specifically, the proportional valve 31CL uses the working oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to another pilot port of the reciprocating valve 32CL. Thus, the proportional valve 31CL can adjust the pilot pressure acting on the left pilot port of the control valve 173 via the reciprocating valve 32CL.

[0169] The proportional valve 31CR operates according to the control current output by the controller 30. Specifically, the proportional valve 31CR uses the working oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to another pilot port of the reciprocating valve 32CR. Thus, the proportional valve 31CR can adjust the pilot pressure acting on the right pilot port of the control valve 173 via the reciprocating valve 32CR.

[0170] That is, the proportional valves 31CL and 31CR can adjust the pilot pressure output to the secondary side in a manner that allows the control valve 173 to be stopped at any valve position without relying on the operating state of the lever device 26C.

[0171] Similar to proportional valve 31CL, proportional valve 33CL functions as a control valve for equipment control. Proportional valve 33CL is located in the pipeline connecting operating device 26 and reciprocating valve 32CL, and is configured to change the flow area of ​​its pipeline. In the first embodiment, proportional valve 33CL operates according to control commands output by controller 30. Therefore, regardless of operator input to operating device 26, controller 30 can reduce the pressure of the working oil discharged from operating device 26 and supply it via reciprocating valve 32CL to the pilot port of the corresponding control valve within control valve 17.

[0172] Similarly, the proportional valve 33CR functions as a control valve for equipment control. The proportional valve 33CR is located in the pipeline connecting the operating device 26 and the reciprocating valve 32CR, and is configured to change the flow area of ​​its pipeline. In the first embodiment, the proportional valve 33CR operates according to the control command output by the controller 30. Therefore, regardless of the operator's operation of the operating device 26, the controller 30 can reduce the pressure of the working oil discharged by the operating device 26 and supply it to the pilot port of the corresponding control valve in the control valve 17 via the reciprocating valve 32CR.

[0173] The pressure sensor 29C detects the operator's control of the joystick 26C by measuring pressure, and the detection signal corresponding to the detected pressure is input to the controller 30. Thus, the controller 30 can determine the left and right directional operation of the joystick 26C.

[0174] The controller 30, independent of the operator's leftward rotation of the joystick 26C, can supply working oil discharged from the pilot pump 15 to the pilot port on the left side of the control valve 173 via the proportional valve 31CL and the reciprocating valve 32CL. Similarly, independent of the operator's rightward rotation of the joystick 26C, the controller 30 can supply working oil discharged from the pilot pump 15 to the pilot port on the right side of the control valve 173 via the proportional valve 31CR and the reciprocating valve 32CR. In other words, the controller 30 can automatically control the left-right rotation of the upper rotating body 3. Furthermore, even when operating a specific operating device 26, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to that specific operating device 26.

[0175] Furthermore, the operation of proportional valves 33CL and 33CR, which forcibly stop the movement of the upper slewing body 3 when the operator is performing a slewing operation, is the same as the operation of proportional valves 33AL and 33AR, which forcibly stop the movement of the boom 4 when the operator is performing a boom raising or lowering operation, so repeated explanations are omitted.

[0176] Furthermore, the excavator 100 may have a structure that automatically opens and closes the boom 5 and a structure that automatically moves the lower traveling body 1 forward and backward. In this case, in the hydraulic system, the structural parts related to the operating system of the boom cylinder 8, the structural parts related to the operating system of the traveling hydraulic motor 1L, and the structural parts related to the operation of the traveling hydraulic motor 1R may be configured as structural parts related to the operating system of the boom cylinder 7, etc. Figures 4A to 4C )same.

[0177] [Detailed information about the structure related to the sand load detection function of the excavator]

[0178] Next, refer to Figure 5 The details of the structure related to the sand load detection function of the excavator 100 according to the first embodiment will be described. Figure 5 This is a diagram that schematically illustrates an example of a structural component in the excavator 100 according to the first embodiment that is related to the sand load detection function.

[0179] like Figure 3 As shown, the controller 30 includes a sand load processing unit 60 as a functional unit related to the function of detecting the load of sand excavated by the bucket 6.

[0180] The sand and soil load handling unit 60 has a load weight calculation unit 61, a maximum load detection unit 62, an additive load calculation unit 63, and a remaining load calculation unit 64.

[0181] Here, an example of the operation of loading sand (load) into a dump truck by the excavator 100 according to the first embodiment will be described.

[0182] First, the excavator 100, in the excavation position, controls its auxiliary device to excavate sand and soil through the bucket 6 (excavation action). Next, the excavator 100 rotates its upper slewing body 3, moving the bucket 6 from the excavation position to the dumping position (slewing action). A dump truck's cargo box is positioned below the dumping position. Then, in the dumping position, the excavator 100 controls its auxiliary device to discharge the sand and soil from the bucket 6, thereby loading the sand and soil from the bucket 6 into the dump truck's cargo box (dumping action). Next, the excavator 100 rotates its upper slewing body 3, moving the bucket 6 from the dumping position back to the excavation position (slewing action). By repeating these actions, the excavator 100 loads the excavated sand and soil into the dump truck's cargo box.

[0183] If the excavator 100 performs a prescribed action, the load weight calculation unit 61 calculates the weight of the sand (load) in the bucket 6. Here, the prescribed action refers to the necessary conditions for starting to calculate the weight of the sand, such as raising the boom 4 to a prescribed angle, rotating the upper slewing body 3, and allowing a predetermined time to pass.

[0184] The weight of the sand is calculated, for example, by balancing the torque around the base of the boom 4. Specifically, the thrust of the boom cylinder 7 increases due to the sand in the bucket 6, and the torque around the base of the boom 4, calculated from the thrust of the boom cylinder 7, also increases. The increase in torque is consistent with the torque calculated from the weight of the sand and the center of gravity of the sand. Thus, the load weight calculation unit 61 can calculate the weight of the sand based on the thrust of the boom cylinder 7 (measured values ​​from the boom rod pressure sensor S7R and the boom bottom pressure sensor S7B) and the center of gravity of the sand. In addition, the center of gravity of the sand is, for example, determined in advance through experiments and stored in the controller 30. Furthermore, an example of calculating the weight of the sand based on the thrust of the boom cylinder 7 has been described, but the method of calculating the weight of the sand is not limited to this. The weight of the sand can be calculated based on the thrust of the boom cylinder 8 (measured by boom pressure sensor S8R and boom bottom pressure sensor S8B), or based on the thrust of the bucket cylinder 9 (measured by bucket boom pressure sensor S9R and bucket bottom pressure sensor S9B). Furthermore, the weight of the sand can also be calculated based on the torque of the rotary hydraulic motor 2A when the upper rotary body 3 rotates (measured by hydraulic sensors 21 and 22).

[0185] The maximum load capacity detection unit 62 detects the maximum load capacity of the dump truck carrying sand. For example, the maximum load capacity detection unit 62 determines the dump truck carrying sand based on an image captured by the camera device S6. Then, the maximum load capacity detection unit 62 detects the maximum load capacity of the dump truck based on the determined image. For example, the maximum load capacity detection unit 62 determines the type (size, etc.) of the dump truck based on the determined image. The maximum load capacity detection unit 62 has a data table that establishes a relationship between the type of vehicle and the maximum load capacity, and calculates the maximum load capacity of the dump truck based on the type of vehicle determined from the image and the data table. Alternatively, the maximum load capacity, type of vehicle, etc., of the dump truck can be input via the input device 42, and the maximum load capacity detection unit 62 calculates the maximum load capacity of the dump truck based on the input information from the input device 42.

[0186] The additive loading calculation unit 63 calculates the weight of sand loaded onto the dump truck. Specifically, each time sand is discharged from the bucket 6 into the dump truck's cargo box, the additive loading calculation unit 63 adds the weight of sand in the bucket 6 calculated by the load weight calculation unit 61, and calculates the total weight of sand loaded into the dump truck's cargo box, which is the additive loading amount (total weight). Furthermore, when the dump truck carrying the sand becomes a new dump truck, the additive loading amount is reset.

[0187] The remaining load calculation unit 64 calculates the difference between the maximum load of the dump truck detected by the maximum load detection unit 62 and the current additive load calculated by the additive load calculation unit 63 as the remaining load. The remaining load is the remaining weight of sand that can be loaded onto the dump truck.

[0188] The display device 40 can also display the weight of sand in the bucket 6 calculated by the load weight calculation unit 61, the maximum load of the dump truck detected by the maximum load detection unit 62, the additive load of the dump truck (the total weight of sand loaded in the cargo box) calculated by the additive load calculation unit 63, and the remaining load of the dump truck (the remaining weight of the loadable sand) calculated by the remaining load calculation unit 64.

[0189] Alternatively, the display device 40 may be configured to display a warning when the added load exceeds the maximum load capacity. Furthermore, the display device 40 may be configured to display a warning when the calculated weight of sand in the bucket 6 exceeds the remaining load capacity. Additionally, the warning is not limited to being displayed on the display device 40; it can also be a sound output by the sound output device 43. This prevents the dump truck from exceeding its maximum load capacity for loading sand.

