Method for calculating the center of gravity of a rotating body of a work machine and system for calculating the center of gravity of a rotating body of a work machine

Abstract

Easily calculate the center of gravity of the rotating body of a work machine. [Solution] The method for calculating the center of gravity of a rotating body of a work machine is a method for calculating the center of gravity of a rotating body of a work machine having a traveling body and a rotating body positioned above the traveling body and capable of rotating relative to the traveling body. This method comprises a preliminary step of attaching a mounting part of a strain measuring device to the traveling body; a measurement step of measuring strain with the measuring device when the rotating body is located at a first rotating position and a second rotating position, respectively, where the rotation angles of the rotating body differ by 180°; a strain calculation step of calculating bending strain based on a first strain measured when the rotating body is located at the first rotating position and a second strain measured when the rotating body is located at the second rotating position; and a position calculation step of calculating the center of gravity position, which is the distance from the rotation center of the rotating body to the center of gravity of the rotating body, based on the bending strain and the weight of the rotating body.

Description

[Technical Field]

[0001] This invention relates to a method for calculating the center of gravity of a rotating body of a work machine and a system for calculating the center of gravity of a rotating body of a work machine. [Background technology]

[0002] In steel mills, stackers and reclaimers are used for loading and unloading raw materials (see Patent Document 1, etc.). The stackers consist of a traveling body and a slewing body. The slewing body is positioned above the traveling body and is rotatable relative to the traveling body. The slewing body has a boom, which is used to load and unload raw materials. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2019-123565 [Overview of the project] [Problems that the invention aims to solve]

[0004] When raw materials are loaded or unloaded using machinery, raw materials can adhere to the tip of the boom, causing a shift in the center of gravity of the slewing mechanism. A significant shift in the center of gravity of the slewing mechanism can cause damage to the mechanism and other components, requiring repairs. Depending on the extent of the damage, this can lead to the shutdown of the steel mill.

[0005] Therefore, inspections are conducted to determine the center of gravity of the slewing body by measuring the weight of the boom tip with a crane and predicting the center of gravity of the slewing body based on past records from the weight of the boom tip. However, because steel mills have many working machines, it is not easy to move large machinery such as cranes to the desired location. Therefore, the above method has problems such as not being able to perform inspections frequently and the inspection being time-consuming.

[0006] The objective of this invention is to easily calculate the center of gravity of the rotating body of a work machine. [Means for solving the problem]

[0007] The method for calculating the center of gravity of a rotating body of a work machine described herein is a method for calculating the center of gravity of a rotating body of a work machine having a traveling body and a rotating body positioned above the traveling body and capable of rotating relative to the traveling body, and comprises: a preliminary step of attaching a mounting portion of a strain measuring device to the traveling body; a measurement step of measuring strain by the measuring device when the rotating body is positioned at a first rotating position and a second rotating position, respectively, where the rotation angles of the rotating body differ by 180°; a strain calculation step of calculating bending strain based on a first strain measured when the rotating body is positioned at the first rotating position and a second strain measured when the rotating body is positioned at the second rotating position; and a position calculation step of calculating the center of gravity position, which is the distance from the rotation center of the rotating body to the center of gravity of the rotating body, based on the bending strain and the weight of the rotating body.

[0008] Furthermore, in the preceding step, the plurality of mounting parts of the measuring device may be attached to the traveling body. In this case, it is preferable that the plurality of mounting parts be arranged at the same distance from the pivot center in a horizontal plane passing through the pivot center line in the vertical direction passing through the pivot center of the rotating body. It is also preferable that two of the plurality of mounting parts be arranged at two intersection points in the horizontal plane between "the circumference centered on the pivot center line" and "the horizontal line passing through the pivot center line" (first horizontal line). Furthermore, it is preferable that the other two of the plurality of mounting parts be arranged at two intersection points in the horizontal plane between "the circumference" and "the second horizontal line passing through the pivot center line". The second horizontal line is the line that intersects the first horizontal line and the pivot center line.

[0009] Furthermore, in the measurement step, while the rotating body rotates from the first rotation position to the second rotation position, strain may be measured at at least each of the two mounting parts at a plurality of arbitrary rotation positions; in the strain calculation step, the bending strain at a plurality of arbitrary rotation positions may be calculated based on the first strain measured when the rotating body is located at the first rotation position, the second strain measured when the rotating body is located at the second rotation position, and the strain measured when the rotating body is located at a plurality of arbitrary rotation positions; in the position calculation step, the center of gravity position at a plurality of arbitrary rotation positions may be calculated based on the bending strain at a plurality of arbitrary rotation positions and the weight of the rotating body; and the average value of the center of gravity positions at a plurality of arbitrary rotation positions may be calculated. Here, the "multiple arbitrary rotation positions" do not include the first rotation position and the second rotation position.

[0010] The center of gravity position calculation system for a rotating body of a work machine described herein is a system for calculating the center of gravity position of a rotating body of a work machine having a traveling body and a rotating body positioned above the traveling body and capable of rotating relative to the traveling body, and comprises a strain calculation unit that calculates bending strain based on first strain and second strain measured when the rotating body is located at a first rotating position and a second rotating position, respectively, where the rotation angles of the rotating body differ by 180°, and a position calculation unit that calculates the center of gravity position, which is the distance from the rotation center of the rotating body to the center of gravity of the rotating body, based on the bending strain and the weight of the rotating body.

