Strain measuring sensor device for earthmoving machine

Abstract

A sensor device (1) for an earthmoving machine, comprising: at least one body (10); a first plurality of strain measurement sensors (20) arranged on one or more of the at least one body such that the first plurality of sensors measure strain on at least two different axes (X, Y), where the first plurality of sensors comprises at least four strain measurement sensors (20); and one or more electronic devices configured to, for at least two different axes (X, Y, Y '), provide, for each of the at least two different axes, a difference between measurements of two different strain measurement sensors of the first plurality of strain measurement sensors. Methods, wear elements, and wear element assemblies including the sensor arrangement are also provided.

Description

Technical Field

[0001] The present invention relates to the field of earth-moving machines. More particularly, the present disclosure relates to sensor devices, wear elements and assemblies having wear elements capable of measuring overall deformation in an accurate and reliable manner. Background Art

[0002] Earth-moving machines such as excavators, scrapers, loaders, shovels, etc. include excavating implements such as buckets, shovels, dredger heads, etc., whereby material is pushed, penetrated, scraped, pulled and / or collected. The engagement of material has an adverse effect on excavating implements because each time the implement engages the ground, they are subjected to high levels of loads, shocks and stresses which deform and wear away the implements, or even cause them to break.

[0003] For at least this reason, wear elements are coupled to the excavating implement. The wear elements protect the implement from wear and impact that could deform and damage the excavating implement. In addition, the wear elements are designed to increase the effectiveness of ground engagement. Since the wear elements are wear elements that are subject to the adverse phenomena of wear and impact, the wear elements must be replaced frequently.

[0004] The forces and stresses to which the wear elements are subjected need to be monitored for timely replacement of the wear elements and proper operation of the earth-moving machine. In this sense, information about the location, direction and intensity of the forces and stresses applied to the wear elements can be used to know their state with respect to wear and potential remaining service life. This type of data can be used by the machine or the operator of the machine to adjust how the machine (particularly the wear elements) engages and loads the ground material in terms of force, angle, speed, etc. Likewise, the envelope of the machine and / or the instructions issued by the operator can be modified to limit the movements of the machine or the excavating implement, or even to change the activities in the quarry so that they depend on the state or remaining service life of the wear elements.

[0005] There is a need to measure reliable and cost-effective strain of a wear element such that based on the measured strain, force and / or stress can be determined. Summary of the invention

[0006] A first aspect relates to a sensor device, the sensor device comprising: at least one body; a first plurality of strain measurement sensors, the first plurality of strain measurement sensors being arranged on one or more of the at least one body such that the first plurality of sensors measures strain on at least two different axes, wherein the first plurality of strain measurement sensors comprises at least four strain measurement sensors; and one or more electronic devices, the one or more electronic devices being configured to provide, for the at least two different axes, a difference between measurement values ​​of two different strain measurement sensors of the first plurality of strain measurement sensors for each of the at least two different axes.

[0007] The sensor device is attachable to a cavity of a wear element of an excavating tool for an earth-moving machine such that strain of the wear element can be measured by the strain measuring sensor. At least when the sensor device has multiple bodies, the sensor device is attachable to multiple cavities of the wear element such that one or more bodies are attached to a cavity and one or more other bodies are attached to one or more other cavities.

[0008] When one or more sensor devices are attached to a wear element (e.g., attached to or introduced into a cavity of a wear element for receiving the sensor device), the sensor device measures strains of the wear element, which are transmitted from one or more other wear elements (e.g., teeth, shields, etc.) that are in direct contact with the soil or excavated material. This means that the sensor device can be attached to a wear element that has limited or no engagement with the ground, but measures strains of the wear element that actively engages the ground; therefore, the wear element to which the sensor device is attached is replaced less frequently than other wear elements whose strains need to be measured. In the context of the present disclosure, strain refers to single microscopic deformations in the material and / or fibers of the wear element, such as those caused by forces / stresses exerted on the wear element when the earth-moving machine is working.

[0009] The use of at least four strain measurement sensors makes it possible to measure strains in four points distributed on one or more sensor bodies, which deform proportionally and in a similar manner to the excavation tool that resists the excavation forces and transmits the excavation forces from the teeth to the bucket, thereby allowing the forces in at least two perpendicular force axes to be determined, but also making it possible to determine the forces in up to three perpendicular axes in a Cartesian coordinate system, which is particularly convenient for determining the efficiency of the machine operation.

[0010] The one or more electronic devices receive and process the measurements of the strain measurement sensors to provide a difference between the measurements of the strain measurement sensors in at least each of two perpendicular axes, such as the difference of the measurements along the horizontal (or lateral) and vertical axes. The difference will be for the axis corresponding to the arrangement of the strain measurement sensors, and thus it can be any other two axes, including two non-perpendicular axes, which is more common when the first plurality of strain measurement sensors has more than four strain measurement sensors.

[0011] The strain measuring sensors on the sensor device are arranged so that at least one pair of sensors measures strain relative to a first axis and another pair of sensors measures strain relative to a second axis. Since each pair of sensors is spaced apart from each other along the axis of the strain to be measured, two different strain measurements are obtained according to the same axis. The difference between the two strain measurements represents the load applied to the wear element on which the sensor device is mounted. When the load is applied, typically one of the sensors in the pair measures the traction caused by microforming of at least one body extending the surface where the sensor is located, and the other sensor in the pair measures the compression caused by microforming of at least one body compressing the surface where the sensor is located. However, in some cases, such a load may not produce opposite microdeformations on the parts where the two sensors are located, because this may also depend on the geometry of the body or wear element where the sensors are located and how it deforms, for example, the two parts may be compressed, with one part compressing more than the other.

[0012] In some embodiments, one or more electronic devices are configured to provide force values ​​on at least two different axes, wherein the force value on each axis is provided based on measurement values ​​of two different strain measurement sensors in a first plurality of strain measurement sensors, and more specifically based on the difference in measurement values ​​of each axis.

[0013] In some embodiments, one or more electronic devices are configured to transmit the difference between the measured values ​​of the strain measurement sensors of the first plurality of strain measurement sensors to one or more other devices remote from the sensor device in a wired or wireless form. This in turn enables force values ​​to be provided on at least two different axes at the one or more other devices.

[0014] One or more electronic devices process the strain measurements of each pair of sensors to quantify, analogically or digitally, the difference in strain to which the sensor device has been subjected on each axis, thereby enabling the force value to be subsequently determined. By processing the type of strain via the sign of the measurement, once the difference is provided to such one or more remote devices, the direction of the force applied to the component can be determined at the sensor device or at one or more devices remote from the sensor device. The same processing is applied to at least two pairs of sensors to enable the force values ​​on the two axes to be obtained. The one or more remote devices may be located within the earth-moving machine or remote from the earth-moving machine, such as a control center, an operator's wireless device, etc.

[0015] The sensitivity in the determination of the force along each axis depends on the strain differences resulting from the measurements of the corresponding strain measuring sensors, these strain differences depending on the deformability (i.e. the degree of deformation) of the parts of the device in which the sensors are arranged. The greater the deformability of these parts, the greater the sensitivity will be. And a factor determining the accuracy with which the force along each axis will be determined is the independence of the deformation along one axis relative to the deformation along the axis perpendicular thereto; that is, when a force along one axis causes little or no deformation along the perpendicular axis, the force will be determined more accurately.

[0016] In some embodiments, the one or more electronic devices are configured to provide combined measurements of some or all of the strain measurement sensors of the first plurality of strain measurement sensors for a third axis of at least two different axes (i.e., at least two different axes having three axes, preferably three perpendicular axes, such as horizontal (or transverse), vertical and longitudinal. The third axis is different from the first axis and the second axis, for which the difference between the measurements of a pair of strain measurement sensors has been provided.

[0017] In some embodiments, one or more electronic devices are configured to provide force values ​​in three axes, preferably in three perpendicular axes (eg, horizontal (or lateral), vertical, and longitudinal).

[0018] In some embodiments, one or more electronic devices are configured to transmit the combined measurements of some or all of the first plurality of strain measurement sensors to one or more devices remote from the sensor device in a wired or wireless form. This in turn enables the provision of force values ​​on the third axis at one or more remote devices.

[0019] To provide a force value on the third axis, the electronics combines the measured values ​​of some or all of the strain measurement sensors in the first plurality of strain measurement sensors to derive a traction or compression force value. The combination of values ​​measured by the sensors will indicate whether the force applied to the sensor is traction or compression, since at least some of the sensors will experience traction or compression when some force is applied to the assembly when the excavating tool contacts the material. In this sense, the force will be either traction or compression, depending on the sign of the resulting value.

[0020] The combination of the measurements can be, for example, an arithmetic sum of the measurements, and the result can be averaged to the exact magnitude. While the force values ​​in the two first axes are derived from the difference in strain between the sensor pairs, the force value in the third axis is derived from the positive combination of the strains of all sensors. This is because when there is compression or traction along the third axis, the micro-forming in the sensor device on this axis will be compression or traction; the difference between the measurements of the sensor pair will produce a result of zero or close to zero, because each sensor has measured the same compression or traction.

[0021] Nevertheless, in some embodiments, the first plurality of strain measurement sensors includes at least six strain measurement sensors arranged on at least one body such that the first plurality of sensors measures strain in three different axes. In those cases, the third pair of sensors is arranged to measure strain in the third axis in the same manner as the strain in the other two axes is measured using the sensor pair.

[0022] In some embodiments, the first plurality of strain measurement sensors are arranged such that they measure strain corresponding to shear force or stress. The first plurality of strain measurement sensors comprises at least six strain measurement sensors.

[0023] At least one pair of strain measurement sensors may be arranged with the sensors forming an angle of between 30° and 60°, preferably as close to 45° as possible, relative to the other strain measurement sensors of the first plurality of strain measurement sensors, in order to allow the calculation of shear forces or stresses. In this way, the measurements of the pair (or pairs) of strain measurement sensors may allow the calculation of the distance or position at which the load is applied on the wear element.

[0024] In the context of this disclosure, shear stress is stress or its component that is tangential to the plane on which the force or forces act.

[0025] In some embodiments, the sensor device also includes a second plurality of strain measurement sensors arranged on the at least one body, wherein the number of strain measurement sensors in the second plurality of strain measurement sensors is equal to or less than the number of strain measurement sensors in the first plurality of strain measurement sensors, and each strain measurement sensor in the second plurality of strain measurement sensors is arranged to be both adjacent to and perpendicular to a different strain measurement sensor in the first plurality of strain measurement sensors.

[0026] The use of additional strain measurement sensors enables compensation for temperature effects. Temperature potentially changes the measurements of the first plurality of strain measurement sensors, thereby adjusting the measurements on each axis based on the values ​​of the second plurality of strain measurement sensors. Compensation for these effects improves the accuracy of both the measurements (and the differences provided based on the measurements) and the force values.

[0027] Preferably, the number of sensors in the second plurality of sensors is equal to the number of sensors in the first plurality of sensors, so that the measured values ​​of all strain measurement sensors in the first plurality of strain measurement sensors can be compensated.

[0028] In some embodiments, the sensor device further includes one or more (first) cables, the one or more cables being electrically connected to: one or more of the first plurality (and the second plurality, if any) of strain measurement sensors, and one or more electronic devices or at least one printed circuit board including one or more electronic devices.

[0029] In some embodiments, the sensor device further comprises one or more (first or second) cables, wherein the one or more cables are electrically connected at their first ends to the one or more electronic devices or at least one printed circuit board comprising the one or more electronic devices. Further, the second ends of the one or more cables are connected or connectable to one or more other devices remote from the sensor device.

[0030] In some other embodiments, one or more electronic devices or at least one printed circuit board including one or more electronic devices includes a wireless communication module for transmitting data to the one or more other remote devices in a wireless form.

[0031] In some embodiments, each strain measurement sensor in the first plurality of strain measurement sensors is arranged on the body of at least one body in an orientation α=(n·360°) / N relative to the first face of the body of at least one body, and n has different values, wherein n is a natural number ranging from 0 to N-1, and N is equal to the number of strain measurement sensors in the first plurality of strain measurement sensors.