[0190] [Excavator's digging and loading actions]

[0191] Next, using Figure 6An example of the operation of excavator 100 will be explained. Figure 6 This diagram illustrates the deep digging and loading actions of the excavator 100.

[0192] First, such as Figure 6 As shown in (A), the operator lowers the boom. Then, the operator positions the bucket 6 relative to the object being excavated at the desired height, as shown in [example diagram]. Figure 6 As shown in (B), the bucket 6 gradually closes from its open position. At this time, excavated soil enters the bucket 6.

[0193] Next, with the upper edge of the bucket 6 roughly horizontal, the operator raises the boom 4 to lift the bucket 6 to... Figure 6 The position is shown in (C). At this time, the operator can also raise the boom 4 and close the stick 5.

[0194] Then, as Figure 6 As shown in (D), the operator raises the boom 4 until the bottom of the bucket 6 is at the desired height from the ground. The desired height is, for example, the height of a dump truck DT (see below). Figure 6 (E)) above the height. Continuing with or while performing the above actions, as shown by arrow AR1, the operator rotates the upper slewing body 3 and moves the bucket 6 to the soil discharge position. The excavator's action at this time is called the boom raising and slewing action, and this action range is called the boom raising and slewing action range.

[0195] If the boom raising and slewing motion is completed, then proceed as follows: Figure 6 As shown in (E), the operator opens the boom 5 and bucket 6 to discharge the soil from the bucket 6. This action of the excavator 100 is called the overturning action, and this action range is called the overturning action range. During the overturning action, the operator can also open only the bucket 6 to discharge the soil.

[0196] If the unloading process is complete, then... Figure 6 As shown in (F), the operator rotates the upper slewing body 3 as indicated by arrow AR2, moving the bucket 6 directly above the digging position. Simultaneously with the rotation, the boom 4 is lowered, causing the bucket 6 to descend from the digging target to the desired height. This movement of the excavator is called the boom lowering and slewing motion, and this range of motion is called the boom lowering and slewing motion range.

[0197] The operator repeats the cycle consisting of "digging action", "boom raising and slewing action", "unloading action" and "boom lowering and slewing action" while advancing the deep digging and loading action.

[0198] [Method for calculating the weight of sand in the excavator 100 according to the first embodiment]

[0199] Next, using Figure 7 to... Figure 9 The method for calculating the weight of the sand (load) in the bucket 6 of the excavator 100 according to the first embodiment will be described.

[0200] Figure 7A and Figure 7B This diagram illustrates the parameters of the excavator 100. Figure 7A It is a side view. Figure 7B This is the main view.

[0201] like Figure 7A As shown, the center of gravity of the sand (load) loaded in the bucket 6 is defined as the sand center of gravity Gl. The position of the sand center of gravity Gl relative to the bucket 6 is determined in advance through experiments and stored in the controller 30. The weight of the sand loaded in the bucket 6 is defined as the sand weight Wl. The angle formed by the straight line connecting the two ends of the boom 4 with respect to the rotation plane of the upper rotating body 3 is defined as the boom angle θ1. The boom angle θ1 is detected by the boom angle sensor S1. The angle formed by the straight line connecting the two ends of the stick 5 with respect to the straight line connecting the two ends of the boom 4 is defined as the stick angle θ2. The stick angle θ2 is detected by the stick angle sensor S2. The angle formed by the straight line connecting the fulcrum of the bucket 6 and the sand center of gravity Gl with respect to the straight line connecting the two ends of the stick 5 is defined as the bucket angle θ3. The bucket angle θ3 is detected by the bucket angle sensor S3. Furthermore, the tilt angle in the forward / backward direction of the excavator 100 is defined as the tilt angle θp. And, as Figure 7B As shown, the tilt angle of the excavator 100 in the left and right directions is defined as the roll angle θr. Furthermore, the tilt angle θp and roll angle θr are detected by the machine tilt sensor S4.

[0202] Load weight calculation unit 61, for example, when lifting boom 4 after the excavation operation interval (reference) Figure 6 The weight of the sand is calculated from the torque around the foot pin of boom 4 in (B) and (C). Here, the excavator 100 sometimes performs the opening and closing action of the stick 5 while simultaneously raising the boom 4 (in...). Figure 6(The example in the example is the action of closing the boom 5). For instance, when the slewing motion is performed with the boom 5 open, the distance from the upper slewing body 3 to the bucket 6 becomes longer (in other words, the slewing radius becomes larger), and therefore the slewing torque also increases. Thus, if the slewing motion is performed with the boom 5 open, a large slewing drive force is required, and the slewing time also becomes longer. Therefore, when dumping excavated sand to the surface, the slewing motion after excavation is usually performed by closing the boom 5 to reduce the slewing torque. On the other hand, when dumping excavated sand to a dump truck, in order to avoid collisions with the dump truck, the boom 5 is further opened after excavation, and a slewing motion is performed. Thus, during the boom raising and slewing motion after excavation, the boom 5 also opens and closes according to the work content. Therefore, the torque accompanying the opening and closing of the boom 5 is also applied to the boom 4.

[0203] use Figure 8 The torque around the foot pin of boom 4 generated by the opening and closing action of stick 5 is explained. Figure 8 This is a schematic diagram of an auxiliary device of an excavator 100, showing the relationship between the opening and closing action of the boom 5 and the torque around the foot pin of the boom 4.

[0204] Here, the weight of the sand loaded in bucket 6 is denoted as m. The distance from the connecting pin between boom 4 and stick 5 (the rotation center of stick 5) to the center of gravity of the sand is denoted as r. The rotational angular velocity of stick 5 is denoted as ω. a The centrifugal force F generated by the opening and closing of the boom 5 a It can be represented by the following formula (1).

[0205] [Formula 1]

[0206] F a =mrω a 2 …(1)

[0207] Let r be the horizontal distance from the foot pin of boom 4 to the connecting pin between boom 4 and stick 5. x Let the vertical distance be r. z Furthermore, the centrifugal force F a The horizontal component is set to F ax Centrifugal force F a Let the vertical component be F az The torque τ generated around the foot pin of boom 4 due to the opening and closing of stick 5. a It can be represented by the following formula (2).

[0208] [Formula 2]

[0209] τ a =F ax r z +Fax r x …(2)

[0210] Thus, if the boom raising action is accompanied by the opening and closing of the stick 5, a torque τ will be generated around the foot pin of the boom 4 due to the opening and closing of the stick 5. a Therefore, in the method of calculating the weight of sand based on the torque around the foot pin during the boom lifting operation, it is required to appropriately compensate for the weight of the sand.

[0211] Figure 9 This is a block diagram illustrating the processing of the load weight calculation unit 61 in the excavator 100 according to the first embodiment. The load weight calculation unit 61 includes a torque calculation unit 71, an inertial force calculation unit 72, a centrifugal force calculation unit 73, a stick centrifugal force calculation unit 74, a stationary torque calculation unit 76, a weight conversion unit 77, and a tilt correction unit 78.

[0212] The torque calculation unit 71 calculates the torque (detected torque) around the foot pin of the boom 4. The calculation is based on the pressure of the working oil in the boom cylinder 7 (boom rod pressure sensor S7R, boom underweight pressure sensor S7B).

[0213] The inertial force calculation unit 72 calculates the torque (inertial torque) around the foot pin of boom 4 generated by the inertial force. The inertial torque is calculated based on the angular acceleration around the foot pin of boom 4 and the inertial torque of boom 4. The angular acceleration and inertial torque around the foot pin of boom 4 are calculated based on the output of the attitude sensor.

[0214] The centrifugal force calculation unit 73 calculates the torque (centrifugal torque) around the foot pin of the boom 4 generated by the Coriolis force and centrifugal force. The centrifugal torque is calculated based on the angular velocity around the foot pin of the boom 4 and the weight of the boom 4. The angular velocity around the foot pin of the boom 4 is calculated based on the output of the attitude sensor. The weight of the boom 4 is known.

[0215] The boom centrifugal force calculation unit 74 calculates the torque (boom centrifugal force torque τ) generated by the centrifugal force when the boom 5 is opened and closed, around the boom 4 foot pin. a Additionally, the centrifugal torque τ of the boom a The calculation is based on the output of the posture sensor and the aforementioned equations (1) and (2).

[0216] When stationary, the torque calculation unit 76 calculates the torque around the boom 4 foot pin when the auxiliary device is stationary, i.e., the stationary torque τ, based on the detected torque from the torque calculation unit 71, the inertial torque from the inertial force calculation unit 72, the centrifugal torque from the centrifugal force calculation unit 73, and the boom centrifugal force torque from the boom centrifugal force calculation unit 74. WHere, the torque around the four foot pins of the boom is expressed in equation (3). Furthermore, in equation (3), τ on the left side represents the detected torque, the first term on the right side represents the inertial torque, the second term on the right side represents the centrifugal torque, and the third term on the right side represents the stick centrifugal torque τ. a The fourth term on the right represents the rest torque τ. W .