[0011] Furthermore, the strain calculation unit may calculate the bending strain at a plurality of arbitrary rotation positions based on the first strain measured when the rotating body is located at the first rotation position, the second strain measured when the rotating body is located at the second rotation position, and the strain measured when the rotating body is located at a plurality of arbitrary rotation positions while the rotating body rotates from the first rotation position to the second rotation position. The position calculation unit may then calculate the center of gravity position at a plurality of arbitrary rotation positions based on the bending strain at a plurality of arbitrary rotation positions and the weight of the rotating body, and calculate the average value of the center of gravity positions at a plurality of arbitrary rotation positions. Here, the "multiple arbitrary rotation positions" do not include the first rotation position and the second rotation position. [Effects of the Invention]

[0012] The center of gravity of the rotating body of a work machine can be easily calculated. [Brief explanation of the drawing]

[0013] [Figure 1] This is a schematic diagram of the work machine. [Figure 2] This is a view from above of a portion of the vehicle shown in Figure 1 (the area enclosed by the dashed line). [Figure 3] This is a flowchart of the method (1) for calculating the center of gravity of a rotating body of a work machine. [Figure 4] This is an enlarged view of a part of the vehicle shown in Figure 1 (the area enclosed by the dashed line). [Figure 5] This diagram illustrates the measurement process and the strain calculation process. [Figure 6] This diagram illustrates an example of where to install a measuring device. [Figure 7] This is a block diagram of a system for calculating the center of gravity of a rotating body of a work machine. [Modes for carrying out the invention]

[0014] The method and system according to this embodiment can be used, for example, to calculate the center of gravity of a rotating body of a work machine used to transport raw materials to another location. Below, we will describe how to calculate the center of gravity of a rotating body of a reclaimer, which is one of the work machines, using the method and system according to this embodiment. However, the method and system according to this embodiment can also be applied to calculate the center of gravity of the rotating body of other work machines, such as a stacker or a stacker-reclaimer. Below, we will first briefly describe the configuration of the work machine (reclaimer), and then explain the method for calculating the center of gravity of the rotating body of the work machine and the system for calculating the center of gravity of the rotating body of the work machine according to this embodiment.

[0015] [Working machinery (reclaimers)] The working machine 1 shown in Figure 1 is a reclaimer that dispenses raw materials. The working machine 1 has a traveling body 2 and a rotating body 3 positioned above the traveling body 2.

[0016] The vehicle 2 has a swivel mechanism 21, a support section 22, and multiple legs (such as the second leg section 24 and the third leg section 25 shown in Figure 1).

[0017] The slewing device 21 rotates the slewing body 3. The slewing device 21 is positioned on a support section 22. Multiple legs (such as the second leg section 24 and the third leg section 25 shown in Figure 1) are connected to the support section 22. Wheels 27 are attached to the multiple legs (such as the second leg section 24 and the third leg section 25 shown in Figure 1). The running body 2 travels along the rails as the wheels 27 travel on rails (not shown).

[0018] Figure 2 shows a simplified view from above of a portion of the mobile body 2 shown in Figure 1 (the area enclosed by the dashed line). As shown in Figure 2, the mobile body 2 has four legs (first leg 23, second leg 24, third leg 25, and fourth leg 26). The first leg 23, second leg 24, third leg 25, and fourth leg 26 are positioned apart from each other.

[0019] As shown in Figure 1, the slewing body 3 includes a boom 31, a bucket 32, and an elevation / depression device 33, etc. The slewing body 3 is rotatable relative to the traveling body 2. In the work machine 1, the slewing body 3 rotates, while the traveling body 2 does not.

[0020] A bucket 32 ​​is attached to the tip of the boom 31. The bucket 32 ​​dispenses the raw material. The elevation device 33 allows the boom 31 to be raised and lowered.

[0021] The work machine 1 performs actions such as the movement of the traveling body 2, the rotation of the slewing body 3, and the elevation of the boom 31.

[0022] [Method for calculating the center of gravity of a rotating body of a working machine (1)] The "Method for Calculating the Center of Gravity of a Rotating Body of a Working Machine (1)" comprises, as shown in Figure 3, a "preliminary process," a "measurement process," a "strain calculation process," and a "position calculation process." In the "preliminary process," a measuring device (mounting part) is attached to the traveling body. In the "measurement process," the first strain is measured at the first rotation position, and the second strain is measured at the second rotation position. The first rotation position and the second rotation position are positions where the rotation angle of the rotating body 3 differs by 180°. In the "strain calculation process," the bending strain is calculated. In the "position calculation process," the center of gravity is calculated. Each process will be explained in detail below.

[0023] (pre-process) Prepare a measuring device for measuring strain. The measuring device has a mounting part that can be attached to the object. The mounting part is, for example, a strain gauge.

[0024] The measuring device may further include a strain measuring instrument such as a dynamic strain gauge. The mounting part and the strain measuring instrument may be connected by wires using wiring, etc., or by wireless connection. Alternatively, the mounting part and the strain measuring instrument may be connected via a bridge box. For example, a voltage signal detected at the mounting part may be sent to the strain measuring instrument via the bridge box, and strain (dynamic strain) may be obtained from the strain measuring instrument. Depending on the number of mounting parts or the intended use, the bridge box may be configured as a 1-gauge method, 2-gauge method, or 4-gauge method.