[0032] The strain measuring sensors are evenly distributed over the surface of the sensor device, preferably in one or more transverse planes having a normal vector parallel to one of the three axes of the sensor device, preferably the longitudinal axis. In this way, the strains experienced by different sides of the cavity, in which the sensor device is arranged and reproduced in at least one body, can be measured, and in two or three different axes, with higher accuracy.

[0033] In some embodiments, at least one body is made of polyamide, polypropylene or polycarbonate.

[0034] When the filling material is capable of transferring micro-deformations of the wear element to the at least one body, the strain of the wear element transferred to the material that partially or completely fills the cavity is more effectively transferred to the at least one body, so the material should be rigid enough to deform the at least one body. In addition, the at least one body should preferably be less rigid (i.e., softer) than the device for attaching the sensor (i.e., the material filling the cavity) to be more effectively deformed by the device. For example, but not limited to, at least one body is one of the above materials. In some of these embodiments, the material filling the cavity has a reduced hardness.

[0035] In some embodiments, at least one body includes (ie, has) a cylindrical shape or a rectangular prism shape.

[0036] In some embodiments, at least one body is a single body comprising a cavity or through-hole that makes the sensor device hollow, or at least one body comprises a plurality of bodies coupled thereto so as to form a cavity or through-hole that is hollow for the sensor device; at least one body comprises a plurality of channels formed on an outer portion of the at least one body, each channel being formed between two outer faces of the at least one body; one or more electronic devices (and / or at least one printed circuit board, if any) are introduced into the cavity or through-hole of the at least one body; a first plurality of strain measurement sensors (and a second plurality of strain measurement sensors, in those embodiments in which the assembly comprises it) are arranged on one or more outer faces of the at least one body; and each of the one or more cables of each strain measurement sensor extends between the one or more electronic devices or the at least one printed circuit board and the corresponding strain measurement sensor, wherein a portion of the cable extends through one of the plurality of channels.

[0037] The sensor device is compact in size and embeds all the electronics necessary for its operation, which in some embodiments includes excitation means such as one or more batteries or the like.

[0038] Due to the passage formed for routing the cable between the strain measurement sensor and the electronics and / or PCB, the cable does not protrude from the sensor device. And the electronics and / or PCB are protected by at least one body due to being located in a cavity or through hole of the body and furthermore do not increase the volume of the sensor device.

[0039] In some embodiments, one or more of the at least one body is shaped so that each has a cavity or through hole formed therein, i.e., the body is hollow. In some of these embodiments, one or more electronic devices (and / or at least one printed circuit board, if any) are introduced into the cavities and through holes of the body or through holes of the one or more bodies; the first plurality of strain measurement sensors (and the plurality of strain measurement sensors, in those embodiments in which the assembly includes it) are arranged on one or more internal faces or external faces of the body of the one or more bodies.

[0040] The hollow body may be characterized by a shape such as, but not limited to, cylindrical, or oval, or square, or rectangular, or the like.

[0041] In some embodiments, the end of the body of at least one body is wider than the rest of the body, that is, the wider end has a width or diameter greater than the width or diameter of the rest of the body. In some of these embodiments, the body has one or more grooves and / or holes at the wider end.

[0042] The grooves or holes may direct the strain deformation from the body towards the strain measurement sensor with little or no reduction in the strength of the deformation. Furthermore, the grooves or holes may reduce the temperature of the components reaching the sensor device during the welding operation.

[0043] A cover of the sensor device may be arranged at the wider end of the body to protect it, more particularly the electronics and the plurality of strain measurement sensors, from external particles, dust and impacts.

[0044] In some embodiments, at least one body has a rough surface on an outer portion thereof. In some embodiments, the rough surface is at least on a respective end of at least one body. In some embodiments, the rough surface comprises ribs formed on the outer portion.

[0045] The rough surface provides greater friction between the sensor device and its surroundings for at least one outer portion of the body, thereby reducing the mobility of the sensor device in the cavity and increasing the transfer of deformation of the wear element to the sensor device. For example, when the sensor device is surrounded by a material such as a potting process, the greater friction between the body and the hardened flowable material restricts the movement of the sensor device while further deforming the sensor device.

[0046] In some embodiments, at least one body is a weldable material. In some embodiments, the weldable material is 30CrNiMo8 or 42CrMo4.

[0047] By manufacturing the at least one body from one of the above mentioned steels, the measured values ​​of the sensor device are more reliable, even more reliable when the sensor device is attached to the wear element by providing a weld therebetween. This is because the toughness of the at least one body is relatively high and, in addition, the at least one body may be less porous than other materials, both of which make it possible to subject the at least one body to more deformations before breaking.

[0048] Preferably, at least one body is characterized by a similar hardness as the wear element or by being less hard, ie softer, than the wear element.When such a relationship of hardness values ​​exists, strain is transferred to the sensor device at a greater level.

[0049] In some embodiments, the sensor device further comprises a cover, the cover comprising a steel material, the cover being coupled to the at least one body or being capable of being coupled to the wear element (at which position the sensor device is to be arranged) so that a cavity is formed therebetween (i.e., between the cover and the at least one body). The at least one body is a single body; one or more electronic devices (and / or at least one printed circuit board, if any) are introduced into the cavity formed between the cover and the at least one body; and the strain measurement sensors of the first plurality of strain measurement sensors (and the second plurality of strain measurement sensors, if any) are arranged on one or more external faces of the at least one body.

[0050] The cover protects the strain gauge sensor from fine particles that alter the electrical signal provided by the sensor, and the cover also protects the electronics embedded within the sensor device from material stress and wear, including wiring (if any) connecting the sensor device to one or more other devices remote from the sensor device or including wear element components of the sensor device, such as a power supply that electrically powers the sensor device. In some embodiments, the electronics include a powered device, such as one or more batteries, etc., in which case there may be no wires connecting the sensor device to other devices remote from the sensor device.

[0051] The one or more electronic devices and / or the PCB are protected by the at least one body due to the position of the at least one body within the cavity of the body, which furthermore does not increase the bulk of the sensor device.

[0052] There may be some clearance between the cover and the at least one body to avoid transferring the impact from the cover to the body when the cover receives the impact. Thus, preferably, the cover does not contact the at least one body.

[0053] In some embodiments, the cover has a geometry such that when the cover is coupled to at least one body or wear element on which the sensor device is to be arranged, the cover covers at least some or all of the strain measurement sensors of the first plurality of strain measurement sensors (and the second plurality of strain measurement sensors, if any) for their protection.

[0054] In some embodiments, the sensor device further comprises one or more housings, at least a portion of which is inserted between the body of at least one body and the cover, the housing being arranged such that it encloses a cavity formed between the body of at least one body and the cover. In some embodiments, the housing is arranged such that it also covers some or all of the strain measurement sensors of the first plurality of strain measurement sensors (and the second plurality of strain measurement sensors, if any).

[0055] The housing provides an additional layer of protection that is impermeable to the sensor device and its contents. In this sense, the housing covers at least the contents of the cavity formed between at least one body and the cover. For example, in some embodiments, the housing covers one or more of the following: one or more electronic devices, at least one printed circuit board, one or more cables or wires connecting the sensor device to one or more other devices remote from the assembly, electronics, etc. The housing may also reduce the likelihood of a cable being detached from part of the sensor device when the sensor device is mounted on the wear element due to impact to the wear element assembly.

[0056] In addition, by enclosing the cavity, the housing renders the volume of the cavity impermeable, thereby preventing the ingress of water, particles, fine particles, etc. that could damage or destroy the components within the cavity, and also protects the components within the cavity from forces applied to the sensor device (e.g., that could alter the electrical signal provided).

[0057] In some embodiments, the strain measurement sensors of the first plurality of strain measurement sensors (and the second plurality of strain measurement sensors, in those embodiments where the assembly includes it) are strain gauges or piezoelectric sensors.

[0058] In the context of the present disclosure, a strain measurement sensor capable of measuring strain in two or more dimensions (i.e., about two or more axes) is considered to be a plurality of strain measurement sensors, specifically one sensor per dimension or axis; for example, a T-rose-shaped strain gauge capable of dual-axis strain measurement is two strain gauges.

[0059] A second aspect relates to a wear element assembly for an excavating tool of an earth-moving machine, comprising: a wear element adapted at least to be coupled to the excavating tool and / or another wear element for the excavating tool, the wear element comprising a cavity; a sensor device as described in the first aspect; and means for attaching the sensor device to the interior of the cavity.

[0060] The wear element has a cavity for receiving the sensor device, which enables the strain of the wear element to be measured.The cavity physically protects the sensor device and, for this purpose, is sized according to the sensor device or is larger than the sensor device.

[0061] The attachment device attaches the sensor device to the cavity such that strain of the wear element is coupled to the strain measurement sensor while retaining the sensor device within the cavity.

[0062] In some embodiments, the attachment means comprises a material that at least partially fills the cavity together with the sensor device introduced into the cavity. In some embodiments, the material is one of the following: a thermosetting plastic, a silicone rubber gel, and an epoxy resin.

[0063] The material is preferably a flowable material which hardens after a waiting period after application of the material.The material may be applied by a potting process, whereby the cavity is filled or partially filled with the material and the sensor device is introduced therein.

[0064] The provision of such a material also facilitates protection of the sensor device and its components from, for example, fine particles and water, as water tightness is achieved. It also reduces the play of any cables that may be arranged within the sensor device, so accidental removal of the cables is infrequent during operation of the earth-moving machine or during maintenance tasks.

[0065] In some embodiments, at least a portion of the cavity comprises a cylindrical shape, and at least one body of the sensor device comprises a cylindrical shape.

[0066] In some embodiments, at least a portion of the cavity includes (ie, has) a rectangular prism shape, and at least one body of the sensor device includes (ie, has) a rectangular prism shape.

[0067] In some embodiments, the assembly further comprises one or more covers, each cover being introduced into an opening of the cavity of the wear element. In some embodiments, each cover comprises an opening adapted for introducing one or more cables.

[0068] The cover reduces the probability that fine particles or microparticles from the outside will physically come into contact with any material filling the cavity and the sensor device, which could otherwise (even significantly) change the measured values ​​of the sensor device. The cover also reduces the probability that the sensor device will leave the cavity during operation of the earth-moving machine, since force is required to pull out the cover. The cover does not exclude the possibility of connecting one or more cables from outside the cavity to the sensor device, for example for data communication and / or for powering up the sensor device, since openings are preferably provided for this purpose.

[0069] In some embodiments, the attachment means comprises a plurality of welds between at least one body and the cavity.

[0070] In some embodiments, the plurality of welds comprises four welds, each weld preferably being arranged at a different corner of at least one body, the welds contacting the cavity of the wear element. In some embodiments, the sum of the thicknesses of the four welds is greater than the thickness of at least one body of the sensor device at its most central portion.

[0071] Providing four welds improves the transfer of stresses and forces along all three Cartesian axes to the sensor body for measurement thereof.

[0072] The weld transfers and withstands strains and forces more reliably when the combined thickness of the weld is greater than the thickness of at least one of the bodies. In this sense, all thicknesses are measured along a common Cartesian axis.

[0073] Furthermore, whenever the relationship between the thicknesses is satisfied for two different Cartesian axes, the ability to transfer and withstand strains and forces is greater.The two axes are preferably axes defining a cross section of the at least one body characterized by a minimum surface at the most central portion.

[0074] In some embodiments, the wear element comprises one of: an adapter, a cast nose, a welded nose, a cast lip (or a portion thereof), or a shroud.

[0075] In some embodiments, the assembly further includes one or more devices remote from the sensor device.

[0076] The one or more devices may receive data from the sensor device in wired or wireless form, such as differences between measurements of strain measurement sensors, and / or combined measurements of some or all of the strain measurement sensors as described above in the first aspect. The one or more devices may include one or more processors and / or electronics configured to process the data received from the sensor device and provide force values ​​on two or more axes.

[0077] In some embodiments, the cavity is formed on an exterior surface of a wear element, such as an exterior surface of an adapter, such as, for example, a top surface thereof (as opposed to a bottom surface thereof which is typically closer to the soil during ground engaging operation) or a side surface thereof.

[0078] In some embodiments, the cavity is formed adjacent to a hole or through hole adapted to receive a fixing means such as a fixing pin intended to securely attach the wear element to another wear element. In some embodiments, the cavity is parallel to the hole or through hole for the fixing means. In some embodiments, the distance of the cavity from the front end of the wear element is greater than the distance of the hole or through hole for fixing the fixing means from the front end.