[0217] [Formula 3]

[0218]

[0219] As shown in equation (3), by subtracting the inertial torque, centrifugal torque, and boom centrifugal torque τ from the detected torque τ a It can calculate the static torque τ W Therefore, in the first embodiment, the effects caused by the rotational movement of the boom or similar components around the pin can be compensated. For example, as... Figure 8 As shown, if the boom raising action is accompanied by the closing action of the stick 5, then due to the opening and closing action of the stick 5, a torque τ is generated around the foot pin of the boom 4 in the direction of boom raising. a Therefore, compared to the case without the closing action of the boom 5, the torque calculated by the torque calculation unit 71 is smaller. In the load weight calculation unit 61 of the first embodiment, the boom centrifugal force torque τ calculated by the boom centrifugal force calculation unit 74 is used. a This allows for compensation and enables the calculation of the static torque τ with high accuracy. W .

[0220] Weight conversion unit 77 calculates the weight based on the centrifugal torque τ of the bucket. a To compensate for the static torque τ W Calculate the weight of the sand, Wl. The weight of the sand, Wl, can be calculated, for example, from the rest torque τ. W The torque is calculated by subtracting the torque when the sand is not loaded in the bucket 6 and dividing it by the horizontal distance from the foot pin of the boom 4 to the center of gravity of the sand.

[0221] The tilt correction unit 78 performs corrections based on the posture of the excavator 100.

[0222] Here, the posture of the auxiliary device at the boom angle θ1 when the excavator 100 is on an inclined plane with an inclination angle θp is equal to the posture of the auxiliary device at the boom angle (θ1+θp) when the excavator 100 is on a flat plane. That is, the detected boom angle θ1 is corrected using the inclination angle θp, thereby compensating for the weight of the sand based on the posture of the excavator 100.

[0223] Furthermore, when the excavator 100 is located on an inclined plane with a roll angle θr, the thrust F of the boom cylinder 7 has both vertical and horizontal components when viewed from the front. Therefore, the thrust F of the boom cylinder 7 is corrected using the roll angle θr, that is, the thrust F of the boom cylinder 7 is set as the vertical component Fcosθr, thereby compensating for the weight of the sand based on the posture of the excavator 100.

[0224] As described above, the excavator 100 according to the first embodiment can detect the weight of the excavated sand. Furthermore, for example, during the operation of auxiliary devices such as boom lifting, the pressure of the actuator changes. In contrast, the excavator 100 according to the first embodiment can calculate the torque at rest by compensating for the inertial force, Coriolis force, and centrifugal force generated by the operation of the auxiliary devices based on the detected torque around the pin. Furthermore, the weight of the sand can be calculated based on the calculated torque at rest, thus improving the accuracy of sand weight detection.

[0225] Furthermore, even when the contact surface of the excavator 100 is not flat, the weight of the sand can be compensated based on the posture (tilt angle, roll angle) of the excavator 100. Thus, even if the contact surface of the excavator is inclined, the weight of the sand can be properly detected.

[0226] Furthermore, the weight of the sand loaded onto the dump truck can be calculated. This prevents overloading of the dump truck. For example, the load of the dump truck is checked using a weighing device before it leaves the work site and heads to the road. When the load exceeds the maximum load, the dump truck needs to return to the excavator 100 and the loaded sand needs to be reduced. Therefore, the utilization efficiency of the dump truck decreases. Furthermore, underloading of the dump truck increases the total number of dump trucks used for transporting sand, thus reducing the utilization efficiency of the dump truck. In contrast, the excavator 100 according to the first embodiment can prevent overloading and can load sand onto the dump truck, thus improving the utilization efficiency of the dump truck.

[0227] Furthermore, the display device 40 shows the weight of the sand in the bucket 6, the maximum load capacity of the dump truck, the additional load capacity, and the remaining load capacity. Thus, the operator riding the excavator 100 can load sand into the dump truck while referring to these displays.

[0228] The above describes the implementation of the excavator 100, but the present invention is not limited to the above implementation. Various modifications and improvements can be made within the scope of the present invention as described in the technical solution.

[0229] The example described is based on the load weight calculation unit 61 having a stick centrifugal force calculation unit 74, which compensates for the torque around the boom 4 foot pin generated by the centrifugal force when opening and closing the stick 5, but it is not limited to this. The load weight calculation unit 61 may also have a stick inertia force calculation unit (not shown) that calculates the torque around the boom 4 foot pin generated by the acceleration and deceleration (inertial force) of opening and closing the stick 5. The load weight calculation unit 61 may also compensate for the torque around the boom 4 foot pin generated by the inertial force when opening and closing the stick 5. Furthermore, the load weight calculation unit 61 may compensate using both the torque generated by the centrifugal force when opening and closing the stick 5 and the torque generated by the inertial force.

[0230] The excavator (construction machinery) 100 according to the first embodiment includes a bucket 6 as an end-connection attachment, and measures the weight of sand (carried material) transported by the bucket 6. Here, the method for measuring the weight of sand used in the excavator (construction machinery) 100 according to the first embodiment can also be applied to other construction machinery. That is, the method for measuring the weight of sand used in the excavator 100 according to the first embodiment can be applied to construction machinery that has end-connection attachments used for transporting materials, such as buckets, magnetic cranes, grapples, forks, or logging machines including chainsaws.

[0231] For example, it can also be applied in construction machinery with magnetic lifting as an end attachment. For instance, with the boom 4 lowered and the stick 5 extended, after magnetic lifting attracts iron filings or other materials (carried items) from a position separated from the construction machinery, the boom 4 is raised and the stick 5 is closed. This shortens the distance between the center of rotation of the upper rotating body 3 and the iron filings or other materials (carried items) attracted by the magnetic lifting, causing the upper rotating body 3 to rotate. Even in this operation where the boom 4 is raised and the stick 5 is closed simultaneously, the weight of the transported item can be appropriately calculated.

[0232] [Method for calculating the weight of sand in the excavator 100 according to the second embodiment]

[0233] Furthermore, utilizing Figure 10 The load weight calculation unit 61 of the excavator 100 according to the second embodiment will be described. Figure 10 This is a block diagram illustrating the processing of the load weight calculation unit 61 in the excavator 100 according to the second embodiment. The load weight calculation unit 61 includes a torque calculation unit 71, an inertial force calculation unit 72, a centrifugal force calculation unit 73, a stick inertial force calculation unit 75, a stationary torque calculation unit 76, a weight conversion unit 77, and a tilt correction unit 78.

[0234] Torque calculation unit 71 calculates the torque around the boom four-foot pin (detected torque). Inertia force calculation unit 72 calculates the torque around the boom four-foot pin generated by inertia force (inertia term torque). Centrifugal force calculation unit 73 calculates the torque around the boom four-foot pin generated by Coriolis force and centrifugal force (centrifugal term torque). Furthermore, torque calculation unit 71, inertia force calculation unit 72, and centrifugal force calculation unit 73 are... Figure 9 The torque calculation unit 71, inertial force calculation unit 72, and centrifugal force calculation unit 73 of the load weight calculation unit 61 shown are the same, so repeated descriptions are omitted.

[0235] The stick inertial force calculation unit 75 calculates the torque (stick inertial force torque) around the boom 4 foot pin generated by the acceleration and deceleration (inertial force) of opening and closing the stick 5. Furthermore, the stick inertial force torque is calculated based on the output of the attitude sensor.

[0236] When stationary, the torque calculation unit 76 calculates the torque around the boom 4 foot pin when the auxiliary device is stationary, i.e., the stationary torque τ, based on the detected torque from the torque calculation unit 71, the inertial torque from the inertial force calculation unit 72, the centrifugal torque from the centrifugal force calculation unit 73, and the boom inertial torque from the boom inertial force calculation unit 75. W Here, the torque around the four foot pins of the boom is expressed in the aforementioned equation (3). Furthermore, in equation (3), τ on the left side represents the detected torque, the first term on the right side represents the inertial torque, the second term on the right side represents the centrifugal torque, and the third term on the right side represents the stick inertial torque τ. a The fourth term on the right represents the rest torque τ. W .

[0237] As shown in equation (3), by subtracting the inertial torque, centrifugal torque, and boom inertial force torque τ from the detected torque τ, a It can calculate the static torque τ W Therefore, in the second embodiment, the effects caused by the rotational movement of the boom or other components around the pin can be compensated. For example, as... Figure 8 As shown, if the boom lifting action is accompanied by the closing action of the stick 5, then the stick inertial torque τ is generated around the foot pin of the boom 4 due to the opening and closing action of the stick 5. a Therefore, the torque calculated by the torque calculation unit 71 changes compared to the case without the closing action of the boom 5. Especially when the weight of sand transported by the bucket 6 is heavy, the influence of inertial force increases as the excavator 100 moves from a distant position to a closer position. In the load weight calculation unit 61 of the second embodiment, the boom inertial force torque τ calculated by the boom inertial force calculation unit 75 is... a This allows for compensation and enables the calculation of the static torque τ with high accuracy. W .