[0025] In the "previous step," the mounting part is attached to the vehicle 2. The mounting part is attached to the vehicle 2, which does not rotate.

[0026] The number of mounting points is not particularly limited. One mounting point may be attached to the vehicle 2, or multiple mounting points may be attached. When one mounting point is attached to the vehicle 2, the mounting position of the mounting point is not particularly limited. An example of attaching multiple mounting points to the vehicle 2 is described below.

[0027] Figures 2 and 4 show examples of attachments being placed on each of the four legs of the vehicle 2. Figure 2 is a view from above of a portion of the vehicle 2 shown in Figure 1 (the portion enclosed by the dashed line). Figure 4 is an enlarged view of a portion of the vehicle 2 shown in Figure 1 (the portion enclosed by the dashed line).

[0028] In Figures 2 and 4, the first mounting part 41 (mounting part) is attached to the first leg part 23, the second mounting part 42 (mounting part) is attached to the second leg part 24, the third mounting part 43 (mounting part) is attached to the third leg part 25, and the fourth mounting part 44 (mounting part) is attached to the fourth leg part 26.

[0029] As shown in Figure 4, in a horizontal plane P passing through a vertical line C (hereinafter referred to as the "rotation centerline C") that passes through the rotation center of the rotating body 3, multiple mounting parts are arranged at the same distance from the rotation centerline C. In other words, in a horizontal plane P passing through the rotation centerline C, multiple mounting parts are arranged on the circumference F centered on the rotation centerline C (see Figure 2). It is preferable that at least a part of each mounting part is located on the circumference F in the horizontal plane P.

[0030] As shown in Figure 2, the first mounting portion 41, the second mounting portion 42, the third mounting portion 43, and the fourth mounting portion 44 are located in a horizontal plane P passing through the pivot centerline C (see Figure 4), and are positioned on the circumference F of a circle centered on the pivot centerline C in the horizontal plane P (see Figure 2). In the horizontal plane P, the distance from the pivot centerline C to the first mounting portion 41, the distance from the pivot centerline C to the second mounting portion 42, the distance from the pivot centerline C to the third mounting portion 43, and the distance from the pivot centerline C to the fourth mounting portion 44 are all the same.

[0031] Furthermore, it is preferable to position two of the multiple mounting parts at the two intersection points of the "circumference F" and the "horizontal line passing through the pivot centerline C" in the horizontal plane P.

[0032] In Figure 2, the first mounting part 41 and the third mounting part 43 are positioned at two intersection points (intersections i1 and i3) of the "circumference F" and the "horizontal line l1 passing through the pivot centerline C". Additionally, the second mounting part 42 and the fourth mounting part 44 are positioned at two intersection points (intersections i2 and i4) of the "circumference F" and the "horizontal line l2 passing through the pivot centerline C". Horizontal line l1 and horizontal line l2 intersect at the pivot centerline C. In Figure 2, the angle between horizontal line l1 and horizontal line l2 is either acute or obtuse, but the angle between them may also be a right angle.

[0033] (Measurement process) The strain is measured by a measuring device at the first and second rotation positions of the rotating body 3, where the rotation angles differ by 180°. The strain measured when the rotating body is in the first rotation position is called the "first strain" (ε0°), and the strain measured when the rotating body is in the second rotation position is called the "second strain" (ε0°). 180 Let's assume it's °.

[0034] As shown in Figure 5, if the working machine 1 is considered as a single column, when the slewing body 3 is in either the first or second slewing position, tensile stress is generated in the working machine 1, and the measured strain includes bending strain due to tension. When the slewing body 3 is in the other position between the first and second slewing positions, compressive stress is generated in the working machine 1, and the measured strain includes bending strain due to compression.

[0035] Figure 5 shows, as an example, that when the rotating body 3 is in the first rotating position, tensile stress is generated in the working machine, and the "first strain" (ε0°) measured at the first rotating position becomes the bending strain due to tension (+ε M This indicates the case including ). Furthermore, when the rotating body 3 is in the second rotating position, compressive stress is generated in the working machine, and the "second strain" (ε) measured at the second rotating position is 180 °) is the bending strain due to compression (-ε M This indicates cases that include ).

[0036] If multiple mounting parts are attached to the work machine 1, the "first strain" (ε0°) and the "second strain" (ε0°) are measured using any one of the mounting parts. 180 The "first strain" (ε0°) and the "second strain" (ε0°) may be measured using multiple mounting parts. 180 The first strain (ε0°) may be measured. For example, as shown in the lower diagram of Figure 5, if four mounting parts (first mounting part 41, second mounting part 42, third mounting part 43, fourth mounting part 44) are attached to the traveling body 2, the first strain (ε0°) and the second strain (ε0°) may be measured using two mounting parts (first mounting part 41 and third mounting part 43, or second mounting part 42 and fourth mounting part 44) that are positioned opposite each other across the centerline C of the turn. 180°) may be measured, and the "first strain" (ε0°) and the "second strain" (ε 180 °) may be measured using the four attachment parts.

[0037] The measurement of the "first strain" (ε0°) at the first turning position and the measurement of the "second strain" (ε 180 °) at the second turning position are preferably performed at the same position without changing the position of the traveling body 2. For example, at the same position on the rail, the measurement of the "first strain" (ε0°) and the measurement of the "second strain" (ε 180 °) are carried out. By using the "first strain" (ε0°) and the "second strain" (ε 180 °) measured at the same position on the rail in the calculations described later, the accuracy of the center of gravity position is enhanced.