[0079] In some other embodiments, the cavity is formed on an interior surface of the wear element, such as an interior surface of an adapter that is intended to receive a lip or the like.

[0080] In some embodiments, the cavity has two openings, thereby forming a through hole.

[0081] A third aspect relates to an earth-moving machine comprising an excavating implement and one or more sensor devices according to the first aspect and / or one or more wear element assemblies according to the second aspect.

[0082] Earth-moving machines include one or more sensor devices and / or wear element assemblies that can measure the strains to which the wear element is subjected in a reliable, simple and cost-effective manner. The sensor devices used for this purpose are also protected so that they can withstand the significant loads applied to the excavating implement.

[0083] A fourth aspect relates to a method comprising: introducing a sensor device into a cavity of a wear element of an excavating tool for an earth-moving machine; arranging a first plurality of strain measurement sensors on one or more bodies of at least one body of the sensor device, wherein the first plurality of strain measurement sensors comprises at least four strain measurement sensors; attaching the sensor device to the cavity when the sensor device is introduced into the cavity; measuring strains on at least two different axes on at least one body using the first plurality of strain measurement sensors; and providing, for at least two different axes, a difference between measurement values ​​of two different strain measurement sensors of the first plurality of strain measurement sensors for each of the at least two different axes using one or more (first) electronic devices.

[0084] In order to measure strain in two axes, at least two pairs of a first plurality of strain measurement sensors are arranged on at least one body so that each pair of sensors is separated at least along the axis for which the strain is to be measured and is arranged at positions that produce a strain difference between the strains existing in said positions.

[0085] The one or more electronic devices providing the difference between the measured values ​​are preferably within the wear element, in particular arranged in or on the sensor device.

[0086] In some embodiments, the method further includes using one or more (first or second) electronic devices to provide force values ​​on at least two different axes, wherein the force value on each axis is provided based on measurement values ​​of two different strain measurement sensors among the first plurality of strain measurement sensors, and more specifically based on the difference between the measurement values.

[0087] The one or more electronic devices providing the force values ​​may be the same as the one or more electronic devices providing the difference between the measurement values ​​(i.e., one or more first electronic devices) or different from the one or more electronic devices providing the difference between the measurement values ​​(i.e., one or more first electronic devices and one or more second electronic devices).

[0088] The one or more electronic devices providing the force value may be within the wear element, in particular arranged in or on the sensor device, or remote from the sensor device and optionally remote from the wear element.

[0089] In some embodiments, the sensor device is a sensor device as described in the first aspect.

[0090] In some embodiments, the sensor device and the wear element form a wear element assembly according to the second aspect. That is, the sensor device, the wear element or its cavity has features as described with reference to the second aspect, including features as described with reference to the embodiments of the second aspect.

[0091] In some embodiments, the method further comprises providing combined measurements of some or all of the strain measurement sensors of the first plurality of strain measurement sensors for a third axis of the at least two different axes (i.e., the at least two different axes have three axes, preferably three perpendicular axes). The third axis is different from the first axis and the second axis, for which the difference between the measurements of the pair of strain measurement sensors has been provided.

[0092] In some embodiments, the force values ​​are provided on three different axes, wherein the force value on the third axis is provided based on the measurement values ​​of some or all of the first plurality of strain measurement sensors, and in particular based on the combined measurement values ​​of some or all of the first plurality of strain measurement sensors.

[0093] In some embodiments, the method further comprises: providing, using one or more (first or second) electronic devices, a shear force value or a point at which the force is applied on the wear element based on measurement values ​​of two different strain measurement sensors in the first plurality of strain measurement sensors, the two different strain measurement sensors in the first plurality of strain measurement sensors being arranged to form an angle between 30° and 60° relative to other strain measurement sensors in the first plurality of strain measurement sensors. The first plurality of strain measurement sensors comprises at least six strain measurement sensors.

[0094] In some embodiments, the method further includes: arranging a second plurality of strain measurement sensors on one or more bodies of at least one body, wherein the number of strain measurement sensors in the second plurality of strain measurement sensors is equal to or less than the number of strain measurement sensors in the first plurality of strain measurement sensors, and each strain measurement sensor in the second plurality of strain measurement sensors is arranged to be both adjacent to and perpendicular to a different strain measurement sensor in the first plurality of strain measurement sensors; and providing the force value is also based on the measurement values ​​of all strain measurement sensors of the second plurality of strain measurement sensors.

[0095] In some embodiments, the method further includes electrically connecting one or more electronic devices or at least one printed circuit board including one or more electronic devices to each strain measurement sensor of the first plurality of strain measurement sensors (and the second plurality of strain measurement sensors in those embodiments in which a second plurality of strain measurement sensors are arranged) with one or more corresponding cables.

[0096] In some embodiments, the method further includes transmitting differences between measurement values ​​of the strain measurement sensors of the first plurality of strain measurement sensors to one or more other devices remote from the sensor device in a wired or wireless form, thereby enabling force values ​​to be provided on at least two different axes at the one or more other devices.

[0097] In some embodiments, the method further includes transmitting combined measurement values ​​of some or all of the first plurality of strain measurement sensors to one or more devices remote from the sensor device in a wired or wireless form, thereby enabling force values ​​on the third axis to be provided at the one or more remote devices.

[0098] In some embodiments, in the step of arranging a first plurality of strain measurement sensors, each of the strain measurement sensors is arranged on a body of at least one body so as to have an orientation α=(n·360°) / N relative to a first face of the body of at least one body, and n has different values, wherein n is a natural number ranging from 0 to N-1, and N is equal to the number of strain measurement sensors of the first plurality of strain measurement sensors.

[0099] In some embodiments, attaching the sensor device to the cavity comprises: at least partially filling the cavity with a flowable material when introducing the sensor device into the cavity; and hardening or waiting to harden the flowable material when at least partially filling the cavity.

[0100] In some embodiments, the method further comprises filling the sensor device or a portion thereof with a flowable material. In some embodiments, filling the sensor device or a portion thereof is performed with the sensor device or a portion inside the mold. In some embodiments, the method further comprises hardening or waiting to harden the flowable material before introducing the sensor into the cavity. In some embodiments, filling the sensor device or a portion thereof comprises providing the sensor device or a portion thereof with a rough surface and / or with protruding members or ribs on an outer portion thereof with the flowable material.

[0101] In some embodiments, the flowable material is one of the following: a thermoset plastic, a silicone gel, and an epoxy resin.

[0102] In some embodiments, at least one body is a single body, the single body includes a cavity or a through hole that makes the sensor device hollow, or at least one body includes a plurality of bodies coupled thereto so as to form a cavity or a through hole that makes the sensor device hollow; at least one body includes a plurality of channels formed on an outer portion of the at least one body, each channel being formed between two outer faces of the at least one body; the method further includes introducing one or more electronic devices (and / or at least one printed circuit board, if any) into the cavity or through hole of the at least one body; in the step of arranging the strain measurement sensors of the first plurality of strain measurement sensors (and the second plurality of strain measurement sensors in those embodiments in which the second plurality of strain measurement sensors are arranged), the strain measurement sensors are arranged on one or more outer faces of the at least one body; and the step of electrically connecting the one or more electronic devices or the at least one printed circuit board to each strain measurement sensor of the first plurality of strain measurement sensors (and the second plurality of strain measurement sensors in those embodiments in which the second plurality of strain measurement sensors are arranged) includes extending each of the one or more cables of each strain measurement sensor between the electronic device or the at least one printed circuit board and the corresponding strain measurement sensor so that a portion of it extends through one of the plurality of channels.

[0103] In some embodiments, one or more of the at least one body is shaped so that each has a cavity or through hole formed therein. In some of these embodiments, the method further comprises: introducing one or more electronic devices (and / or at least one printed circuit board, if any) into the cavity or through hole of the body in the one or more bodies; and in the step of arranging the first plurality of strain measurement sensors (and the second plurality of strain measurement sensors in those embodiments where the second plurality of strain measurement sensors are arranged), the strain measurement sensors are arranged on one or more interior faces or exterior faces of the body in the one or more bodies.

[0104] In some embodiments, the method further comprises introducing a cover onto the opening of the cavity (or cavities) of the wear element.In some embodiments, the cover comprises an opening adapted for introducing one or more cables.

[0105] In some embodiments, the step of attaching the sensor device to the cavity (or cavities) comprises welding portions of at least one body and the cavity.

[0106] In some embodiments, the method further comprises coupling a cover comprising a steel material to at least one body or a wear element such that a cavity is formed between the cover and at least one body, the at least one body being a single body contacting the cavity; and introducing one or more electronic devices (and / or at least one printed circuit board, if any) into the cavity formed between the cover and at least one body. And in the step of arranging the first plurality of strain measurement sensors (and the second plurality of strain measurement sensors in those embodiments where the second plurality of strain measurement sensors are arranged), the strain measurement sensors are arranged on one or more exterior faces of the at least one body.

[0107] In some embodiments, the method further comprises arranging a housing, at least a portion of which is inserted between the at least one body and the cover, such that the housing encloses the cavity formed between the at least one body and the cover. In some embodiments, the housing is arranged so that it also covers some or all of the first plurality of strain measurement sensors (and in those embodiments in which the second plurality of strain measurement sensors are arranged, the second plurality of strain measurement sensors).

[0108] In some embodiments, the method further comprises producing the at least one body by one of: forging, micromelting, machining, or a combination thereof (eg, the at least one body is cast by micromelting and thereafter machined).

[0109] For example, a forged body (or one or more bodies when at least one body comprises two or more bodies) is characterized by low porosity and high toughness, both of which are beneficial for supporting deformation before the body fractures. In the case of receiving larger deformations, the sensor device is able to measure more strain.

[0110] In some embodiments, the method further comprises: installing the wear element on the excavating implement; and operating the earth-moving machine after installing the wear element.

[0111] A fifth aspect relates to a wear element for an excavating tool of an earth-moving machine, comprising: one or more cavities; a first plurality of strain measurement sensors, each sensor being arranged in a cavity in one or more cavities, wherein the first plurality of strain measurement sensors comprises at least four strain measurement sensors, the arrangement of the first plurality of sensors being used to measure strain on at least two different axes; a device for attaching each strain measurement sensor of the first plurality of strain measurement sensors to a corresponding cavity; and one or more electronic devices, the one or more electronic devices being configured to provide, for at least two different axes, a difference between measurement values ​​of two different strain measurement sensors of the first plurality of strain measurement sensors for each of the at least two different axes.

[0112] The wear element itself may act as a force measuring element, whereby strains on different parts of the wear element are measured using the strain measuring sensors.The wear element is preferably at least adapted to be coupled to an excavating implement and / or another wear element for an excavating implement.

[0113] The one or more cavities protect the strain measurement sensors from impact and wear during operation of the earth-moving machine and also reduce the likelihood of the sensors falling off the wear element regardless of the means used to attach the sensors thereto.

[0114] The means for attaching the sensor may be any means known in the art, such as with an adhesive or resin, and at least those specifically described with reference to the second aspect.

[0115] The measured values ​​provided by the sensor are then processed by one or more electronic devices in the same way as explained with reference to the first aspect.

[0116] In some embodiments, one, some or all of the first plurality of strain measurement sensors are implemented in a sensor device as described in the first aspect. In some embodiments, some or all of the strain measurement sensors are implemented in the same sensor device, while in some other embodiments, some or all of the strain measurement sensors are implemented in different sensor devices.

[0117] In some embodiments, the wear element comprises one of: an adapter, a cast nose, a welded nose, a cast lip (or a portion thereof), or a shroud.

[0118] In some embodiments, the one or more electronic devices are configured to provide force values ​​in at least two different axes, wherein the force value in each axis is provided based on measurements of two different strain measurement sensors in the first plurality of strain measurement sensors.

[0119] In some embodiments, the one or more electronic devices are configured to provide combined measurements of some or all of the first plurality of strain measurement sensors for a third axis of the at least two different axes.

[0120] In some embodiments, the one or more electronic devices are configured to provide force values ​​in three different axes.The force value of the third axis is obtained by processing the measurements of all sensors in the first plurality of sensors.