[0238] Weight conversion unit 77 calculates the weight based on the inertial force torque τ of the boom. a To compensate for the static torque τ W The weight of the sand, Wl, is calculated. Furthermore, the tilt correction unit 78 performs corrections based on the posture of the excavator 100. Additionally, the weight conversion unit 77 and the tilt correction unit 78... Figure 9 The weight conversion unit 77 and the tilt correction unit shown are the same, so repeated descriptions are omitted.

[0239] As described above, the excavator 100 according to the second embodiment can detect the weight of the excavated sand. Furthermore, for example, during the operation of auxiliary devices such as boom lifting, the pressure of the actuator changes. In contrast, the excavator 100 according to the second embodiment can calculate the torque at rest by compensating for the inertial force, Coriolis force, and centrifugal force generated by the operation of the auxiliary devices based on the detected torque around the pin. Furthermore, the weight of the sand can be calculated based on the calculated torque at rest, thus improving the accuracy of sand weight detection.

[0240] Furthermore, even when the contact surface of the excavator 100 is not flat, the weight of the sand can be compensated based on the posture (tilt angle, roll angle) of the excavator 100. Thus, even if the contact surface of the excavator is inclined, the weight of the sand can be properly detected.

[0241] Furthermore, the weight of the sand loaded onto the dump truck can be calculated. This prevents overloading of the dump truck. For example, the load of the dump truck is checked using a weighing device before it leaves the work site for the road. When the load exceeds the maximum load, the dump truck needs to return to the excavator 100 and the loaded sand needs to be reduced. Therefore, the utilization efficiency of the dump truck decreases. Furthermore, underloading of the dump truck increases the total number of dump trucks used for transporting sand, thus reducing the utilization efficiency of the dump truck. In contrast, the excavator 100 according to the second embodiment can prevent overloading and can load sand onto the dump truck, thus improving the utilization efficiency of the dump truck.

[0242] Furthermore, the display device 40 shows the weight of the sand in the bucket 6, the maximum load capacity of the dump truck, the additional load capacity, and the remaining load capacity. Thus, the operator riding the excavator 100 can load sand into the dump truck while referring to these displays.

[0243] The above describes the implementation of the excavator 100, but the present invention is not limited to the above implementation. Various modifications and improvements can be made within the scope of the present invention as described in the technical solution.

[0244] by Figure 9The load weight calculation unit 61 shown compensates for the torque generated by the centrifugal force when the bucket arm 5 is opened and closed, and Figure 10 The example shown is an example of the load weight calculation unit 61 compensating for the torque generated by the inertial force when opening and closing the boom 5, but it is not limited to this. The load weight calculation unit 61 may also be a structure that compensates for at least one of the torque generated by the centrifugal force when opening and closing the boom 5 and the torque generated by the inertial force when opening and closing the boom 5.

[0245] That is, it can also be a structure that compensates for both the torque generated by the centrifugal force when opening and closing the boom 5 and the torque generated by the inertial force when opening and closing the boom 5. In this case, the load weight calculation unit 61 may also have a torque calculation unit 71, an inertial force calculation unit 72, a centrifugal force calculation unit 73, a boom centrifugal force calculation unit 74, a boom inertial force calculation unit 75, a stationary torque calculation unit 76, a weight conversion unit 77, and a tilt correction unit 78. In this case, the stationary torque calculation unit 76 calculates the torque around the boom 4 foot pin when the auxiliary device is stationary, i.e., the stationary torque τ, based on the detected torque of the torque calculation unit 71, the inertial torque of the inertial force calculation unit 72, the centrifugal torque of the centrifugal force calculation unit 73, the boom centrifugal force torque of the boom centrifugal force calculation unit 74, and the boom inertial force torque of the boom inertial force calculation unit 75. W Furthermore, τ in the aforementioned equation (3) a It can also be set to a torque that combines the centrifugal force torque and the inertial force torque of the boom. This can further improve the accuracy of sand weight detection.

[0246] The excavator (construction machinery) 100 according to the second embodiment includes a bucket 6 as an end-connection attachment, and measures the weight of sand (carried material) transported by the bucket 6. Here, the method for measuring the weight of sand used in the excavator (construction machinery) 100 according to the second embodiment can also be applied to other construction machinery. That is, the method for measuring the weight of sand used in the excavator 100 according to the second embodiment can also be applied to construction machinery that has end-connection attachments used for transporting carried materials, such as buckets, magnetic cranes, grapples, forks, or logging machines including chainsaws.

[0247] For example, it can also be applied in construction machinery with magnetic lifting as an end attachment. For instance, with the boom 4 lowered and the stick 5 extended, after magnetic lifting attracts iron filings or other materials (carried items) from a position separated from the construction machinery, the boom 4 is raised and the stick 5 is closed. This shortens the distance between the center of rotation of the upper rotating body 3 and the iron filings or other materials (carried items) attracted by the magnetic lifting, causing the upper rotating body 3 to rotate. Even in this operation where the boom 4 is raised and the stick 5 is closed simultaneously, the weight of the transported item can be appropriately calculated.

[0248] Furthermore, when using magnetic hoists and other end-connected attachments, and transporting heavy objects, the influence of the boom's inertial force increases when moving objects from a distance to the construction machinery. In such situations, it is also possible to appropriately calculate the weight of the object being transported.

[0249] [Method for calculating the weight of sand in the excavator 100 according to the third embodiment]

[0250] Next, using Figure 7A , Figure 7B , Figure 11A , Figure 11B up Figure 12 The method for calculating the weight of the sand (load) in the bucket 6 of the excavator 100 according to the third embodiment will be described.

[0251] Figure 7A and Figure 7B This diagram illustrates the parameters of the excavator 100. Figure 7A It is a side view. Figure 7B This is the main view.

[0252] like Figure 7A As shown, the center of gravity of the sand (load) loaded in the bucket 6 is defined as the sand center of gravity Gl. The position of the sand center of gravity Gl relative to the bucket 6 is determined in advance through experiments and stored in the controller 30. The weight of the sand loaded in the bucket 6 is defined as the sand weight Wl. The angle formed by the straight line connecting the two ends of the boom 4 with respect to the rotation plane of the upper rotating body 3 is defined as the boom angle θ1. The boom angle θ1 is detected by the boom angle sensor S1. The angle formed by the straight line connecting the two ends of the stick 5 with respect to the straight line connecting the two ends of the boom 4 is defined as the stick angle θ2. The stick angle θ2 is detected by the stick angle sensor S2. The angle formed by the straight line connecting the fulcrum of the bucket 6 and the sand center of gravity Gl with respect to the straight line connecting the two ends of the stick 5 is defined as the bucket angle θ3. The bucket angle θ3 is detected by the bucket angle sensor S3. Furthermore, the tilt angle in the forward / backward direction of the excavator 100 is defined as the tilt angle θp. And, as Figure 7B As shown, the tilt angle of the excavator 100 in the left and right directions is defined as the roll angle θr. Furthermore, the tilt angle θp and roll angle θr are detected by the machine tilt sensor S4.

[0253] Load weight calculation unit 61, for example, when lifting boom 4 after the excavation operation interval (reference) Figure 6 The weight of the sand is calculated from the torque around the foot pin of boom 4 in (B) and (C). Here, the excavator 100 sometimes performs the opening and closing action of the stick 5 while simultaneously raising the boom 4 (in...). Figure 6(The example in the example is the action of closing the boom 5). For instance, when the slewing motion is performed with the boom 5 open, the distance from the upper slewing body 3 to the bucket 6 becomes longer (in other words, the slewing radius becomes larger), and therefore the slewing torque also increases. Thus, if the slewing motion is performed with the boom 5 open, a large slewing drive force is required, and the slewing time also becomes longer. Therefore, when dumping excavated sand to the surface, the slewing motion after excavation is usually performed by closing the boom 5 to reduce the slewing torque. On the other hand, when dumping excavated sand to a dump truck, in order to avoid collisions with the dump truck, the boom 5 is further opened after excavation, and a slewing motion is performed. Thus, during the boom raising and slewing motion after excavation, the boom 5 also opens and closes according to the work content. Therefore, the torque accompanying the opening and closing of the boom 5 is also applied to the boom 4.

[0254] use Figure 11A and Figure 11B The torque around the foot pin of the boom 4 generated by the opening and closing actions of the boom 5 and the bucket 6 is explained. Figure 11A This is a schematic diagram of an auxiliary device of an excavator 100, showing the relationship between the opening and closing action of the boom 5 and the torque around the foot pin of the boom 4. Figure 11B This is a schematic diagram of an auxiliary device of an excavator 100, showing the relationship between the opening and closing action of the bucket 6 and the torque around the foot pin of the boom 4.

[0255] First, using Figure 11A The opening and closing action of lever 5 is explained.