[0038] Also, the measurement of the "first strain" (ε0°) at the first turning position and the measurement of the "second strain" (ε 180 °) at the second turning position are preferably performed at the same elevation angle without changing the elevation angle of the boom 31. By using the "first strain" (ε0°) and the "second strain" (ε 180 °) measured at the same elevation angle in the calculations described later, the accuracy of the center of gravity position is enhanced.

[0039] (Strain calculation step) Based on the "first strain" (ε0°) and the "second strain" (ε 180 °) measured in the "measurement step", the "bending strain" (ε M ) generated in the working machine 1 is calculated.

[0040] When the working machine 1 is regarded as a single column, the strain measured at one of the first turning position and the second turning position is the sum of the bending strain (+ε M ) caused by tension, the vertical strain (ε T ), and the error (α). When the working machine 1 is regarded as a single column, the strain measured at the other of the first turning position and the second turning position is the sum of the bending strain (-ε M ) caused by compression, the vertical strain (ε T ), and the error (α). Here, "εM " is the absolute value of the bending strain, and the bending strain caused by tension is "+ε M The bending strain caused by compression is "-ε M " Normal strain (ε T This is the vertical downward strain that occurs when a column is not bent. The error (α) is the initial value of the measuring device (for example, the value measured when the mounting part is attached to the vehicle 2), and should ideally be zero, but may not be zero for some reason.

[0041] Reclaimers, stackers, and stacker-reclaimers, which are machines used to transport raw materials to another location, have a structure in which the sign of the bending strain is reversed between the first and second rotation positions, and the absolute values ​​of these (ε) M ) is the same. Also, the vertical strain (ε) is the same between the first rotation position and the second rotation position. T The values ​​of () are the same, and the error (α) is also the same.

[0042] For example, as shown in Figure 5, if tensile stress is generated in the working machine at the first rotation position, the tensile bending strain (+ε M ) occurs, and the "first strain" (ε0°) at the first rotation position is given by equation (1). ε0°=+ε M + ε T + α ···(1) If compressive stress occurs in the working machine at the second rotation position, compressive bending strain (-ε M ) occurs, and the "second strain" (ε) at the second rotation position occurs. 180 °) is given by equation (2). ε 180 °=-ε M + ε T + α ···(2)

[0043] From equations (1) and (2), equation (3) is obtained.

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[0044] From equation (3), we get "bending strain" (ε M ) can be calculated.

[0045] Furthermore, if compressive stress is generated in the work machine at the first rotation position and tensile stress is generated in the work machine at the second rotation position, (ε 180 °-ε0°) / 2=ε M From "bending strain" (ε M ) can be calculated.

[0046] (Position calculation process) The "bending strain" calculated in the "strain calculation process" (ε M Based on the "weight of the rotating body" (W), the "center of gravity position" (L) is calculated.

[0047] "Bending strain" (ε M ) and "calculate the center of gravity position (L) based on the weight of the rotating body (W)" means "bending strain (ε) M This includes calculating the "center of gravity" (L) using the "weight" (W) of the rotating body and other factors. The "center of gravity" (L) is the distance from the center of rotation of the rotating body to its center of gravity, and specifically, it is the horizontal distance from the "vertical line passing through the center of rotation of the rotating body" (center of rotation line C) to the "vertical line passing through the center of gravity of the rotating body" (center of gravity line). The method for calculating the "center of gravity" (L) is described below.

[0048] The "bending strain" calculated in the "strain calculation process" (ε M Using ) "bending stress" (σ M ) is shown by equation (4). σ M =E × ε M ...(4) Here, E is Young's modulus.

[0049] "Bending stress" (σ M ) is shown by equation (5).

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[0050] Note that the amount of raw material adhering to the tip of the boom 31 shown in Figure 1 changes "W" (weight of the slewing body) in equation (5), but since the weight of the adhering material is very small compared to the weight of the slewing body, the amount of adhering raw material does not need to be considered here. "Z" is the section modulus of the vehicle to which the mounting part is attached, specifically the section modulus of the horizontal cross-section of the mounting position of the mounting part (for example, "horizontal plane P" shown in Figure 4). "Z" may be a predetermined section modulus, or it may be a section modulus corresponding to the turning position, as described later.

[0051] From equations (4) and (5), equation (6) is obtained. From equation (6), the "center of gravity position" (L) can be calculated.

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[0052] In addition, the method for calculating the "center of gravity" (L) from equation (6) above was explained, but the "bending stress" (σ) from equation (4) can also be calculated. M ) is calculated and the "bending stress" (σ M Alternatively, the "center of gravity position" (L) can be calculated from equation (5).

[0053] The above method allows for easy calculation of the "center of gravity" (L) of the rotating body 3 of the work machine 1 without the use of large machinery such as cranes. This enables more frequent inspections of the "center of gravity" (L) compared to existing methods that use large machinery such as cranes. Furthermore, the "center of gravity" (L) can be obtained in a shorter time than with existing methods. In addition, it allows for a more accurate calculation of the "center of gravity" (L) than methods that predict the center of gravity using large machinery such as cranes.

[0054] After calculating the "center of gravity position" (L), if, for example, the "center of gravity position" (L) deviates from a predetermined center of gravity position, cleaning of the bucket 32 ​​as shown in Figure 1 is performed. The predetermined center of gravity position is, for example, the position where damage to the slewing body or work machinery may occur. This makes it possible to prevent damage to the slewing body or work machinery in advance. It also makes it possible to suppress damage to the slewing body or work machinery.