[0121] In some embodiments, one or more electronic devices are configured to determine a shear force value or a point at which the force is applied to the wear element based on measurement values ​​of two different strain measurement sensors in a first plurality of strain measurement sensors, wherein the two different strain measurement sensors in the first plurality of strain measurement sensors are arranged to form an angle between 30° and 60° relative to other strain measurement sensors in the first plurality of strain measurement sensors.

[0122] In some embodiments, the wear element further comprises a second plurality of strain measurement sensors, each sensor being arranged in a cavity in one or more of the cavities, wherein the number of the second plurality of strain measurement sensors is equal to or less than the number of the first plurality of strain measurement sensors, and each strain measurement sensor in the second plurality of strain measurement sensors is arranged both adjacent to and perpendicular to a different strain measurement sensor in the first plurality of strain measurement sensors.

[0123] A sixth aspect relates to a method comprising: arranging one or more cavities in a wear element for use in an excavating tool of an earth-moving machine or manufacturing a wear element having one or more cavities formed during a manufacturing process; attaching a first plurality of strain measurement sensors to one of the one or more cavities, wherein the first plurality of strain measurement sensors comprises at least four strain measurement sensors; measuring strain on at least one body on at least two different axes using strain measurement sensors from the first plurality of strain measurement sensors; and providing, for at least two different axes, a difference between measurement values ​​of two different strain measurement sensors from the first plurality of strain measurement sensors for each of the at least two different axes.

[0124] In some embodiments, the method further includes providing force values ​​on at least two different axes using one or more (first or second) electronic devices, wherein the force value on each axis is provided based on measurement values ​​of two different strain measurement sensors in the first plurality of strain measurement sensors.

[0125] In some embodiments, one, some or all of the strain measurement sensors of the first plurality of strain measurement sensors are implemented in a sensor device as described in the first aspect.

[0126] In some embodiments, the wear element is a wear element as described in the fifth aspect.

[0127] A seventh aspect relates to an earth-moving machine comprising an excavating implement and one or more wear elements according to the fifth aspect.

[0128] Similar advantages to those described with reference to the first and second aspects may also apply to the remaining aspects of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0129] To complete the description and for a better understanding of the invention, a set of drawings is provided. Said drawings form an integral part of the specification and illustrate embodiments of the invention, which should not be construed as limiting the scope of the invention, but merely as examples of how the invention may be implemented. The drawings include the following:

[0130] Figure 1A-1B and Figure 2 A sensor arrangement according to an embodiment is shown.

[0131] Figure 3 A sensor arrangement in a cavity of a wear element of an assembly according to an embodiment is shown.

[0132] Figure 4 Shown is a cross section of a wear element of an assembly according to an embodiment.

[0133] Figure 5A-Figure 5B A sensor arrangement for a wear element assembly according to an embodiment is shown.

[0134] Figure 6 A diagram showing a wear element according to an embodiment of the present invention in a cavity of a wear element of an assembly Figure 5A-Figure 5B sensor device.

[0135] Figure 7-Figure 8 A sensor arrangement of a wear element assembly according to an embodiment is partially shown.

[0136] Fig. 9 A sensor arrangement of a wear element assembly according to an embodiment is shown in an exploded view.

[0137] Figure 10-11 Wear elements and assemblies according to embodiments are shown.

[0138] Figure 12-14 Several positions are shown where the cavity of a wear member of an assembly according to embodiments may be located.

[0139] Figure 15-16 The electronics for processing the measurements and providing the force value are schematically shown.

[0140] Figure 17A-17B and Figure 18A-18B Two examples of strain measurement by a strain measurement sensor according to embodiments are shown.

[0141] Figure 19A-19B and Figure 20-24 A sensor arrangement and / or parts thereof according to embodiments are shown.

[0142] Fig.25 A sensor arrangement arranged in a wear element according to an embodiment is partially shown.

[0143] Fig.26 A cavity in a wear element for a sensor device according to an embodiment is shown.

[0144] Fig. 27 A wear element with a sensor arrangement according to an embodiment is shown.

[0145] Fig.28 A cross section of a wear element showing the cavity is shown according to an embodiment.

[0146] Fig.29 A sensor arrangement in a cavity according to an embodiment is shown.

[0147] Fig.30 A sensor arrangement according to an embodiment is shown.

[0148] Figure 31-Figure 33 Shows something like Fig.30 A sensor device is a portion of a sensor device.

[0149] Fig.34 shows a similar Figure 30-Figure 33 Wear elements of the sensor device.

[0150] Fig.35 A sensor arrangement according to an embodiment is shown.

[0151] Fig.36 Partially shows a similar Fig.35 The sensor device of the sensor device.

[0152] Fig.37 Shown with Figure 35-Figure 36 A cross section of a sensor device similar to a sensor device. DETAILED DESCRIPTION

[0153] Figure 1A A sensor device 1 according to an embodiment is shown in a perspective view, and Figure 1B The sensor device 1 is shown in a side view.

[0154] The sensor device 1 comprises a body 10, which in this embodiment has a cylindrical shape, N strain measurement sensors 20, and one or more electronic devices, for example mounted on a printed circuit board 25. In this example, the strain measurement sensors 20 are provided in the form of strain gauges, while in other examples, the strain measurement sensors 20 are provided in the form of piezoelectric sensors. In this example, N is a natural number equal to 4, while in other examples, N is greater than 4 and is preferably (but not necessarily) an even number.

[0155] The body 10 comprises a portion with a plurality of planes 11, in this case as many planes 11 as there are strain measurement sensors, that is to say N planes 11, whereas in other embodiments there are fewer or more planes 11, or there are no planes at all, since the surface is perfectly cylindrical. On each plane 11, one of the N strain measurement sensors 20 is attached, so that the strain measurement sensors are arranged with an orientation α=(n·360°) / N relative to at least one first face of the body, and n has different values, wherein n is a natural number ranging from 0 to N-1; in this embodiment in which there are four strain measurement sensors 20, the orientation α is, for example, 0°, 90°, 180° and 270°. It will be noted that tolerances in orientation like, for example, ±5° are possible, since a perfect arrangement can be complicated when achieving such an orientation.

[0156] according to Figure 1B The strain measurement sensor on the lateral side of the view enables the strain to be measured according to a first axis (specifically the X axis shown), and according to Figure 1B The sensors on the top and bottom sides of the view enable strain to be measured according to a second axis (specifically the Y axis shown). Additional strain measurement sensors may be added for additional strain measurement and / or compensation of temperature effects, as known in the art.

[0157] The body 10 is shaped such that a through hole 12 is formed therein. A printed circuit board 25 is located within the hole 12 so as to remain protected; the PCB 25 may remain attached within the hole 12 by friction, a coupling of matching geometry, screws, clamps, nuts, etc. The body 10 is also shaped such that ribs 14 are formed on its outer portion, for example at respective ends of the body 10. The ribs 14 increase the friction generated by the body 10 relative to the surrounding material so as to reliably fix the sensor device 1 within the cavity.

[0158] For the sake of clarity only, one or more cables 15, shown in dashed lines, connect each strain measurement sensor 20 to the PCB 25; in this sense, each cable 15 preferably passes through a channel 13 formed on the outer part of the body 10. There may be as many channels 13 as strain measurement sensors 20 in order to avoid tangling of the cables.

[0159] For example, in this embodiment and / or some other embodiments of the present disclosure, the PCB 25 and one or more electronic devices mounted therein may include one or more of the following devices:

[0160] - electronics for reading the measured values ​​of the strain measurement sensor 20 (including digitization of its analogue measured values); and / or

[0161] - for transmission from and / or reception to a sensor device, regardless of the transmission and / or

[0162] or receiving electronic devices for data communication in wired or wireless form;

[0163] and / or

[0164] - Electronics for controlling the power supply of the electronics and / or PCB 25. To this end, these electronics may take the input power and stabilize it and / or reduce it. Further, the electronics may include electronics configured to protect the PCB 25 and the electronics from overcurrent and / or surges; and / or

[0165] - an electronic device, such as a microcontroller, configured to process digital data, such as data provided by the electronic device for reading the measurement results, and to convert said data and / or

[0166] or additional data to the electronics for communication. In some cases, as part of the digital data processing, these electronics may calculate the difference between the measurements of the strain measurement sensor pair and / or calculate the combined measurements from several or all of the strain measurement sensors; and /

[0167] or

[0168] - at least one accelerometer for measuring acceleration and inclination; and / or

[0169] - at least one thermometer for measuring the temperature of the sensor device; and / or

[0170] - At least one Hall Effect sensor for detecting the presence of a wear element.

[0171] Although in these embodiments the body 10 is comprised of a single body, in other embodiments the body 10 is comprised of a plurality of bodies adapted to be coupled together to form a cylindrical body.

[0172] Figure 2 A sensor device 2 according to an exemplary embodiment is shown.

[0173] The sensor device 2 is similar to Figure 1A-1B The sensor device of the embodiments of FIG. 1 is shown in FIG. 2 , but in these embodiments the body 10 has a rectangular prism shape. Clearly, the shape of the body 10 influences the shape of the cavity in which the wear element must receive the sensor device.

[0174] Figure 3 The sensor device 1 is shown in a cavity 52 of a wear element of an assembly according to an embodiment.

[0175] The sensor device 1 is similar to Figure 1A-1B The sensor arrangement described, but it will be clear that other sensor arrangements are possible, including but not limited to Figure 2 The sensor device 2.

[0176] The sensor device 1 is provided with an opening (such as Figure 4 1 and 10. In the embodiment shown in FIG. 1 , the sensor device 1 is inserted into the cavity 52 formed by the opening 50 shown in FIG. As in these embodiments, once inserted into the cavity 52, a flowable material 55 is added to fill at least a portion or all of the sensor device 1. The material 55 (e.g., epoxy resin) can be poured into the cavity 52 by means of a potting process. Once the material 55 hardens, the sensor device 1 is reliably attached to the cavity 52, and in addition, the strain of the wear element 100 is better transferred to the sensor device 1. The ribs 14 of the sensor device 1 also increase the reliability of the attachment of the sensor device 1 to the cavity 52 due to its contact with the material 55.

[0177] A cover 60 is added to close the opening defining the cavity 52. ​​The exit of the sensor device 1 from the cavity 52 is also limited by the cover 60. The cover 60 includes an opening in the form of a through hole through which one or more cables 70 can reach the sensor device 1 from the outside of the cavity 52. ​​The cables 70 may be reinforced to increase their service life, and the components outside the cavity 52 are protected by the protective tube 62 from, for example, deformation, wear, breakage, etc. In other embodiments, the cover 60 is not provided, and the cables 70 pass directly through the opening forming the cavity 52.

[0178] The cable 70 may transmit the measurements of the strain measurement sensor 20 towards one or more electronic devices or even other devices within the wear element, the excavating implement or other parts of the earth-moving machine or remote from the earth-moving machine, such as a cabin, a control center at a distance from the machine, etc. The cable 70 may additionally or alternatively be used to convey electrical energy, thereby enabling the sensor device 1 to be powered if it has no powered device or the sensor device 1 has exhausted stored energy.

[0179] Figure 4 A cross-sectional view of a wear element 100 , in particular an adapter 100 , of an assembly according to an embodiment is shown.

[0180] The adapter 100 has a first end 101 relative to its longitudinal axis, adapted to be coupled to another wear element (e.g., a tooth, an intermediate adapter, etc.), and a second end 102 opposite the first end 101, adapted to be coupled to an excavating tool (e.g., a bucket, a shovel, a dredger bow, etc., such as a plate lip or its scraper). The adapter 100 can be more reliably coupled to the excavating tool by means of welding or cast on the excavating tool as known in the art. In this embodiment, the first end 101 includes a convex portion (but in other embodiments, the first end 101 includes a concave portion) and the second end 102 is the attachment end.

[0181] The adapter 100 comprises means 110 for securing the coupling with other wear elements; in this case, the means 110 are through holes for receiving pins which also pass through the teeth when coupled with the adapter 100. Other means 110 are possible as known in the art.