[0256] Here, the weight of the sand loaded in the bucket 6 is denoted as m. The distance from the connecting pin between the boom 4 and the stick 5 (the rotation center of the stick 5) to the center of gravity of the sand is denoted as r. a Let the rotational angular velocity of boom 5 be ω. a The centrifugal force F generated by the opening and closing of the bucket rod 5 a It can be represented by the following formula (4).

[0257] F a =mr a ω a 2 ……(4)

[0258] Furthermore, the sand weight m is a temporary value calculated based on the thrust of the boom cylinder 7. Specifically, firstly, the torque calculation unit 71 (reference) Figure 12 Based on the thrust of the boom cylinder 7 (calculated from the measured values ​​of the boom rod pressure sensor S7R and the boom bottom pressure sensor S7B), the detected torque τ around the boom 4 foot pin is calculated. Then, the torque calculation unit 76 at rest (refer to...) Figure 12 According to the detected torque τ, based on the inertial force calculation unit 72 (reference). Figure 12The inertial force term J calculated and based on the centrifugal force calculation unit 73 (reference) Figure 12 The centrifugal force term h is calculated, and the static torque τ is calculated using equation (8) described later. W At this time, the torque calculation unit 76 at rest does not use the centrifugal force torque τ of the boom. a and the centrifugal torque τ of the bucket b And calculate the static torque τ W Therefore, the sand weight *m* is a provisional value calculated based on the thrust of the boom cylinder 7. Additionally, θ represents the angles of the auxiliary devices, including the boom angle, stick angle, and bucket angle.

[0259] Let r be the horizontal distance from the foot pin of boom 4 to the connecting pin between boom 4 and stick 5. armx Let the vertical distance be r. armz Furthermore, the centrifugal force F a The horizontal component is set to F ax Centrifugal force F a Let the vertical component be F az The torque τ generated around the foot pin of the boom 4 due to the opening and closing of the stick 5. a It can be represented by the following formula (5).

[0260] τ a =F ax r armz +F az r armx ……(5)

[0261] Thus, if the boom raising action is accompanied by the opening and closing of the stick 5, a torque τ will be generated around the foot pin of the boom 4 due to the opening and closing of the stick 5. a Therefore, in the method of calculating the weight of sand based on the torque around the foot pin during the boom lifting operation, it is required to appropriately compensate for the weight of the sand.

[0262] Next, using Figure 11B The opening and closing action of bucket 6 is explained.

[0263] Here, the weight of the sand loaded in bucket 6 is denoted as m. The distance from the connecting pin between the boom 5 and bucket 6 (the rotation center of bucket 6) to the center of gravity of the sand is denoted as r. b Let the rotational angular velocity of bucket 6 be ω. b The centrifugal force F generated by opening and closing the bucket 6 b It can be represented by the following formula (6).

[0264] F b =mr b ω b 2 ……(6)

[0265] Let r be the horizontal distance from the foot pin of boom 4 to the connecting pin between stick 5 and bucket 6. bktx Let the vertical distance be r. bktz Furthermore, the centrifugal force F b The horizontal component is set to F bx Centrifugal force F b Let the vertical component be F bz The torque τ generated by the opening and closing of the bucket 6 around the foot pin of the boom 4 b It can be represented by the following formula (7).

[0266] τ b =F bx r bktz +F bz r bktx ……(7)

[0267] Thus, if the opening and closing of the bucket 6 is accompanied by the boom raising motion, a torque τ will be generated around the foot pin of the boom 4 due to the opening and closing of the bucket 6. b Therefore, in the method of calculating the weight of sand based on the torque around the foot pin during the boom lifting operation, it is required to appropriately compensate for the weight of the sand.

[0268] Figure 12 This is a block diagram illustrating the processing of the load weight calculation unit 61 in the excavator 100 according to the third embodiment. The load weight calculation unit 61 includes a torque calculation unit 71, an inertial force calculation unit 72, a centrifugal force calculation unit 73, a stick centrifugal force calculation unit 74, a bucket centrifugal force calculation unit 79A, a stationary torque calculation unit 76, a weight conversion unit 77, and a tilt correction unit 78.

[0269] The torque calculation unit 71 calculates the torque (detected torque τ) around the foot pin of the boom 4. The detected torque τ is calculated based on the pressure of the working oil in the boom cylinder 7 (boom rod pressure sensor S7R, boom underweight pressure sensor S7B).

[0270] The inertial force calculation unit 72 calculates the torque (inertial torque) around the foot pin of boom 4 generated by the inertial force. The inertial torque is calculated based on the angular acceleration around the foot pin of boom 4 and the inertial torque of boom 4. The angular acceleration and inertial torque around the foot pin of boom 4 are calculated based on the output of the attitude sensor.

[0271] The centrifugal force calculation unit 73 calculates the torque (centrifugal torque) around the foot pin of the boom 4 generated by the Coriolis force and centrifugal force. The centrifugal torque is calculated based on the angular velocity around the foot pin of the boom 4 and the weight of the boom 4. The angular velocity around the foot pin of the boom 4 is calculated based on the output of the attitude sensor. The weight of the boom 4 is known.

[0272] The boom centrifugal force calculation unit 74 calculates the torque (boom centrifugal force torque τ) generated by the centrifugal force when the boom 5 is opened and closed, around the boom 4 foot pin. a Additionally, the centrifugal torque τ of the boom a The calculation is based on the output of the posture sensor and the aforementioned equations (4) and (5).

[0273] The bucket centrifugal force calculation unit 79A calculates the torque (bucket centrifugal force torque τ) generated by the centrifugal force when opening and closing the bucket 6 around the boom 4 foot pin. b Additionally, the centrifugal torque τ of the bucket... b The calculation is based on the output of the posture sensor and the aforementioned equations (6) and (7).

[0274] When stationary, the torque calculation unit 76 calculates the torque around the boom 4 foot pins of the auxiliary device when stationary, i.e., the stationary torque τ, based on the detected torque τ from the torque calculation unit 71, the inertial torque from the inertial force calculation unit 72, the centrifugal torque from the centrifugal force calculation unit 73, the boom centrifugal force torque from the boom centrifugal force calculation unit 74, and the bucket centrifugal force torque from the bucket centrifugal force calculation unit 79A. W Here, the torque around the four foot pins of the boom is expressed in equation (8). Furthermore, in equation (8), τ on the left side represents the detected torque, the first term on the right side represents the inertial torque, the second term on the right side represents the centrifugal torque, and the third term on the right side represents the stick centrifugal torque τ. a The fourth item on the right represents the centrifugal torque τ of the bucket. b The fifth term on the right represents the static torque τ. W .

[0275] [Formula 4]

[0276]

[0277] As shown in equation (8), by subtracting the inertial torque, centrifugal torque, and boom centrifugal torque τ from the detected torque τ a and the centrifugal torque τ of the bucket b It can calculate the static torque τ W Therefore, in the third embodiment, the effects caused by the rotational movement of the boom or other components around the pin can be compensated. For example, as... Figure 11A As shown, if the boom lifting action is accompanied by the closing action of the stick 5, then due to the opening and closing action of the stick 5, a torque τ is generated around the foot pin of the boom 4 in the direction of boom lifting. a Therefore, compared to the case without the closing action of the boom 5, the torque calculated by the torque calculation unit 71 is smaller. In the load weight calculation unit 61 of the third embodiment, the boom centrifugal force torque τ calculated by the boom centrifugal force calculation unit 74 is used. aThis allows for compensation and enables the calculation of the static torque τ with high accuracy. W Furthermore, if the boom raising action is accompanied by the closing action of bucket 6, then as follows: Figure 11B As shown, the opening and closing action of the bucket 6 generates a torque τ around the foot pin of the boom 4 in the direction of boom descent. b Therefore, compared to the case without the closing action of the bucket 6, the torque calculated by the torque calculation unit 71 is larger. In the load weight calculation unit 61 of the third embodiment, the load weight is calculated using the bucket centrifugal force torque τ calculated by the bucket centrifugal force calculation unit 79A. b To perform compensation, it is possible to measure the static torque τ with high accuracy. W .

[0278] Weight conversion unit 77 calculates the weight based on the centrifugal torque τ of the bucket. a and the centrifugal torque τ of the bucket b To compensate for the static torque τ W Calculate the weight of the sand, Wl. The weight of the sand, Wl, can be calculated, for example, from the rest torque τ. W The torque is calculated by subtracting the torque when the sand is not loaded in the bucket 6 and dividing it by the horizontal distance from the foot pin of the boom 4 to the center of gravity of the sand.

[0279] The tilt correction unit 78 performs corrections based on the posture of the excavator 100.

[0280] Here, the posture of the auxiliary device at the boom angle θ1 when the excavator 100 is on an inclined plane with an inclination angle θp is equal to the posture of the auxiliary device at the boom angle (θ1+θp) when the excavator 100 is on a flat plane. That is, the detected boom angle θ1 is corrected using the inclination angle θp, thereby compensating for the weight of the sand based on the posture of the excavator 100.