[0055] [Method for calculating the center of gravity of a rotating body of a working machine (2)] Next, we will explain a method that differs from the "Method for Calculating the Center of Gravity of a Rotating Body of a Working Machine (1)" described above. The method for calculating the center of gravity of a rotating body of a work machine (2) comprises a "preliminary process," a "measurement process," a "strain calculation process," and a "position calculation process." Below, the differences from the "method for calculating the center of gravity of a rotating body of a work machine (1)" will be mainly explained, and points that are the same as the "method for calculating the center of gravity of a rotating body of a work machine (1)" will be omitted or simplified.

[0056] (pre-process) Prepare a measuring device having multiple mounting points (such as strain gauges). Attach the multiple mounting points to the traveling body 2. As explained in "Method for Calculating the Center of Gravity of a Rotating Body of a Working Machine (1)," arrange the multiple mounting points at the same distance from the rotation center line C in the horizontal plane P passing through the rotation center line C. In other words, arrange the multiple mounting points on the circumference F centered on the rotation center line C in the horizontal plane P passing through the rotation center line C. Furthermore, two of the multiple mounting points are placed at the two intersection points of the "circumference F" and the "horizontal line passing through the rotation center line C" in the horizontal plane P.

[0057] In Figure 2, the first mounting part 41 and the third mounting part 43 are positioned at two intersections (intersection i1 and intersection i3) of the "circumference F" and the "horizontal line l1 passing through the pivot centerline C". Additionally, the second mounting part 42 and the fourth mounting part 44 are positioned at two intersections (intersection i2 and intersection i4) of the "circumference F" and the "horizontal line l2 passing through the pivot centerline C".

[0058] The first mounting portion 41 and the third mounting portion 43 are positioned to correspond to the front and back of the work machine 1 (column). The second mounting portion 42 and the fourth mounting portion 44 are positioned to correspond to the front and back of the work machine 1 (column).

[0059] (Measurement process) Similar to "Method for Calculating the Center of Gravity of a Rotating Body of a Working Machine (1)," strain is measured using a measuring device at a first rotation position and a second rotation position where the rotation angles of the rotating body 3 differ by 180°. The strain at the first rotation position and the second rotation position may be measured using one of the multiple measuring parts, or multiple measuring parts may be used.

[0060] Furthermore, when the rotating body 3 rotates from the first rotation position to the second rotation position, in other words, while the rotating body 3 rotates 180° from the first rotation position, strain is measured at multiple arbitrary rotation positions. Here, "multiple arbitrary rotation positions" does not include the first rotation position and the second rotation position. If the rotation angle at the first rotation position of the rotating body is set to 0°, then "arbitrary rotation positions" are positions where the rotation angle of the rotating body is greater than 0° and less than 180°. "Arbitrary rotation positions" may be, for example, positions where the rotation angle of the rotating body is 5°, 10°, ..., 175°. The multiple arbitrary rotation positions may be at positions with equally spaced rotation angles, or they may not be at equally spaced positions.

[0061] Strain measurement at any rotational position is performed at each of the two mounting points located at positions corresponding to the front and back of the work machine 1 (column). If the two mounting points located at positions corresponding to the front and back of the work machine 1 (column) are considered as one set, then there are two sets of mounting points as shown in Figure 2. In this case, strain may be measured at each of the mounting points in one set at any rotational position, or strain may be measured at each of the two sets of mounting points.

[0062] Measurement of the "first strain" (ε0°) at the first rotation position as described above, and the "second strain" (ε0°) at the second rotation position 180It is preferable to measure the angle of rotation (°) and the strain at multiple arbitrary rotation positions from the first rotation position to the second rotation position without changing the position of the traveling body 2. Furthermore, it is preferable to measure these strains without changing the elevation angle of the boom 31.

[0063] (Strain calculation process) First, the "first strain" (ε0°) and "second strain" (ε0°) measured in the "side setting process" 180 °) to "normal strain (ε T Calculate the sum of the error (α) and the result.

[0064] Specifically, the "first strain" (ε0°) shown in equation (1) and the "second strain" (ε0°) shown in equation (2) 180 From °), the "normal strain (ε)" shown in equation (8) T Calculate the sum of the error (α) and the result. ε0°=+ε M + ε T + α ···(1) ε 180 °=-ε M + ε T + α ···(2)

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[0065] Next, for the strain (measured value) measured at any rotational position, these strains are called "first strain" (ε0°) and "second strain" (ε0°). 180 Similar to °), "normal strain (ε T Since it includes ")" and "error (α)", it is called "normal strain (ε T Calculate the strain after removing ")" and "error (α)". The following describes how to calculate the strain when measuring the strain at each of the four mounting points shown in Figure 2 at any given rotation position.