[0182] The adapter 100 has a cavity 52 formed by an opening 50 in an inner surface 105 of the adapter 100, the cavity 52 being adapted to receive the sensor device 1, 2. Depending on how the sensor device 1, 2 is arranged in the cavity 52 and how the strain measuring sensors are oriented on the sensor device 1, 2 itself, the sensor device 1, 2 for example enables the measurement of transverse strains corresponding to the illustrated X axis and vertical strains corresponding to the illustrated Y axis. However, it will be noted that different axes may be provided in which the sensor device 1, 2 is aligned with respect to how the strain is measured; in this case, like Fig.10 and Fig.11 As in the example, if lateral and vertical strain or force values ​​are to be provided, the strain measurements of the sensor devices 1 , 2 can be decomposed, for example, into an X-axis and a Y-axis which are illustrated trigonometrically.

[0183] One or more cables 70 may extend from the sensor device 1, 2 to other parts of the same wear element 100, or even to other wear elements or devices of the machine. The sensor device 1, 2 may transmit and / or receive data via the cables 70, for example to / from the cabin of the machine, and / or be powered via the cables 70, for example from a power source of the machine.

[0184] Depending on how the sensor components 1 , 2 are arranged and the arrangement and number of strain measuring sensors of the sensor arrangement, the sensor arrangement 1 , 2 is able to measure.

[0185] Figure 5A-Figure 5B A sensor device 3 for a wear element assembly according to an embodiment is shown from a side view and a perspective view.

[0186] The sensor device 3 comprises a body 10, a cover 19, a plurality of strain measurement sensors (not visible due to the cover 19), and one or more electronic devices and / or printed circuit boards (not visible due to the cover 19). The sensor device 3 may also comprise a protection 28 for the cables, which may be rigid or flexible and which routes the cables towards the wear element or other parts of the earth-moving machine.

[0187] The body 10 comprises a rim adapted for attaching the sensor device 3 to the cavity of the wear element by welding. Figure 6 One or more welding chamfers 18 may be provided, in such a way that side portions of the cover 19 may extend along the welding chamfers 18 in order to better protect the body 10 .

[0188] The body 10 may include one or more flat surfaces adapted for attaching a strain measurement sensor. A space or cavity may be formed between the body 10 and the cover 19 for carrying electronic components, such as, for example, a printed circuit board, powered components, and the like.

[0189] Figure 6 The wear element of the assembly according to the embodiment is shown in the cavity 52 Figure 5A-Figure 5B The sensor device 3 is shown, but without the cover 19 ; the wearing element is the adapter 100 .

[0190] The sensor device 3 can remain fixedly attached to the cavity 52, which is formed by the opening 50, with a plurality of welds 16. The welds 16 are formed between the edges of the body 10 and the edges of the cavity 52. ​​The cover 19 is also preferably welded to the cavity 52 by means of welds, and preferably so that the cover 19 or its welds do not contact the body 10 or its welds 16, in order to avoid hitting the cover measured by the strain measurement sensors (they are used to measure the strain present in the cavity 52 or the body 10). In addition, the opening 50 can be such that a recess or notch 53 is also made to allow the connection of a cable with the sensor device 3, and this recess or notch 53 is also aligned with the recess or notch 17 formed on the body 10 for this purpose.

[0191] The location of the cavity 52 enables the measurement of, for example, transverse strains corresponding to the illustrated X axis and vertical strains corresponding to the illustrated Y axis. Furthermore, this location is also convenient because it is the part or one of the parts of the adapter having the largest cross section and volume, so the formation of the cavity 52 has a reduced effect on the resistance of the adapter.

[0192] Figure 7 Partially showing a wear element assembly according to an embodiment similar to Figure 5A , Figure 5B and Figure 6 The sensor device 3 is shown with welds 16a-16d provided between the sensor device and the cavity of a wear element (not shown).

[0193] Specifically, Figure 7 The body 10 is shown from a top view and has a strain measurement sensor 20 attached to it; although the illustrated extensometer 20 is a strain gauge, it could equally well be a piezoelectric sensor. Additional strain measurement sensors 20 are attached to other faces of the body 10, preferably on the plane 11; in this sense, two other strain measurement sensors 20 are shown from a side view. Figure 7 On the bottommost surface which is not seen in the view of the top view, preferably, there is at least one or more strain measurement sensors, and all strain measurement sensors are preferably arranged so that their orientations are different, but their orientations are according to α=(n·360°) / N, where n increases from 0 to N-1. The strain measurement sensors are strain gauges.

[0194] When the thickness S of the weld seams 16a - 16d at all four corners of the sensor device 3 W The sum of (for the sake of clarity, only the thickness S of the weld 16b is shown Wb ) is greater than the thickness S of the sensor device 3 at its centralmost part D, the welds 16a-16d are better able to withstand the traction and compression forces (transferred to them from the wear element itself and before transmitting them to the sensor device 3), which is the part to which the strain gauge is attached. This means that the following relationship is preferably satisfied: S D Wa +S Wb +S Wc +S Wd , where S Wa , S Wc and S Wd is the thickness of the welds 16a, 16c-16d in the other three corners.

[0195] The resistance of the at least one body 10 to the forces transmitted thereto is greater than the resistance of the plurality of welds 16a-16d to the forces transmitted thereto. This phenomenon is further exacerbated when the materials of the at least one body 10 and the welds 16a-16d are considered, since the steel of the at least one body 10 has a superior resistance. Thus, when the sum of the thicknesses of the welds 16a-16d exceeds the thickness of the most central portion of the at least one body 10, the resistance of the welds 16a-16d is greater and better adapted to withstand the forces.

[0196] Although the relationship is reference Figure 7 , i.e., the same relationship measured coplanar with the illustrated YZ plane may alternatively or additionally be achieved by the thickness measured coplanar with the illustrated XZ plane; in this way, the two thicknesses of the body 10 are those that define the smallest cross-section of the body 10. Preferably, these two relationships (i.e., thickness as measured relative to the XZ and YZ planes) are satisfied so as to primarily withstand the forces of the welds 16a-16d. It should be noted that the thickness along one axis may be equal to or different from the thickness along another (perpendicular) axis.

[0197] Figure 8 Partially showing a wear element assembly according to an embodiment similar to Figure 5A , Figure 5B , Figure 6 and Figure 7 The sensor device 3 shown in FIG.

[0198] In particular, Figure 8 ​2 is an exploded view showing the body 10, the printed circuit board 25 for the cable and the protector 28 for the cable, both of which are in a cavity formed between the body 10 and a cover (not shown). The PCB 25 and / or the protector 28 can be attached to the body 10 by friction, a coupling of matching geometry, or a set of attachment means 29a-29d (such as screws 29a (in this case, the PCB 25 includes holes adapted to receive the screws 29a), clips 29b, nuts 29c, etc.

[0199] Fig. 9 An exploded view of a wear element assembly according to an embodiment is shown similar to Figure 5A , Figure 5B , Figure 6 , Figure 7 and Figure 8 The sensor device 3 is shown.

[0200] The sensor device 3 comprises a cover 19 for at least one body 10 of the sensor device 3 and a housing 26 for protecting a cavity between the cover 19 and the at least one body 10 .

[0201] The cover 19 comprises: a first part 19a, a second part 19b and a third part 19c. The first part 19a is shaped and sized to cover and protect the top part of the sensor device. The second part 19b can be welded to the cavity where the sensor device 3 is located, for attaching the cover 19 to the cavity; through one or more welds, the cover 19 transfers the loads and tensions to which it is subjected to to the cavity, thereby not transferring them to the electronic components of the sensor device 3. In addition, the second part 19b, which can have two parts (one on each side), is preferably shaped and sized to cover and physically protect one or both sides of the sensor device 3. The third part 19c is shaped and sized to form a channel for cables and / or a protector for cables.

[0202] Both the first portion 19a and the second portion 19b typically cover the strain measurement sensors, thereby protecting them from impacts, wear and tear, etc., which are common during ground engaging operations.

[0203] The housing 26 is attached to at least one body 10 and, when arranged on the body, closes the cavity present between the housing and the cover 19. The housing 26 further protects the interior of the cavity from the impact and ingress of water and fine particles. In addition to closing the cavity, the geometry of the housing 26 may be such that it also extends on the sides of the body 10 so as to cover and thus protect one or more strain measurement sensors of the sensor device 3.

[0204] The housing 26 preferably includes teeth 27 adapted to securely attach the cover 19 to the housing 26. The teeth 27 increase the friction between the housing 26 and the cover 19; the increased friction reduces the cover 19 from detaching due to accidents, especially during operation of the earth-moving machine. In embodiments where the housing 26 is not provided, the teeth 27 may be arranged on at least one body 10 to obtain increased friction.

[0205] In some embodiments, housing 26 is made of a preferably flexible material (eg, elastomer, rubber, epoxy, etc.).

[0206] Fig.10 Wear element 100 , and in particular adapter 100 , and wear element assembly according to embodiments are shown.

[0207] The adapter 100 comprises a cavity 53 formed by means of an opening on an outer surface of the adapter 100. The cavity 53 is adapted to receive the sensor device 3. Fig.10 and Fig.11 In some embodiments of those, the cavity 53 is adjacent to a means 110 for securing the coupling in the form of a through hole.

[0208] Once introduced into the cavity 53 , the sensor device 3 is fixedly attached to the cavity 53 by means of a weld provided between the wall of the cavity 53 and the body of the sensor device 3 .

[0209] One or more cables 70 may extend from sensor device 3 to other parts of the same wear element 100, or even to other wear elements or devices of the machine. In this case, one or more cables 70 are routed toward a through hole of device 110, where they are introduced and may then exit device 110 via a through hole formed between device 110 and interior surface 105. In this manner, once one or more cables 70 extend through interior surface 105 (e.g., in a manner similar to Figure 4 In the manner shown), one or more cables 70 are less exposed and can be protected by the wear element 100 itself.

[0210] Although in Fig.10 1 , only one side of the adapter 100 is illustrated, but in some embodiments a similar cavity 53 is also arranged on the other side of the adapter 100 and one or more additional sensor devices 3 are introduced therein. In this way, the axis along which the strain measurement is performed can be distributed between different sensor devices 3, in which case the strain measurement sensors of the different sensor devices 3 are oriented differently, or a plurality of sensor devices 3 are provided for redundancy, in which case the strain measurement sensors of the different sensor devices 3 are oriented along the same direction.

[0211] In the case of only one sensor device 3, at least four strain measurement sensors are provided therein. For example, two sensors at the top and bottom surfaces (relative to the Y' axis shown in the figure) of a portion of the sensor device 3 provide strain measurement values, the difference of which indicates the strain and / or force relative to the axis along which the two sensors are separated (e.g. the Y' axis shown in the figure). For example, two other sensors at the front and bottom surfaces (relative to the X axis shown in the figure) of a portion of the sensor device 3 provide strain measurement values, the difference of which indicates the strain and / or force relative to the axis along which the two sensors are separated (e.g. the X axis shown in the figure). The sum of the strain measurement values ​​of all four sensors indicates the strain and / or force relative to the remaining axis (e.g. the Z' axis shown in the figure).

[0212] When there are two or more sensor devices 3, each device 3 may have fewer strain measuring sensors, and the determination of the force value along one or more axes is based on the difference between the strain measurement values ​​of different sensor devices 3. For example, if another sensor device 3 is arranged like Fig.10 On the opposite side of the wear element 100 shown, the force value along the X-axis may be the result of the difference between the strain measurement value of one strain measurement sensor of the illustrated sensor device 3 and the strain measurement value of one strain measurement sensor of the sensor device that cannot be seen, because the two strain measurement sensors will be separated along the X-axis.

[0213] The Y' and Z' axes are the vertical and longitudinal axes of the sensor device 3 itself and do not correspond to the illustrated vertical and longitudinal axes Y and Z, which correspond, for example, to Cartesian axes defined for a blade or excavation implement to receive the wear element 100. In this case, the X axis is common to the sensor device 3 and the wear element 100. The sensor device 3 is preferably arranged such that the measurements on the X, Y' and Z' axes are aligned with the lateral, vertical and longitudinal forces to which the wear element 100 is subjected taking into account its angle of attack.

[0214] Fig.11 Wear element 100 , particularly an adapter, and a wear element assembly are shown according to an embodiment.