[0281] Furthermore, when the excavator 100 is located on an inclined plane with a roll angle θr, the thrust F of the boom cylinder 7 has both vertical and horizontal components when viewed from the front. Therefore, the thrust F of the boom cylinder 7 is corrected using the roll angle θr, that is, the thrust F of the boom cylinder 7 is set as the vertical component Fcosθr, thereby compensating for the weight of the sand based on the posture of the excavator 100.

[0282] As described above, the excavator 100 according to the third embodiment can detect the weight of the excavated sand. Furthermore, for example, during the operation of auxiliary devices such as boom lifting, the pressure of the actuator changes. In contrast, the excavator 100 according to the third embodiment can calculate the torque at rest by compensating for the inertial force, Coriolis force, and centrifugal force generated by the operation of the auxiliary devices based on the detected torque around the pin. Furthermore, the weight of the sand can be calculated based on the calculated torque at rest, thus improving the accuracy of sand weight detection.

[0283] Furthermore, even when the contact surface of the excavator 100 is not flat, the weight of the sand can be compensated based on the posture (tilt angle, roll angle) of the excavator 100. Thus, even if the contact surface of the excavator is inclined, the weight of the sand can be properly detected.

[0284] Furthermore, the weight of the sand loaded onto the dump truck can be calculated. This prevents overloading of the dump truck. For example, the load of the dump truck is checked using a weighing device before it leaves the work site and heads to the road. When the load exceeds the maximum load, the dump truck needs to return to the excavator 100 and the loaded sand needs to be reduced. Therefore, the utilization efficiency of the dump truck decreases. Furthermore, underloading of the dump truck increases the total number of dump trucks used for transporting sand, thus reducing the utilization efficiency of the dump truck. In contrast, the excavator 100 according to the third embodiment can prevent overloading and can load sand onto the dump truck, thus improving the utilization efficiency of the dump truck.

[0285] Furthermore, the display device 40 shows the weight of the sand in the bucket 6, the maximum load capacity of the dump truck, the additional load capacity, and the remaining load capacity. Thus, the operator riding the excavator 100 can load sand into the dump truck while referring to these displays.

[0286] Furthermore, the load weight calculation unit 61 includes a boom centrifugal force calculation unit 74, which calculates the torque (boom centrifugal force torque τ) around the boom 4 foot pin generated by the centrifugal force generated when the boom 5 is opened and closed by the boom cylinder 8. a And using the centrifugal torque τ of the boom a To compensate for the static torque τ W The example provided is not limited to this. The load weight calculation unit 61 may also include a stick inertia force calculation unit (not shown) that calculates the torque (stick inertia force torque) around the boom 4 foot pin generated by the acceleration and deceleration (inertia force) of the stick 5. The load weight calculation unit 61 may also use the stick inertia force torque to compensate for the rest torque τ. W Furthermore, the load weight calculation unit 61 can also use the centrifugal force torque τ of the boom. a Both the inertial force and torque of the boom are used to compensate for the static torque τ. W .

[0287] Furthermore, the load weight calculation unit 61 includes a bucket centrifugal force calculation unit 79A, which calculates the torque (bucket centrifugal force torque τ) around the boom 4 foot pin generated by the centrifugal force generated when the bucket 6 is opened and closed by the bucket cylinder 9. b And using the centrifugal torque τ of the bucket b To compensate for the static torque τ WThe example provided is not a limitation. The load weight calculation unit 61 may also include a bucket inertial force calculation unit (not shown) that calculates the torque (bucket inertial force torque) around the boom 4 foot pin generated by the acceleration and deceleration (inertial force) of the opening and closing of the bucket 6. The load weight calculation unit 61 may also use the bucket inertial force torque to compensate for the rest torque τ. W Furthermore, the load weight calculation unit 61 can also use the bucket centrifugal torque τ. b Both the inertial force and torque of the bucket are used to compensate for the static torque τ. W .

[0288] [Overview of the construction machinery involved in the fourth embodiment]

[0289] First, refer to Figure 13 An overview of the construction machinery 100A involved in the fourth embodiment will be described.

[0290] Figure 13 This is a side view of the construction machinery 100A according to the fourth embodiment.

[0291] The construction machinery 100A involved in the fourth embodiment and Figure 1 Compared to the excavator (construction machinery) 100 according to the first to third embodiments shown, the end attachment is changed from the bucket 6 to the grab hook 6A. Other structures are the same, so repeated descriptions are omitted. Furthermore, the construction machinery 100A according to the fourth embodiment uses the grab hook 6A to hold and transport a transported object W of the same length as a log (timber). The transported object W transported by the construction machinery 100A is, for example, loaded onto a dump truck (not shown).

[0292] The bucket cylinder (end-connected accessory cylinder) 9 is used to rotate (tilt) the grab hook 6A. Furthermore, the grab hook 6A includes a closable jaw (holding part) 6Aa, a grab hook opening and closing cylinder 6Ab for opening and closing the jaw 6Aa, and a rotary hydraulic motor 6Ac for rotating the jaw 6Aa via a rotating shaft 6Ad.

[0293] Furthermore, control valve 17 (reference) Figure 2 It has a control valve (not shown) corresponding to the hook opening / closing cylinder 6Ab and a control valve (not shown) corresponding to the rotary hydraulic motor 6Ac, and is configured to supply working oil supplied from the main pump 14 to the hydraulic actuators, namely the hook opening / closing cylinder 6Ab and the rotary hydraulic motor 6Ac, according to the operating state of the operating device 26.

[0294] Furthermore, a hook rotation angle sensor S10 is mounted on the hook 6A and detects the rotation angle of the gripping part of the hook 6A around the rotation axis 6Ad. The hook rotation angle sensor S10 may include, for example, a gyroscope sensor, a resolver, and a rotary encoder. The detection signal corresponding to the rotation angle of the hook 6A detected by the hook rotation angle sensor S10 is input to the controller 30.

[0295] Figure 14A and Figure 14B This diagram illustrates an example of the operation of the construction machinery 100A according to the fourth embodiment.

[0296] like Figure 14A As shown, the gripper 6Aa of the gripper 6A holds a long object W. Here, the gripper 6Aa of the gripper 6A holds the object W at a position different from the center of gravity G of the object W; in other words, it holds the object W at a position biased towards one end of the object W. Furthermore, the construction machine 100A rotates the gripping part of the gripper 6A around the rotation axis 6Ad (refer to the arrow).

[0297] like Figure 14B As shown, when the gripping part of the hook 6A rotates around the rotation axis 6Ad, the transported object W experiences a centrifugal force F in the direction in which the transported object W is released from the gripping part of the hook 6A (the axial direction of the transported object W). c Here, the object W held by the gripping part of the hook 6A will not be affected by centrifugal force F. c And thus, the centrifugal force F borne by the transported object W is released. c An auxiliary device applied to construction machinery 100A.

[0298] Next, using Figure 15 The rotational motion of the gripping part of the grab hook 6A will be further explained. Figure 15 This is a schematic diagram of an auxiliary device of an excavator 100, showing the relationship between the rotational motion of the gripping part of the grab hook 6A and the torque around the foot pin of the boom 4.

[0299] Let the centrifugal force F be the centrifugal force when the gripping part of the grappling hook 6A rotates around the rotating axis 6Ad. c Additionally, the centrifugal force F c It has components in the X, Y, and Z directions. Furthermore, the X direction is horizontal and the direction in which the auxiliary device extends and retracts. The Y direction is horizontal and orthogonal to the X direction. The Z direction is vertical. Here, as shown by the black arrow, the centrifugal force F... c Let the horizontal component in the X direction be F. cx Centrifugal force F c Let the vertical component of the Z direction be F. cz .

[0300] Here, the object W is held in place by the gripping part of the hook 6A and will not be affected by centrifugal force F. c And thus, the centrifugal force F borne by the transported object W is released. c It also works at the position of the connecting pin between boom 5 and grappling hook 6A (see the arrow marked with a shaded line).

[0301] Let r be the horizontal distance from the foot pin of boom 4 to the connecting pin between stick 5 and hook 6A. bktx Let the vertical distance be r. bktz The torque τ generated around the foot pin of the boom 4 due to the rotational motion of the gripping part of the grab hook 6A. c It can be represented by the following equation (9).

[0302] τ c =F cx r bktz +F cz r bktx ……(9)

[0303] Thus, if the gripping part of the hook 6A rotates during the boom raising motion, a torque τ will be generated around the foot pin of the boom 4 due to the rotation of the gripping part of the hook 6A. c Therefore, in methods for calculating the weight of the transported object based on the torque around the foot pin during the boom's upward movement, it is necessary to appropriately compensate for the weight of the transported object.

[0304] In addition, as shown in equation (9), the centrifugal force F borne by the transported object W c In the middle, the horizontal component F in the Y direction cy It does not affect the torque τ around the four foot pins of the boom. c .