[0066] Let the strain measured using the first mounting part 41 be "ε1" (measured value), the strain measured using the second mounting part 42 be "ε2" (measured value), the strain measured using the third mounting part 43 be "ε3" (measured value), and the strain measured using the fourth mounting part 44 be "ε4" (measured value). From these strains and the above equation (8), the "vertical strain (ε)" at any rotational position can be calculated. T The strains (ε1', ε2', ε3', ε4') obtained by removing ")" and "error (α)" can be calculated from the following formula. ε1' = ε1 - (ε T + α) ···(9) ε2' = ε2 - (ε T + α) ···(10) ε3'=ε3-(ε T + α) ···(11) ε4' = ε4 - (ε T + α) ···(12) Below, we will discuss the "vertical strain (ε)" at any rotational position. T The strains (ε1', ε2', ε3', ε4') obtained by removing "(ε)" and "error (α)" are called "individual bending strains". In addition, "vertical strain (ε)" is calculated from the strain measured using each of the two mounting parts located at positions corresponding to the front and back of the work machine 1 (column). T The "individual bending strain" obtained by removing ")" and "error (α)" is called the "individual bending strain" corresponding to the front and back of the work machine 1 (column). The individual bending strains (ε1' and ε3', ε2' and ε4') corresponding to the front and back of the work machine 1 (column) have the same absolute value but different signs.

[0067] Next, the average value of the "individual bending strain" corresponding to the front and back of the work machine 1 (column) at any given rotation position is calculated. If there are multiple average values ​​of the "individual bending strain" corresponding to the front and back of the work machine 1 (column) at any given rotation position, the overall average value is calculated by averaging the multiple average values. The following explains, using equations (9) to (12), an example of how to calculate the average value and overall average value of "individual bending strain".

[0068] From equations (9) to (12) above, "individual bending strain ε1'" and "individual bending strain ε3'" corresponding to the front and back of the work machine 1 (column), and "individual bending strain ε2'" and "individual bending strain ε4'" corresponding to the front and back of the work machine 1 (column) were obtained.

[0069] For the individual bending strains ε1' and ε3' corresponding to the front and back of the work machine 1 (column), if ε1' is positive and ε3' is negative, the average value of ε1' and ε3' can be calculated from equation (13).

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[0070] For the second mounting section 42 and the fourth mounting section 44, which correspond to the front and back sides of the work machine 1 (column), if the "individual bending strain ε2'" is positive and the "individual bending strain ε4'" is negative, the average value of "individual bending strain ε2'" and "individual bending strain ε4'" can be calculated from equation (14).

number

[0071] In this way, the average value of the individual bending strains corresponding to the front and back of the work machine 1 (column) at any given rotation position is calculated. As described above, if there are multiple average values ​​of the individual bending strains corresponding to the front and back of the work machine 1 (column) at any given rotation position (in the example above, there are two average values ​​at any given rotation position: the average value calculated from equation (13) and the average value calculated from equation (14)), the grand average value is calculated by averaging these average values. In this case, the grand average value is called the "bending strain" at any given rotation position (ε M )'.

[0072] Furthermore, if there is only one average value of the individual bending strains corresponding to the front and back of the work machine 1 (column) at any given rotation position, then this average value of individual bending strains is called the "bending strain" at any given rotation position (ε M Let's define it as "bending strain (ε) at any given rotation position". For example, if a set consists of two mounting parts positioned at the front and back of the work machine 1 (column), then at any rotation position, there is one average value of the individual bending strains corresponding to the front and back of the work machine 1 (column). In this case, the average value of the individual bending strains is defined as "bending strain (ε) at any rotation position". M )'. Also, as shown in Figure 2, there are two sets of mounting parts, but when measuring strain using one set of mounting parts at an arbitrary rotation position, there is only one average value of the individual bending strains corresponding to the front and back of the work machine 1 (column) at the arbitrary rotation position. In this case as well, the average value of the individual bending strains is 'the "bending strain" at the arbitrary rotation position (ε M )'.

[0073] In this way, the following calculations are performed in the "strain calculation process". The "first strain" (ε0°) at the first rotation position and the "second strain" (ε0°) at the second rotation position 180 °) to "normal strain (ε T Calculate the sum of the error (α) and the result. "Normal strain (ε TBased on the sum of the () and error (α) and the strain measured at one or more sets of mounting parts located at positions corresponding to the front and back of the work machine 1 (column) at any given rotation position, the individual bending strains corresponding to the front and back of the work machine 1 (column) at any given rotation position are calculated, and the average value of these individual bending strains is calculated. If, at any given rotational position, there is only one average value of the individual bending strains corresponding to the front and back of the work machine 1 (column), then the average value of the individual bending strains is called "the 'bending strain' at any given rotational position" (ε M )'. If there are multiple average values ​​of individual bending strains at any given rotation position, the sum average value obtained by averaging these values ​​is calculated and the sum average value is defined as '"bending strain" at any given rotation position" (ε M )'. Perform these calculations for each of the multiple arbitrary turning positions.

[0074] In this specification, the above series of calculations may also be performed using "first strain" (ε0°) and "second strain" (ε0°). 180 Based on °), the "bending strain" (ε) (at any pivot position) M In this specification, performing the above series of calculations is also referred to as "calculating the 'first strain' (ε0°) and the 'second strain' (ε0°). 180 Based on the (°) and the strain at any rotational position, the "bending strain" (ε) at any rotational position is calculated. M This is called 'calculating )'.

[0075] (Position calculation process) Similar to "Method for calculating the center of gravity of a rotating body of a working machine (1)", the "bending strain" (ε) at any rotating position calculated in the "strain calculation process" above is used. M Based on the "weight of the rotating body" (W), the "center of gravity" (L) of any rotating position is calculated. The "center of gravity" (L) is calculated for each of several arbitrary rotating positions. For example, in the "strain calculation process" above, the "bending strain" (ε) of 10 arbitrary rotating positions is calculated. M If the above is calculated, the "center of gravity position" (L) of any 10 turning positions is calculated.