[0215] The adapter includes a cavity 53 on one side, such as Fig.10 , but in these embodiments it comprises two sensor devices 3 which are spaced apart relative to a vertical axis (the illustrated Y axis of the wear element 100 and the illustrated Y' axis of the sensor device 3). In case of different vertical positions of the sensor devices 3, the force value relative to the vertical axis can be calculated as the difference between the measured values ​​of the strain measurement sensors 20 of the two sensor devices 3, such that the distance between the respective sensors along the Y' axis is maximized in this case.

[0216] A similar cavity 53 may be arranged on the opposite side for more accurate calculation of the force value along the Y' axis and for calculation of the force value along the X axis.

[0217] Despite Fig.10 and Fig.11 The sensor device 3 has been illustrated for the measurement of strain in an adapter, but it will be noted that the strain measurement sensor 20 may alternatively be arranged directly in the cavity and attached to the cavity for the measurement of strain. However, this tends to make the installation of the sensor on the wear element more cumbersome and expensive, since each sensor must be attached to the wear element, whereas when a strain measurement sensor is arranged in a sensor device, it is the sensor device that needs to be installed. The installation of the sensor device is simpler than the installation of the strain measurement sensor, since at least one of its bodies is adapted to be attached to the wear element and one or more electronic devices may already be implemented on the sensor device when it is installed. Further, each sensor device may comprise two or more sensors, for example four or eight, if additional sensors are provided for temperature compensation, but only one sensor device needs to be installed at a time, compared to installing each specific sensor. The same applies to maintenance and repair tasks, it is easier to repair or replace the sensor device than the sensor itself.

[0218] Fig.12 Several positions are shown in which the cavity 52 in the adapter may be located. Fig.13 Some of the cavities 52 are shown in perspective view.

[0219] A plurality of openings 50 providing respective cavities 52 are shown for illustration purposes only, typically only one cavity 52 is sufficient for strain sensing of the sensor devices 1 , 2 , but a plurality of cavities 52 and sensor devices 1 , 2 may be provided for more accurate measurements.

[0220] All cavities except one cavity 52 shown are within the interior surface 105 of the adapter. When the sensor device is arranged in the corresponding cavity 52, one or more cables 70 are provided and routed toward the rear end 102 of the adapter for transmitting the measurement or force value provided by one or more electronic devices of the sensor device. When the adapter is mounted on the lip, one or more cavities 52 become protected because the opening 50 is blocked by the lip, and one or more cables 70 travel between the interior surface of the adapter and the outer surface of the lip.

[0221] Another cavity 52 is provided at the front end 101 of the adapter, on its outer surface. At such a location, the cable 70 can be routed through one side of the nose of the adapter, and optionally then through the device 110, or via a channel (as shown) formed in the nose to the device 110. Another channel can be provided from the device 110 towards the rear end of the adapter 100 for routing the cable.

[0222] The cable may reach all the way to the excavating implement, cabin or the like, for example to an electronic control unit or a wireless communication module which sends data wirelessly to other parts of the earth-moving machine or to equipment remote from the machine including a control centre.

[0223] Fig.14 The wear element 150, in particular the cast lip, is shown with several locations where one or more openings 50 can be arranged to provide a cavity for a strain measurement sensor or sensor device. The same locations are possible on the weld nose.

[0224] The opening 50 may be formed in the nose portion of the casting lip, generally on the top outer surface which is covered beyond the teeth 160 but will be covered by a wear cap which protects the nose portion and thus the casting lip itself, specifically beneath a shield element (not shown in the figures). The protection afforded by the wear cap, together with the amount of strain present in the nose portion, makes such a location sufficient for placement of a device for measuring strain.

[0225] Additionally or alternatively, one or more openings 50 may be formed on the portion 151 between the nose portions where the shield is intended to be mounted. The portion 151 where the shield is received has a recess relative to the rest of the surface of the cast nose, and the openings 50 may be arranged at the top surface, at the front surface, or at a surface therebetween. When the shield is mounted, the sensor or sensor device in any of these cavities remains protected from fine particles, impacts, abrasion, etc.

[0226] Figure 15-16 The electronics for processing the measured values ​​and providing the force value are schematically shown.

[0227] Specifically, Fig.15An electronic device 200a-200n is shown for providing a voltage 202 corresponding to the measured value (expressed as impedance) of a strain measurement sensor 203a, 203b. The circuit fed at the terminal 201 has a strain measurement sensor 203a for measuring the strain, based on which a force value will be calculated, for example in a voltage divider with a further strain measurement sensor 203b, which is preferably arranged vertically on the device or wear element (so as not to measure the deformation measured by the further sensor 203a) for temperature compensation, for example in a T-roset strain gauge. The measured voltage 202 thus has the effect of temperature compensation. Each electronic device 200a-200n is dedicated to the measurement of a different strain measurement sensor and is configured according to the characteristics of the sensor used. In embodiments where temperature effects are not compensated, the second strain measurement sensor 203b is generally not present.

[0228] about Fig.16 , several electronic devices 210a - 210n , 213 are shown.

[0229] In view of the low voltages generally provided by strain gauge sensors, typically below 5V, the electronic devices 210a-210n are preferably differential amplifiers, whereby the electrical signal at the input terminal 211a is amplified relative to the electrical signals at the other input terminals. A differentially amplified electrical signal is provided at the output terminal 212, whereby a subtraction of the electrical signals at the input terminals 211a, 211b is provided together with an amplification of the resulting subtraction.

[0230] The electrical signals at the input terminals 211a, 211b may be the measurements of two different strain gauge sensors (eg, Fig.15 In the case of the two different strain measurement sensors, the strain relative to the same axis is measured and outputs an electrical signal with a similar voltage; alternatively, they can be the measurement values ​​of the strain measurement sensor and a predetermined reference voltage, for example, about 1.0 V. The latter case is to amplify the measurement and increase its dynamic range, considering that the measurement value may not use the full dynamic range of the strain measurement sensor, because the deformation of the wear element is a micro deformation; for example, the measurement values ​​when the sensor is arranged in the adapter are, for example, about 1.1 V and 0.9 V. Strain represents traction for voltages above 1.0 V and represents compression for voltages below 1.0 V.

[0231] Electronics 213 is a module for combining the electrical signals at inputs 214a-214n, which generates an electrical signal at output 215 corresponding to, for example, the sum of inputs 214a-214n, the average of inputs 214a-214n, etc. With electronics 213, when several strain measurement sensors are arranged to measure strain according to axes corresponding to, for example, transverse strain and vertical strain (where the force is on an axis different from the axis of the transverse strain and vertical strain, and thus a force corresponding to, for example, longitudinal strain), a value of the difference between the measured values ​​of the strain measurement sensors and / or the force applied to the wear element can be calculated. For accurate combination of the electrical signals, preferably the amplified measured values ​​are input to electronics 213, the amplification using a predetermined reference voltage as a reference for differential amplification, rather than differentiation with respect to another strain measurement, as this would mask the force applied on a third axis due to the zero or near-zero difference in strain between the sensor pair.

[0232] Although not shown, the electrical signals at the output terminals 212, 215 are preferably provided to further electronics that convert the force values ​​within the electrical signals into meaningful values, ie the electrical signals undergo a calibration phase for providing numerical values ​​quantifying the force on each respective axis.

[0233] In these examples, Fig.15 and Fig.16 The electronics are part of a circuit that works with analog signals. In other examples, the electronics are one or more digital processors (e.g., microcontrollers, digital signal processors, processing units, etc.) that receive the measurements of the strain gauge sensor after having passed through an analog-to-digital converter, and digitally process the measurements to provide force values ​​as digital data.

[0234] Figure 17A-17B An example of strain measurement values ​​of a strain measurement sensor according to an embodiment is shown.

[0235] In this example, the strain measurement sensor is arranged in a wear element similar to the adapter, and a vertical force is applied to the tooth mounted on the adapter at a position close to the ground engaging end of the tooth; the force is applied from the top.

[0236] Fig.17A shows the strain measurements of the top and bottom sensors, which are spaced apart with respect to the vertical dimension, and Fig. 17B The measurements of the lateral sensors are shown, which are spaced relative to the horizontal dimension. The bottom sensors are preferably the sensors that are closer to the terrain when the earth-moving machine is in operation.

[0237] A first graph is presented showing the force measured by the dynamometer applied to the tooth, which force increases gradually over time (X axis). The applied force is shown as kilograms force on the Y axis on the right side of the graph.

[0238] It can be seen that the strain measured by the top sensor and the bottom sensor indicates compression. The difference between the two measurements makes it possible to determine the vertical force applied from the bottom (e.g., along Fig.10 and Fig.11 The presence of a Y axis or Y' axis) is not necessary because the bottom sensor measures more compression than the top sensor. The force value can be derived from the difference in magnitude. A calibration value can be used to provide the force value.

[0239] Strain is also measured by two transverse sensors, because the micro-deformation of the adapter is not only vertical, but the force applied to the tooth also micro-deforms the adapter along the longitudinal axis. This phenomenon is more common when the force generates a larger torque. The strain measurement sensor measures said micro-deformation; the type of micro-deformation is the same, in this case compression. The difference between the measured values ​​of the two sensors is close to zero, which means that no horizontal force is applied to the wear element.

[0240] In addition, the distance corresponding to the longitudinal axis (e.g., along the Fig.10 and Fig.11 The force on the Z axis or Z' axis of the axis. In this case, all four sensors measure microdeformations in the form of compression, which means that there is compression along the longitudinal axis. The sum of the measurements of all four sensors will provide a value for the force on this axis. Again, by having a calibrated value, the result of the sum will indicate how much force has been applied; alternatively, an average value can also be calculated and calibrated.

[0241] on the contrary, Figure 18A-18B Another example is shown, in which the same configuration is provided, but the force applied to the teeth is a lateral force (e.g., along the Fig.10 and Fig.11 The X-axis of the tooth). In this case, traction and compression micro-deformations are picked up and measured by the lateral sensors. Although the forces are lateral, the top and bottom sensors also measure small strains, however, their size and type are such that it can be determined that the main force applied to the tooth is lateral.

[0242] In this example, the sensor on the left measures the traction micro-deformation, and the sensor on the right measures the compression micro-deformation. Left and right can be established by looking at the wear element from the front, which is the end closest to the terrain when the earth-moving machine engages the ground, or from the back. The side with more traction or less compression is the side from which the force comes. So, in this example, the force is applied from left to right.

[0243] Although Fig.17A , Fig. 17B , Fig.18A and Fig.18BAn example with strain measurement sensors located at top, bottom, left and right is described, which can be considered as angular arrangements of, for example, 0°, 90°, 180° and 270° or similar values, but it should be understood that other arrangements are possible, such as but not limited to, angular arrangements of, for example, 25°, 115°, 205° and 295° or similar values ​​or, for example, 45°, 135°, 225° and 315° or similar values. In addition, additional strain measurement sensors are possible.

[0244] Figure 19A-19B A sensor device or a portion thereof according to an embodiment is shown from two different perspectives.

[0245] The sensor device can be formed from two identical or similar parts 4a of the sensor device shown in the figure. A sensor device formed from two parts is for example Fig.25 , Fig.28 and Fig.29 Alternatively, the sensor device can also be formed from a single part, as illustrated. The choice of one or more parts can depend on the arrangement of the sensors on the sensor device, in particular in terms of positioning and spacing, so that the measurement of strains along two different axes is possible.

[0246] The sensor device has at least one hollow body 10, which may be one body or several bodies coupled together. In embodiments where the sensor device is divided into two or more parts, there are at least as many bodies as there are parts.

[0247] Figure 19A-19B The illustrated body 10 is wider at the first end 8 than at other portions of the body 10, and in particular wider than at the second end 9 opposite the first end 8, as indicated by arrow lines W1 and W2; that is, in this case, the diameter of the body at the first end 8 is greater than the diameter of the body at the second end 9. The body 10 includes a base 30 at the wider end.

[0248] The base 30 may be cap-shaped or the like, thereby forming a stop that prohibits full insertion of the sensor device 4 into a cavity sized according to the narrower portion of the sensor device 4. Figure 19A-19B Similar to the embodiments of the present invention, the base 30 has no spaces between its parts, or has different parts with one or more spaces (i.e., grooves, holes) between them, as in Fig. 22 and Fig.23 The same as in the embodiment of .