[0305] For example, when the grab hook 6A is rotated by the bucket cylinder (end-connected accessory cylinder) 9 and the rotating shaft 6Ad is oriented in the vertical direction (Z direction), centrifugal force F is generated by rotating the gripping part of the grab hook 6A through the rotating hydraulic motor 6Ac. c Here, the centrifugal force F c The vertical component F in the Z direction cz It becomes zero. Here, the centrifugal force F is generated due to the rotational action of the gripping part of the grab hook 6A. c When facing the Y direction, the horizontal component F in the X direction cx When the torque τ becomes zero, the torque τ calculated by equation (9) is zero. c It also becomes zero.

[0306] Furthermore, for example, when the grab hook 6A is rotated by the bucket cylinder (attachment cylinder) 9 and the rotation shaft 6Ad is oriented in the horizontal direction (X direction), a centrifugal force F is generated by rotating the gripping part of the grab hook 6A by rotating the hydraulic motor 6Ac. c Here, the centrifugal force F c The horizontal component F in the X direction cx It becomes zero. Here, the centrifugal force F is generated due to the rotational action of the gripping part of the grab hook 6A. c When facing the Y direction, the perpendicular component F in the Z direction cz When the torque τ becomes zero, the torque τ calculated by equation (9) is zero. c It also becomes zero.

[0307] [Method for calculating the weight of sand in the construction machinery 100A according to the fourth embodiment]

[0308] Figure 16 This is a block diagram illustrating the processing of the load weight calculation unit 61 in the construction machinery 100A according to the fourth embodiment. The load weight calculation unit 61 includes a torque calculation unit 71, an inertial force calculation unit 72, a centrifugal force calculation unit 73, a stick centrifugal force calculation unit 74, a bucket centrifugal force calculation unit (end attachment centrifugal force calculation unit) 79A, a handle centrifugal force calculation unit 79B, a stationary torque calculation unit 76, a weight conversion unit 77, and a tilt correction unit 78.

[0309] Torque calculation unit 71, inertial force calculation unit 72, centrifugal force calculation unit 73, boom centrifugal force calculation unit 74, tilt correction unit 78 and Figure 12 The situation is the same as shown, so repeated explanations are omitted.

[0310] The bucket centrifugal force calculation unit 79A calculates the torque (bucket centrifugal force torque (end-connected accessory centrifugal force torque) τ generated by the centrifugal force when the grab hook 6A rotates in the tilting direction around the boom 4 foot pin. b Additionally, the centrifugal torque τ of the bucket... b The calculation is based on the output of the posture sensor and the aforementioned equations (6) and (7).

[0311] The centrifugal force calculation unit 79B of the gripping part calculates the torque (gripping part centrifugal force torque τ) around the foot pin of the boom 4 generated by the centrifugal force when the grab hook 6A rotates around the rotation axis 6Ad. c Additionally, the centrifugal torque τ of the holding part... c The calculation is based on the output of the posture sensor and the aforementioned equation (9).

[0312] When stationary, the torque calculation unit 76 calculates the torque around the boom 4 foot pins of the auxiliary device when stationary, i.e., the stationary torque τ, based on the detected torque from the torque calculation unit 71, the inertial torque from the inertial force calculation unit 72, the centrifugal torque from the centrifugal force calculation unit 73, the boom centrifugal torque from the boom centrifugal force calculation unit 74, the bucket centrifugal torque from the bucket centrifugal force calculation unit 79A, and the gripping centrifugal torque from the gripping centrifugal force calculation unit 79B. W Here, the torque around the four foot pins of the boom is expressed in equation (10). Furthermore, in equation (10), τ on the left side represents the detected torque, the first term on the right side represents the inertial torque, the second term on the right side represents the centrifugal torque, and the third term on the right side represents the centrifugal force torque τ of the boom. a The fourth item on the right represents the centrifugal torque τ of the bucket. b The fifth item on the right represents the centrifugal torque τ of the holding part. c The sixth term on the right represents the rest torque τ. W .

[0313] [Formula 5]

[0314]

[0315] As shown in equation (10), by subtracting the inertial torque, centrifugal torque, and boom centrifugal torque τ from the detected torque τ a τ, the centrifugal force torque of the bucket b and the centrifugal torque τ of the holding part c It can calculate the static torque τ W Therefore, in the load weight calculation unit 61 of the construction machinery 100A according to the fourth embodiment, the effects caused by the rotation of the boom and other components around the pin can be compensated.

[0316] For example, in construction machinery 100A that transports objects W of similar length as timber, the lifting motion of the boom is accompanied by the tilting motion of the hook 6A and the rotation motion of the gripping part, thus performing the transport work. Therefore, in the load weight calculation unit 61 of the fourth embodiment, the load weight calculation unit compensates for the bucket centrifugal torque τ calculated by the bucket centrifugal force calculation unit 79A. b and the centrifugal torque τ of the gripping part calculated by the centrifugal force calculation unit 79B of the gripping part. c It can calculate the static torque τ with high accuracy. W .

[0317] Weight conversion unit 77 calculates the weight based on the centrifugal torque τ of the bucket. a τ, the centrifugal force torque of the bucket b and the centrifugal torque τ of the holding part c To compensate for the static torque τ W Calculate the weight of the items being transported.

[0318] As described above, the construction machinery 100A according to the fourth embodiment can detect the weight of the transported object W held by the grab hook 6A. Furthermore, the construction machinery 100A according to the fourth embodiment can detect the weight of the transported object W based on the centrifugal torque τ of the boom. a τ, the centrifugal force torque of the bucket b and the centrifugal torque τ of the holding part c To compensate for the static torque τ W It calculates the weight of the transported items and improves the accuracy of weight detection.

[0319] Furthermore, similarly to the excavator 100 according to the fourth embodiment, the construction machinery 100A according to the fourth embodiment can compensate for the weight of the transported object based on the posture (tilt angle, roll angle) of the construction machinery 100A even when the ground contact surface of the construction machinery 100A is not flat. Therefore, even if the ground contact surface of the construction machinery 100A is inclined, the weight of the transported object can be appropriately detected.

[0320] Furthermore, the construction machinery 100A according to the fourth embodiment, similarly to the excavator 100 according to the fourth embodiment, can calculate the weight of the transported goods loaded on the dump truck. This prevents overloading of the dump truck and ensures that the transported goods are loaded onto the dump truck, thereby improving the efficiency of the dump truck's operation.

[0321] Furthermore, the display device 40 shows the weight of the material being transported by the grab hook 6A, the maximum load capacity of the dump truck, the additional load capacity, and the remaining load capacity. Thus, the operator riding in the excavator 100 can load the material into the dump truck while referring to these displays.

[0322] Furthermore, the load weight calculation unit 61 includes a boom centrifugal force calculation unit 74, which calculates the torque (boom centrifugal force torque τ) around the boom 4 foot pin generated by the centrifugal force generated when the boom 5 is opened and closed by the boom cylinder 8. a And using the centrifugal torque τ of the boom a To compensate for the static torque τ W The example provided is not limited to this. The load weight calculation unit 61 may also include a stick inertia force calculation unit (not shown) that calculates the torque (stick inertia force torque) around the boom 4 foot pin generated by the acceleration and deceleration (inertia force) of the stick 5. The load weight calculation unit 61 may also use the stick inertia force torque to compensate for the rest torque τ. W Furthermore, the load weight calculation unit 61 can also use the centrifugal force torque τ of the boom. a Both the inertial force and torque of the boom are used to compensate for the static torque τ. W .

[0323] Furthermore, the load weight calculation unit 61 includes a bucket centrifugal force calculation unit 79A, which calculates the torque (bucket centrifugal force torque (end-connected attachment centrifugal force torque) τ) around the boom 4 foot pin generated by the centrifugal force generated when the grab hook 6A is opened and closed by the bucket cylinder (end-connected attachment cylinder) 9. b And using the centrifugal torque τ of the bucket b To compensate for the static torque τ W The example provided is not limited to this. The load weight calculation unit 61 may also include a bucket inertia force calculation unit (not shown) that calculates the torque (bucket inertia force torque (end-attachment inertia force torque)) around the boom 4 foot pin generated by the acceleration and deceleration (inertia force) of the opening and closing grab hook 6A. The load weight calculation unit 61 may also use the bucket inertia force torque to compensate for the rest torque τ. W Furthermore, the load weight calculation unit 61 can also use the bucket centrifugal torque τ. b Both the inertial force and torque of the bucket are used to compensate for the static torque τ. W .

[0324] Furthermore, the load weight calculation unit 61 includes a gripping centrifugal force calculation unit 79B, which calculates the torque (gripping centrifugal force torque τ) around the boom 4 foot pin generated by the centrifugal force generated when the gripping part of the grab hook 6A is rotated by the rotary hydraulic motor (gripping part rotation mechanism) 6Ac. c And using the centrifugal torque τ of the holding part c To compensate for the static torque τ W The example provided is not limited to this. The load weight calculation unit 61 may also include a gripping part inertial force calculation unit (not shown) that calculates the torque (gripping part inertial force torque) around the boom 4 foot pin generated by the acceleration and deceleration (inertial force) when the gripping part of the grab hook 6A rotates. The load weight calculation unit 61 may also use the gripping part inertial force torque to compensate for the rest torque τ. W Furthermore, the load weight calculation unit 61 can also use the centrifugal torque τ of the holding unit. c The static torque τ is compensated by both the inertial force and torque of the holding part. W .