[0076] Next, the average value of the "center of gravity position" (L) for multiple arbitrary turning positions is calculated. This average value is referred to as the "center of gravity position" (L) (hereinafter sometimes referred to as the "average value of the center of gravity position" (L)).

[0077] The above method allows for easy calculation of the "center of gravity position" (L) (average value of the "center of gravity position" (L)) of the rotating body 3 of the work machine 1 without using large machinery such as cranes. This enables more frequent inspections of the "center of gravity position" (L) compared to existing methods that use large machinery such as cranes. Furthermore, the "center of gravity position" (L) can be obtained in a shorter time than with existing methods. In addition, it allows for the calculation of a more accurate "center of gravity position" (L) than methods that predict the center of gravity position using large machinery such as cranes.

[0078] After calculating the "center of gravity position" (L) (the average value of the "center of gravity position" (L)), if, for example, the "center of gravity position" (L) deviates from a predetermined center of gravity position, cleaning of the bucket 32 ​​as shown in Figure 1 is performed. The predetermined center of gravity position is, for example, the center of gravity position where damage to the slewing body or work machinery may occur. This makes it possible to prevent damage to the slewing body or work machinery in advance. It also makes it possible to suppress damage to the slewing body or work machinery.

[0079] Furthermore, in the above method, the "strain calculation process" calculates the average value of the individual bending strains corresponding to the front and back of the work machine 1 (column) at an arbitrary rotation position. If there is only one average value of the individual bending strains at an arbitrary rotation position, the average value of the individual bending strains is calculated as "the "bending strain" at an arbitrary rotation position (ε M )'. If there are multiple average values ​​of individual bending strains at any given rotation position, the summation average of the average values ​​of the multiple individual bending strains is calculated, and the summation average is defined as '"bending strain" at any given rotation position" (ε M )'. Perform the above series of calculations for each of the multiple arbitrary turning positions. And, "bending strain at any turning position" (ε MBased on the "weight of the rotating body" (W), the "center of gravity position (L) at any given rotating position" is calculated. The center of gravity position (L) is calculated for each of several arbitrary rotating positions. The average value of the center of gravity positions (L) at multiple arbitrary rotating positions is calculated, and this average value is taken as the "center of gravity position (L)". This process removes noise, thus increasing the accuracy of the centroid position (L) (the average value of "centroid position (L)").

[0080] In Figure 2, there are two sets of mounting parts positioned corresponding to the front and back of the work machine 1 (column). However, there may be one set of mounting parts positioned corresponding to the front and back of the work machine 1 (column), or there may be three or more sets. If there are three or more sets of mounting parts, strain may be measured with one set of mounting parts at any rotation position, or strain may be measured with two or more sets of mounting parts. The accuracy of the center of gravity position (L) increases as the number of sets of mounting parts used to measure strain increases. Also, the accuracy of the center of gravity position (L) increases as the number of arbitrary rotation positions between the first rotation position and the second rotation position increases.

[0081] (section modulus) The position of the center of gravity of the rotating body 3 changes by changing the rotation position of the rotating body 3. Therefore, in the above-mentioned "Method for calculating the center of gravity of the rotating body of a work machine (1)" and "Method for calculating the center of gravity of the rotating body of a work machine (2)", the section modulus Z used in the "position calculation step" may be the section modulus calculated according to the rotation position, for example, by the following method. Below is a brief explanation of an example of a method for determining the section modulus according to the rotation position.

[0082] In the "previous step," multiple mounting parts are attached to the vehicle body 2. The multiple mounting parts are positioned at the same distance from the pivot centerline C in a horizontal plane P that passes through the pivot centerline C. In other words, in the horizontal plane P, the multiple mounting parts are positioned on a circle F centered on the pivot centerline C. Furthermore, two of the multiple mounting parts are attached at a position where the angle θ between one mounting part, the pivot centerline C, and the other mounting part satisfies 0° < θ < 180°. An example is shown in Figure 6.

[0083] Figure 6 shows four mounting points (first mounting point 41, second mounting point 42, third mounting point 43, and fourth mounting point 44) as seen from above a part of the traveling body 2 shown in Figure 2, as well as the pivot centerline C and the circumference F in the horizontal plane P passing through the pivot centerline C. The four mounting points (first mounting point 41, second mounting point 42, third mounting point 43, and fourth mounting point 44) are located on the circumference F.

[0084] The first mounting portion 41 and the second mounting portion 42 are mounted in positions where the angle θ between the first mounting portion 41, the pivot center line C, and the second mounting portion 42 satisfies 0° < θ < 180°.

[0085] As shown in Figure 6, when the work machine 1 is viewed from above, the section modulus (Z1) is prepared in advance for the case where the center of gravity of the slewing body 3 is located on the line passing through the first mounting part 41 and the slewing centerline C in the horizontal plane P.