[0249] The body 10 can accommodate electronic devices, such as electronic devices for measuring processing, at least one PCB 25, power-on devices, etc. To this end, the body 10 is appropriately long and wide for inserting electronic devices. The hollow space can be filled with an elastomeric material such as a potting process to further protect the device therein from fine particles, moisture and other particulates, and it can also buffer strain.

[0250] In this example, the body 10 has a circular cross-section, but other geometries for the cross-section are possible within the scope of the present disclosure, including rectangular, elliptical, hexagonal, etc. In addition, the sensor device and / or the body 10 can be provided with at least one error-proofing feature to force a specific orientation of the portion 4a of the sensor device when inserted into the cavity.

[0251] The body 10 and sensor device of these and other embodiments may have one or two axes of symmetry, e.g. Fig. 20 and Fig.21 as shown, or have no axis of symmetry at all.

[0252] About Figure 20-23 The arrangement of strain measurement sensors on a sensor device or a portion thereof is described.

[0253] Fig. 20 Shown according to Fig.19A and Fig.19B The sensor device of the embodiment is similar to the sensor device of the embodiment of FIG.

[0254] The strain measurement sensors 20 are arranged on the base 30, in this example, on the outermost surface of the sensor device. In other embodiments, the strain measurement sensors 20 are arranged on the opposite surface of the base 30, facing the interior of the sensor device.

[0255] The strain measurement sensors 20 are preferably spaced as far apart as possible, although arranging the strain measurement sensors 20 close to the edge of the base 30 may preferably be avoided to reduce the level of damage that the strain measurement sensors 20 may suffer when attaching the sensor device to the wear element.

[0256] and Fig. 20 At least two identical or similar parts shown in the figure form a sensor device to be able to measure strain relative to an axis perpendicular to the vertical axis shown in the figure, and two strain measurement sensors 20 are arranged along the vertical axis shown in the figure. Fig. 20 superior.

[0257] For illustration purposes, a perimeter weld 16 is shown. The perimeter weld 16 attaches part of the sensor device to the wear element. The weld need not be perimeter and there may be multiple welds rather than a single weld.

[0258] Fig.21 Shown according to Fig.19A and Fig.19B The sensor device of the embodiment of the invention is similar to the sensor device or part thereof. The sensor device is shown from one side thereof.

[0259] The strain measurement sensors 20 are arranged on one side of the illustrated body 10 along its length such that the distance of each strain measurement sensor 20 to an end thereof is smaller for one sensor 20 than for another sensor 20 .

[0260] In some cases, one or more pairs of additional strain measurement sensors 20 may be arranged on the perimeter of the body 10, for example at the other end of the diameter of the body. When one or more pairs of additional strain measurement sensors 20 are arranged to measure strain along another axis, a single part may form a sensor device.

[0261] Fig. 22 and Fig.23 Shown according to Fig.19A and 19B The sensor device is similar to the parts of the sensor device of the embodiment.

[0262] In these embodiments, the base has integrally formed portions 30a, 30b (or, in some embodiments, portions mechanically coupled together) with spaces therebetween provided by grooves 33. The grooves 33 improve the conduction of strain to the strain measurement sensor and reduce welding temperatures that might otherwise damage the strain measurement sensor if the sensor device 4 were attached to a wear element by welding.

[0263] By way of example, Fig. 22 3 , which are intended to attach the base to the wear element; if in this example these welds 16 are provided only in a portion of the circumference of the ring portion 30a adjacent to the groove 33, in particular in a portion of the circumference radially aligned with the groove 33. The groove 33 reduces the temperature reaching the strain measurement sensor 20 during welding.

[0264] The strain measurement sensor 20 is arranged on the outermost surface or the innermost surface of the portion 30 b connected to the annular portion 30 a .

[0265] Fig.24 A sensor arrangement or part 4 a is shown, which depends on how and how many strain measurement sensors are arranged thereon.

[0266] The sensor device or its part 4a is similar to Fig.19A and Fig.19B, or parts thereof, but comprising a cover 19 arranged on one end 8 thereof, in particular at the wider end of the at least one body 10 .

[0267] Cover 19 protects body 10 and adds another level of protection for the electronics within the sensor device. Cover 19 may be attached to a surface of the wear element (e.g. the cavity itself) or formed with, for example, one or more welds near the end of the cavity of the wear element, such as forming the opening of the cavity, a surface adjacent to the cavity, etc.

[0268] In some embodiments, a flexible and / or soft protective member is arranged between the cover 19 and the body 10 so that impacts on the cover 19 are not directly transferred to the body 10 and if any load would be applied to the body 10 (e.g. compression), it is in an enveloping manner due to the deformations to which the flexible and / or soft protective member is subjected. The material of the protective member can be any material known in the art, including materials that can be used in a potting process, since in some embodiments the sensor device or parts thereof are filled with material by a potting process. In this regard, in some embodiments, parts of the sensor device or the body of the sensor device (in which any electronic devices have been arranged) are introduced into a mold and filled with material by a potting process to fill all free spaces therein, such as Fig.29 As shown in the figure.

[0269] Fig.25 A sensor arrangement arranged in a wear element according to an embodiment is shown.

[0270] The sensor device has two parts 4a, 4b which in these embodiments are arranged in the same cavity 52 of the wear element 100, even though in other embodiments the two parts 4a, 4b may be arranged in different cavities. In this example, the cavity 52 may be a through hole.

[0271] The cavity 52 may be, for example but not limited to, Fig.26 The cavity shown in Figure 10-Figure 14 Any of the cavities shown in , as a blind hole or a through hole.

[0272] An additional cavity or through-hole 59 may be arranged within the cavity 52 in which the sensor device 4a, 4b is arranged, and when the sensor device 4 has one or more cables or is connected to one or more cables to transmit and / or receive data (such as strain measurements and / or force values, if any force values ​​are calculated), the additional cavity or through-hole 59 is capable of routing one or more cables to other locations of the earth-moving machine.

[0273] The two parts 4a, 4b are identical in this example, but are arranged to be flipped one relative to the other. The parts 4a, 4b each include a respective cover 19, which may also be located within the cavity 52; each such cover 19 is preferably welded to the opening 50. In other embodiments, the sensor device is formed of a single part (a single body or multiple bodies coupled together), preferably extending at least from one end of the cavity to the other end, and having a cover 19 arranged at each of the two ends.

[0274] The strain measurement sensors 20 are preferably spaced as far apart as possible along the vertical axis of the figure and as far apart as possible along the horizontal axis of the figure to improve the accuracy of the calculated forces. In these embodiments, the strain measurement sensors 20 are arranged on the outer surface of the respective base 30 .

[0275] Fig.26 A cavity 52 is shown for use in a wear element of a sensor device according to an embodiment.

[0276] The wear element, in this case the adapter 100, is shown with attached teeth 200. The teeth 200 are fixedly attached to the adapter 100 at least by means of means for fixing, such as pins introduced into pin receiving holes 111 of both the adapter 100 and the teeth 200.

[0277] The cavity 52 is arranged adjacent to the hole 111 of the adapter 100 on the side facing the excavating tool rather than on the side facing the tooth 200. The cavity 52 is thus arranged at a position somewhere between the hole 111 and the inner surface 105.

[0278] This cavity arrangement is convenient because it generally indicates strain in the direction of the positive axis (the Z axis shown) better than cavities in other arrangements, thereby improving the strength of the measured strain and, in turn, the force calculation along that axis.

[0279] Cavity 52 may be connected to a cavity or through-hole 59 that reaches the interior of adapter 100 and through which one or more cables 70 may be routed if wired data communications are used.

[0280] The shape of the cavity 52 is preferably the same or similar to at least the body of the sensor device 4, or slightly larger in size, so that at least the body can be positioned inside. Since the wider end of the body or bodies can be larger than the cross-section of the cavity 52, the wider end does not allow the sensor device to be introduced into the cavity 52, and thus effectively acts as a stop. The sensor device 4 can thus be positioned flush (or almost flush) with the outer surface of the adapter 100 forming the cavity 52, such as Fig.25 shown.

[0281] Fig. 27 A wear element 100 with a sensor arrangement according to an embodiment is shown.

[0282] Wear element 100 has Fig.26 4 , but for the sake of clarity a different representation is shown, in particular without teeth 200 but with a lip 250 engaging at the inner surface 105 .

[0283] Fig.28 A cross section of wear element 100 is shown illustrating cavity 52 according to an embodiment.

[0284] Wear element 100 comprises sensor device 4 in cavity 52 and for the sake of clarity the cross section corresponds to Fig.26 and Fig. 27 Another representation of an embodiment of the invention. The cross section is through the corresponding Fig.26 The axis shown is Fig.26 correspond to those axes.

[0285] The sensor device consists of two parts 4a, 4b. Between the two parts 4a, 4b, one or more cables 70 and a second cavity or through hole 59 are shown for routing the one or more cables 70 towards other parts of the machine, such as a cabin or other places where electronic devices for processing data, such as for calculating force values, are arranged.

[0286] As can be seen, the cover 19 reaches or approaches the outer surface of the adapter 100. When the adapter is subjected to impact from excavated material, the material striking the adapter 100 strikes the cover 19, thereby reducing the magnitude of the loads reaching the sensor device and its components, thereby increasing their useful life. Fig.29 As shown, when a flexible and / or soft material is inserted between the cover 19 and the body 10, the intensity of the load reaching the sensor device is even lower.

[0287] Fig.29 A sensor device according to an embodiment is shown having two parts 4a, 4b in a cavity.

[0288] The sensor device may be Figure 19A-Figure 29 Each portion 4a, 4b has a flowable material 55 introduced therein by means of a potting process, thereby reducing or removing any free space that may exist within each body 10. Some flowable material 55 may also be present between the base 30 and the cover 19.

[0289] Potting is preferably performed outside the cavity, in particular using the portion 4a, 4b or the entire body within the mold to fill the flowable material 55. The mold can be configured to feature a recess that provides the sensor device with a protruding member or rib 56 that can surround the entire perimeter of the corresponding body. The protruding member or rib 56 improves the attachment of the sensor device in the cavity by providing additional friction between the sensor device and the cavity. Since the protruding member or rib 56 is flexible, the portion 4a, 4b of the sensor device is inserted into the cavity, thereby applying pressure to be slid in.

[0290] In this figure it is also illustrated that the base 30 of each portion 4a, 4b may be welded to the wear element. One or more weld seams 16e are provided between the base 30 and the surface forming the opening of the cavity in this case.

[0291] Furthermore, the cover 19 is also welded to the wear element via a weld 19f.

[0292] In the illustrated embodiment, the strain measurement sensors 20 are arranged in an interior surface of a respective base 30 .

[0293] Fig.30 A sensor device 5 according to an exemplary embodiment is shown.

[0294] The sensor device 5 comprises at least one body 10, a cover preferably formed by a first part 19a and a second part 19b, and a plurality of strain measurement sensors, which are not visible in this figure. The sensor device 5 may also comprise at least one printed circuit board, a sensor (such as a Hall effect sensor, etc.) and / or a sensor as shown in FIG. Figure 31-Figure 33 Other parts or components described.

[0295] The first portion 19a of the cover is intended to cover at least a portion of the at least one body, and the second portion 19b is an extension intended to protrude sufficiently from the first portion 19a so that the cover does not contact the at least one body. When the cover is preferably attached to the wear element, there is some clearance between the cover and the at least one body so as not to transfer impacts from the cover to the body. By having a weldable material, the second portion 19b can be welded to the wear element.

[0296] The cover may include a cutout or window in which a separate protective member 32 may be arranged and attached to the cutout or window using, for example, screws 29a or any other means known in the art. The protective member 32 is preferably transparent to electric and / or magnetic fields so as to allow them to pass through; the material of the protective member 32 is, for example, polycarbonate.

[0297] Fig.31 Shows something like Fig.30 A sensor device is a portion of a sensor device.

[0298] The illustrated parts are at least one body 10, at least one printed circuit board 25 and a Hall effect sensor 31 which is useful for fall detection of a wear element when a magnet is arranged on the wear element to be monitored. The field measurable by the Hall effect sensor 31 can be received by a protective member 32. If the sensor device will additionally or alternatively include a wireless communication module, data transmission and reception can also be achieved by the protective member 32.