[0325] The above describes the implementation methods of the excavator 100 and the construction machinery 100A. However, the present invention is not limited to the above-described implementation methods. Various modifications and improvements can be made within the scope of the spirit of the present invention as described in the technical solution.

[0326] The method for measuring the weight of the transported object used in the excavator 100 of the third embodiment and the construction machinery 100A of the fourth embodiment can also be applied to other construction machinery. That is, the method for measuring the weight of the transported object used in the excavator 100 of the third embodiment and the construction machinery 100A of the fourth embodiment can also be applied to construction machinery that has end attachments used when transporting transported objects, such as buckets, magnetic cranes, grappling hooks, forks, or logging machines including chainsaws.

[0327] Furthermore, the example described is of a sand load handling unit 60 (load weight calculation unit 61) being installed as a function in the controller 30 of the excavator 100 or construction machinery 100A, but it is not limited to this. The function of the sand load handling unit 60 (load weight calculation unit 61) may also be included in a construction machinery control device (not shown) that is separately installed from the controller 30.

[0328] [Load Support System]

[0329] Next, using Figure 17 The loading support system SYS is described. Figure 17 This is a diagram illustrating a structural example of a loading support system SYS. The loading support system SYS can also be configured as having an excavator 100, a mobile body 200 having a support device 210 installed on a dump truck DT, a management device 300, and a support device 400, and can communicate via a communication network 900.

[0330] The support device 210 is a mobile terminal device, such as a computer such as a laptop, tablet, or smartphone installed on the dump truck DT.

[0331] The management device 300 is a fixed terminal device, such as a computer located in a management center outside the workplace. Alternatively, the management device 300 can also be a portable computer (e.g., a laptop, tablet, or smartphone).

[0332] The supporting device 400 is a mobile terminal device, such as a laptop, tablet, or smartphone carried by workers at the workplace.

[0333] The controller 30 of the excavator 100 can also transmit the calculated weight of sand and soil to the management device 300 via the communication device T1 and the communication network 900. Thus, the management device 300 can manage the weight of the sand and soil loaded by the excavator 100 onto the dump truck DT. Furthermore, the controller 30 of the excavator 100 can also transmit this information to the support device 210 installed on the dump truck DT via the communication device T1 and the communication network 900.

[0334] Furthermore, the excavator 100 can also be remotely operated via the communication network 900.

[0335] This application claims priority based on Japanese Patent Application No. 2020-202965, filed on December 7, 2020, the entire contents of which are incorporated herein by reference.

[0336] This application claims priority based on Japanese Patent Application No. 2021-062374, filed on March 31, 2021, the entire contents of which are incorporated herein by reference.

[0337] This application claims priority based on Japanese Patent Application No. 2021-062436, filed on March 31, 2021, the entire contents of which are incorporated herein by reference.

[0338] Symbol Explanation

[0339] 100-Excavator, 100A-Construction Machinery, 1-Lower Walking Body, 2-Slewing Mechanism, 2A-Slewing Hydraulic Motor, 2A1-Port 1, 2A2-Port 2, 3-Upper Slewing Body, 4-Boom (Auxiliary Device), 5-Stick (Auxiliary Device), 6-Bucket (Auxiliary Device, End Connection Attachment), 6A-Grapple (Auxiliary Device, End Connection Attachment), 6Aa-Claw (Holding Part), 6Ab-Grapple Opening / Closing Cylinder, 6Ac-Swivel Hydraulic Motor (Holding Part Rotation Mechanism), 6Ad-Swivel Shaft, 7-Boom Cylinder, 8-Stick Cylinder, 9-Bucket Cylinder, 21, 22-Hydraulic Sensors, 30-Controller (Control Device), 40-Display Device, 42-Input Device, 43-Sound Output Device, 47-Storage Device, 60-Sand Load Processing Unit, 61-Load Weight Calculation Unit (Weight Calculation Unit), 62- Maximum load capacity detection unit, 63-Additive load capacity calculation unit, 64-Remaining load capacity calculation unit, 71-Torque calculation unit, 72-Inertial force calculation unit, 73-Centrifugal force calculation unit, 74-Boom centrifugal force calculation unit, 75-Boom inertial force calculation unit, 76-Stationary torque calculation unit, 77-Weight conversion unit, 78-Tilting correction unit, 79A-Bucket centrifugal force calculation unit, 79B-Holding part centrifugal force calculation unit, S1-Boom angle sensor, S2-Boom angle sensor, S3-Bucket angle sensor, S4-Body tilt sensor, S5-Slewing status sensor, S6-Camera device, S7R-Boom rod pressure sensor, S7B-Boom bottom pressure sensor, S8R-Boom rod pressure sensor, S8B-Boom bottom pressure sensor, S9R-Bucket rod pressure sensor, S9B-Bucket bottom pressure sensor, DT-Dump truck.

Claims

1. A construction machine, comprising: The auxiliary device includes at least a boom, a stick mounted at the front end of the boom, and an end fitting mounted at the front end of the stick, and is mounted on the upper slewing body; and Control device, The control device When calculating the weight of the object being transported by the auxiliary device, at least the boom is opened and closed. The torque causing the boom to rotate is compensated based on at least one of the centrifugal force generated by opening and closing the boom and the inertial force generated by opening and closing the boom. The torque that rotates the boom is the torque about the foot pin of the boom connecting the upper rotating body and the auxiliary device. The weight of the object being transported by the auxiliary device is calculated based on the compensated torque.

2. The construction machinery according to claim 1, wherein, The control device compensates for the weight of the transported object based on the posture of the construction machinery.

3. The construction machinery according to claim 1, wherein, The control device calculates the weight of the transported object based on the torque generated during the lifting of the boom and the opening and closing of the stick.

4. The construction machinery according to any one of claims 1 to 3, wherein, The termination accessory is a bucket, magnetic crane, grab hook, forklift, or logging machine including a chainsaw.

5. A construction machine, comprising: The auxiliary device includes at least a boom, a stick mounted at the front end of the boom, and an end fitting mounted at the front end of the stick, and is mounted on the upper slewing body; and Control device, The control device When calculating the weight of the object being transported by the auxiliary device, at least the termination attachment must have been opened or closed. The torque causing the boom to rotate is compensated based on at least one of the centrifugal force generated by the opening and closing of the end attachment and the inertial force generated by the opening and closing of the end attachment. The torque that rotates the boom is the torque about the foot pin of the boom connecting the upper rotating body and the auxiliary device. The weight of the object being transported by the auxiliary device is calculated based on the compensated torque.

6. The construction machinery according to claim 5, wherein, The end fitting is rotatably mounted on the front end of the boom. The control device compensates for the torque that causes the boom to rotate based on at least one of the centrifugal force of the end attachment generated by the rotation of the end attachment relative to the boom and the inertial force of the end attachment.

7. The construction machinery according to claim 5, wherein, The termination accessory has a gripping part for holding the transported object and a gripping part rotation mechanism for rotating the gripping part. The control device compensates for the torque that causes the boom to rotate based on at least one of the centrifugal force of the end attachment and the inertial force of the end attachment generated by the rotational action of the gripping part.

8. The construction machinery according to any one of claims 5 to 7, wherein, The control device compensates for the weight of the transported object based on the posture of the construction machinery.

9. The construction machinery according to any one of claims 5 to 7, wherein, The control device calculates the weight of the transported object based on the torque generated during the lifting motion of the boom and the rotation motion of the end attachment.

10. A control device for construction machinery, the construction machinery comprising at least a boom, a stick mounted at the front end of the boom, and an end attachment mounted at the front end of the stick, and an auxiliary device mounted on an upper rotating body, wherein the control device for construction machinery comprises... The control device When calculating the weight of the object being transported by the auxiliary device, at least the boom is opened and closed. The torque causing the boom to rotate is compensated based on at least one of the centrifugal force generated by opening and closing the boom and the inertial force generated by opening and closing the boom. The torque that rotates the boom is the torque about the foot pin of the boom connecting the upper rotating body and the auxiliary device. The weight of the object being transported by the auxiliary device is calculated based on the compensated torque.

11. A control device for construction machinery, the construction machinery comprising at least a boom, a stick mounted at the front end of the boom, and an end attachment mounted at the front end of the stick, and an auxiliary device mounted on an upper rotating body, wherein the control device for construction machinery comprises The control device When calculating the weight of the object being transported by the auxiliary device, at least the termination attachment must have been opened or closed. The torque causing the boom to rotate is compensated based on at least one of the centrifugal force generated by the opening and closing of the end attachment and the inertial force generated by the opening and closing of the end attachment. The torque that rotates the boom is the torque about the foot pin of the boom connecting the upper rotating body and the auxiliary device. The weight of the object being transported by the auxiliary device is calculated based on the compensated torque.

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