[0299] At least one body 10 includes one or more welding chamfers 18 for welding by means of one or more weld seams (such as Fig.32 and Fig.33 The weld chamfers 18 are preferably spaced apart to enable the second portion 19b of the cap to reach the surface of the wear element.

[0300] Fig.32 Shows something like Figure 30-Figure 31 A sensor device is a portion of a sensor device.

[0301] The illustrated portion is a body 10 on which a plurality of strain measurement sensors 20 are arranged. In this embodiment, there are three strain measurement sensors 20; for example, but not limited to, the two sensors 20 closest to the ends of the body 10 may be arranged to enable calculation of force values ​​in at least two different axes, and the sensor 20 closest to the center of the body 10 may be arranged to enable calculation of shear force or stress.

[0302] The face of the body 10 shown may be the face closest to the wear element ( Fig.31 ) or the opposite side ( Fig.31 The upper surface of the substrate and between the bottom and PCB 25).

[0303] One or more screws 29 a , for example, may be used to attach the PCB to the body 10 .

[0304] Welds 16a - 16d are shown adjacent each weld chamfer 18 ; each weld attaches body 10 to the surface of the wear element.

[0305] Fig.33 Shows something like Figure 30-Figure 32 A sensor device is a portion of a sensor device.

[0306] The portion illustrated is that which is closest to the cover and features the PCB 25 with the Hall Effect sensor 31, the body 10 beneath the PCB 25, the solder chamfer 18 and the solder joints 16a-16d.

[0307] Fig.34 The wear element, in particular the adapter 100, is shown having a similar Figure 30-Figure 33 The sensor device 5 of the sensor device 5.

[0308] The arrangement of the sensor device 5 and Fig.11 Similar to the arrangement of the adapter 100, the sensor device 5 is attached to the cavity 53 of the adapter 100 on the side of the cavity 53. The sensor device 5 preferably comprises two parts, one on each side of the adapter 100, so that Fig.11 Only a portion of the sensor device 5 is illustrated in FIG. Each portion comprises its corresponding body (or bodies), a strain gauge sensor, a cover, a Hall Effect sensor (if any), and electronics for processing the measurements of the sensor. The processed measurements of the different portions of the sensor device 5 can then be processed together in one of the portions of the sensor device 5 or in a different device remote from the sensor device 5.

[0309] Fig.35 A sensor device 6 according to an exemplary embodiment is shown.

[0310] The sensor device 6 comprises at least one body and a plurality of strain measurement sensors (which are not shown in this figure) and a cover 19. The sensor device 6 may also comprise at least one printed circuit board, a sensor (such as a Hall effect sensor, etc.) and / or a Fig.36 and Fig.37 Other components or parts described.

[0311] The cover 19 includes a protective member 32 in a cutout of the cover 19 to allow electric and / or magnetic fields to pass into and out of the sensor device 6 .

[0312] Fig.36 Partially shows a similar Fig.35 The sensor device of the sensor device 6.

[0313] The illustrated part of the sensor device 6 is the body 10 together with the PCB 25 attached thereto by means of, for example, one or more screws 29a. The device 6 comprises a Hall Effect sensor 31 .

[0314] The strain measurement sensor can be placed closest to the wear element ( Fig.37 on the bottom) surface or relative wear element ( Fig.37 The upper side is higher in the middle and is between the bottom and the PCB 25).

[0315] A welding chamfer 18 may also be provided on the body 10 .

[0316] Fig.37 Shows something like Figure 35-Figure 36 Cross section of a sensor device 6 of a sensor device.

[0317] In this embodiment, strain measurement sensor 20 is arranged in the surface of body 10 closest to the surface of the wear element (e.g., adapter 100). As shown, a recess may be provided in a portion of body 10 to avoid direct contact between sensor 20 and the surface of the wear element. Weld 16e is provided between body 10 and cover 19 for securely attaching one to the other. In addition, weld 16f is provided between cover 19 and adapter 100 for securely attaching one to the other.

[0318] In this document, the terms "includes", "comprises" and their derivatives (such as "including", "comprising", etc.) should not be understood in an exclusive sense, that is, these terms should not be interpreted as excluding the possibility that the described and defined may include other elements, steps, etc.

[0319] On the other hand, the present invention is obviously not limited to the specific embodiments described herein, but also covers any changes (for example, regarding the choice of materials, dimensions, components, configurations, etc.) that any person skilled in the art may consider within the general scope of the invention as defined in the claims.

Claims

1. A sensor device (1-6) for an earth-moving machine, comprising: At least one body (10); a first plurality of strain measurement sensors (20), the first plurality of strain measurement sensors (20) being arranged on one or more of the at least one body such that the first plurality of sensors measure strain on at least two different axes (X, Y, Y'), wherein the first plurality of strain measurement sensors comprises at least four strain measurement sensors (20); and one or more electronic devices (210a-210n, 213), the one or more electronic devices (210a-210n, 213) being configured to provide, for at least two different axes (X, Y, Y'), a difference between measurement values ​​of two different strain measurement sensors of the first plurality of strain measurement sensors for each of the at least two different axes.

2. The sensor device according to claim 1, wherein: The at least two different axes include a first axis, a second axis and a third axis (X, Y, Y', Z, Z'), and the one or more electronic devices (210a-210n, 213) are configured to provide combined measurement values ​​of some or all of the first plurality of strain measurement sensors (20) for the third axis (Z, Z').

3. The sensor device according to any one of the preceding claims, wherein: The one or more electronic devices (210a-210n, 213) are configured to provide force values ​​on the at least two different axes (X, Y, Y'), wherein the force value on each axis is provided based on the difference in the measured values ​​for each axis.

4. The sensor device according to any of the preceding claims, further comprising a cover (60) or a cover (19), wherein the cover (60) or the cover (19) is connected to the body of the at least one body (10) or is capable of being connected to a wear element, the sensor device is to be arranged on the wear element so that a cavity is formed between the body and the cover (60) or the cover (19), and the one or more electronic devices (210a-210n, 213) are introduced into the cavity.

5. The sensor device according to any one of the preceding claims, wherein: The at least one body (10) comprises a rim adapted to attach the sensor device to the cavity of a wear element by welding.

6. The sensor device according to any one of the preceding claims, wherein: Each strain measurement sensor (20) of the first plurality of strain measurement sensors is arranged on the body of the at least one body (10) in an orientation of α=(n·360°) / N relative to the first face of the at least one body, and n has different values, wherein n is a natural number ranging from 0 to N-1, and N is equal to the number of strain measurement sensors in the first plurality of strain measurement sensors.

7. A sensor device according to any one of the preceding claims, wherein: The at least one body (10) is a single body, the single body comprises a cavity or a through hole (12) making the sensor device hollow, or the at least one body comprises a plurality of bodies coupled thereto so as to form a cavity or a through hole (12) making the sensor device hollow; The at least one body (10) comprises a plurality of channels (13) formed on an outer portion of the at least one body, each channel being formed between two outer faces (11) of the at least one body; The one or more electronic devices (25, 210a-210n, 213) are introduced into the cavity or through hole of the at least one body; The strain measurement sensors (20) of each plurality of strain measurement sensors are arranged on one or more external faces (11) of the at least one body; as well as Each strain measurement sensor includes one or more cables (15), each of the one or more cables of each strain measurement sensor extending between the one or more electronic devices and the corresponding strain measurement sensor, wherein a portion of the cable extends through one of the plurality of channels.

8. A wear element assembly for an excavating tool of an earth-moving machine, comprising: a wear element (100) comprising a cavity (52, 53), the wear element being adapted at least to be coupled to the excavating tool and / or another wear element for an excavating tool; as well as A sensor device (1-6) according to any one of the preceding claims; as well as Attachment means (16, 55) for attaching the sensor device to the interior of the cavity.

9. A wear element assembly according to claim 8, wherein: The at least one body (10) is 30CrNiMo8 or 42CrMo4.

10. A wear element assembly according to any one of claims 8 to 9, wherein: The attachment means (16, 55) comprises a plurality of welds (15) between the at least one body (10) of the sensor device and the cavity (12, 13) of the wear element (100).

11. A wear element assembly according to claim 10, wherein: The plurality of welds (16) include four welds, each weld being arranged at a different corner of the at least one body (10), and wherein the thickness (S W ) is greater than the thickness of the at least one body of the sensor device at its centralmost portion (S D ).

12. A wear element assembly according to any one of claims 10 to 11, wherein: The sensor device further comprises a cover (19), the cover (19) comprising a steel material, the cover being coupled to the at least one body (10) or the wear element such that a cavity is formed between the cover and the at least one body (10); The at least one body of the sensor device is a single body that contacts the cavity (52, 53) of the wear element (100); The one or more electronic devices (25, 210a-210n, 213) are introduced into the cavity formed between the cover and the at least one body; as well as The strain measurement sensors (20) of each plurality of strain measurement sensors are arranged on one or more exterior faces (11) of the at least one body.

13. A wear element assembly according to claim 12, wherein: The cover (19) has a geometry such that when the cover is coupled to the at least one body (10) or the wear element (100), the cover covers some or all of the strain measurement sensors (20) in each of the plurality of strain measurement sensors for protecting some or all of the strain measurement sensors (20).

14. The wear element assembly of claim 8, wherein: The attachment means (16, 55) comprises a material (16) which at least partially fills the cavity (52, 53) with the sensor device introduced into the cavity.

15. A wear element assembly according to any one of claims 8 to 14, wherein: The cavity (52) is formed adjacent to a hole or through-hole adapted to receive a fixing means for attaching the wear element to another wear element, and parallel to the hole or through-hole for the fixing means.

16. A method comprising: Introducing the sensor device (1-6) into a cavity (52, 53) of a wear element (100) of an excavating tool for an earth-moving machine; arranging a first plurality of strain measurement sensors (20) on one or more bodies of at least one body (10) of the sensor device, wherein the first plurality of strain measurement sensors comprises at least four strain measurement sensors (20); attaching the sensor device to the cavity when the sensor device is introduced into the cavity; measuring strain on at least two different axes (X, Y, Y') on the at least one body (10) using strain measurement sensors of the first plurality of strain measurement sensors; and One or more first electronic devices are used to provide force values ​​in the at least two different axes (X, Y, Y'), wherein the force value in each axis is provided based on measurement values ​​of two different strain measurement sensors of the first plurality of strain measurement sensors.

17. The method of claim 16, further comprising providing force values ​​on the at least two different axes (X, Y, Y') using one or more second electronic devices (210a-210n, 213), wherein The force value on each axis is provided based on the difference between the measured values ​​of the two different strain measurement sensors (20).

18. The method according to any one of claims 16 to 17, wherein: The first electronic device is far away from the sensor device (1-6).

19. The method according to any one of claims 16 to 18, wherein: The sensor device (1-6) is a sensor device according to any one of claims 1 to 7.

20. The method according to any one of claims 16 to 19, further comprising: coupling a cover (19) comprising a steel material to the at least one body (10) or the wear element (100) such that a cavity is formed between the cover and the at least one body, the at least one body being a single body contacting the cavity (52, 53); as well as introducing the one or more electronic devices (25, 210a-210n, 213) into the cavity formed between the cover and the at least one body; as well as Wherein, in the step of arranging the strain measurement sensors (20) of the first plurality of strain measurement sensors, the strain measurement sensors are arranged on one or more external faces (11) of the at least one body.

21. A wear element (100) for an excavating tool of an earth-moving machine, comprising: one or more cavities (52, 53); a first plurality of strain measurement sensors (20), each sensor being arranged in a cavity of the one or more cavities, wherein the first plurality of strain measurement sensors comprises at least four strain measurement sensors, the first plurality of sensors being arranged to measure strain on at least two different axes (X, Y, Y'); an attachment device (16, 55) attaching each strain measurement sensor of the first plurality of strain measurement sensors to a corresponding cavity; and One or more electronic devices (210a-210n, 213) configured to provide, for at least two different axes, a difference between measurement values ​​of two different strain measurement sensors (20) of the first plurality of strain measurement sensors for each of the at least two different axes (X, Y, Y').

22. A wear element according to claim 21, wherein The one or more electronic devices (210a-210n, 213) are configured to provide force values ​​on at least two different axes (X, Y, Y'), wherein the force value on each axis is provided based on the difference between the measurement values ​​of two different strain measurement sensors (20).

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