[0086] Starting from a point where the center of gravity of the slewing body 3 is located on the reference line ("the line passing through the first mounting part 41 and the pivot centerline C"), the slewing position of the slewing body 3 is changed, and the center of gravity angle θ1 at a given slewing position is investigated. The "center of gravity angle θ1" is the angle between the reference line ("the line passing through the first mounting part 41 and the pivot centerline C") and the "line passing through the center of gravity of the slewing body 3 and the pivot centerline C" at a given slewing position, and is also the angle between the "first mounting part 41", the "pivot centerline C", and the "center of gravity of the slewing body 3" at a given slewing position. In Figure 6, the "line passing through the center of gravity of the slewing body 3 and the pivot centerline C" at a given slewing position is shown as "lx". By investigating the center of gravity angle θ1, the "line passing through the center of gravity of the slewing body 3 and the pivot centerline C" at that slewing position can be determined, and from there the section modulus corresponding to the slewing position can be calculated.

[0087] Details are omitted here, but as shown in Figure 6, y 1-1 , y 1-2 , y 2-1 Based on d and other factors, equation (15) in equation 8 is obtained from the equation shown in equation 7.

number

[0088] In Equation (15), θ2 is the angle known from the attachment positions of the first attachment portion 41 and the second attachment portion 42, and is calculated from, for example, 90° - θ. "First strain" (ε θ ° -1 ) and "first strain" (ε θ ° -2 ) are the measured values of the strain measured by the first attachment portion 41 at a certain turning position. θ2, "first strain" (ε θ ° -1 ), and "second strain" (ε θ ° -2 ) are used to calculate θ1 from Equation (15). Based on the calculated θ1 and the cross-sectional coefficient (Z1) prepared in advance, the cross-sectional coefficient corresponding to the turning position can be calculated.

[0089] As shown in FIG. 6, in each of (i) the second attachment portion 42 and the third attachment portion 43, (ii) the third attachment portion 43 and the fourth attachment portion 44, and (iii) the fourth attachment portion 44 and the first attachment portion 41, the angle θ formed by one of the two attachment portions, the turning center line C, and the other attachment portion satisfies 0° < θ < 180°. In this case, the cross-sectional coefficient corresponding to the turning position of the turning body may be calculated based on the strain measured in any of (i) to (iii) above.

[0090] The step of calculating the cross-sectional coefficient corresponding to the turning position described above is referred to as the "cross-section calculation step".

[0091] After calculating the section modulus according to the rotation position, the accuracy of the "center of gravity position" (L) is increased by calculating the "center of gravity position" (L) using the section modulus according to the rotation position in the "position calculation step" of "Method for calculating the center of gravity position of a rotating body of a working machine (1)" and "Method for calculating the center of gravity position of a rotating body of a working machine (2)". In particular, in "Method for calculating the center of gravity position of a rotating body of a working machine (2)", the center of gravity position (L) at each of several arbitrary rotation positions is calculated in the "center of gravity calculation step". By using the section modulus according to the rotation position calculated in the "section calculation step" to calculate the center of gravity position (L) at each rotation position, the accuracy of the center of gravity position (L) at each rotation position is further increased. The accuracy of the center of gravity position (L) (average center of gravity position (L)) is further increased by calculating the average value of these center of gravity positions (L) and using the average value as the center of gravity position (L).

[0092] Next, we will describe a system for calculating the center of gravity of a rotating body of a working machine that can implement the above-mentioned "Method for calculating the center of gravity of a rotating body of a working machine (1)" and "Method for calculating the center of gravity of a rotating body of a working machine (2)".

[0093] [System for calculating the center of gravity of a rotating body of a construction machine] Figure 7 shows an example of the center of gravity position calculation system 100 (hereinafter sometimes referred to as "system 100") of the rotating body of a work machine according to this embodiment. System 100 is connected to a measuring device 110. System 100 has a calculation device 120. System 100 may also be connected to a display device 130. In this embodiment, "connection" may be a wired connection using wiring, etc., or a wireless connection. Also, in this embodiment, "connection" may be a connection via other parts, or a direct connection without going through other parts.

[0094] Below, we will first describe the system 100 and other components used to implement the "Method for Calculating the Center of Gravity of a Rotating Body of a Work Machine (1)". Points similar to those described above in the "Method for Calculating the Center of Gravity of a Rotating Body of a Work Machine (1)" will be omitted or simplified in this explanation.

[0095] [System for performing the calculation method (1) for the center of gravity position of the slewing body of a work machine] (Measuring device) The measuring device 110 is a device for measuring strain. The measuring device 110 has a mounting part that is attached to the traveling body 2. The mounting part is, for example, a strain gauge. The following description will focus on the case where the measuring device 110 has a strain gauge 111 (mounting part) and a strain measuring instrument 112. Although Figure 7 shows only one strain gauge 111, the measuring device 110 may have one strain gauge 111 or multiple strain gauges 111. Similarly, the measuring device 110 may have one or more strain measuring instruments 112.

[0096] The strain gauge 111 is attached to the traveling body 2 of the work machine 1 shown in Figure 1.

[0097] The strain measuring instrument 112 shown in Figure 7 is, for example, a dynamic strain gauge. The strain gauge 111 and the strain measuring instrument 112 may be connected by a wired connection using wiring, etc., or they may be connected wirelessly. The strain gauge 111 and the strain measuring instrument 112 may be connected via a bridge box (not shown). For example, the voltage signal detected by the strain gauge 111 may be sent to the strain measuring instrument 112 via the bridge box, so that strain (dynamic strain) can be obtained with the strain measuring instrument. As explained in the "previous steps" above, the bridge box can be configured in ways such as a 1-gauge method, a 2-gauge method, or a 4-gauge method.

[0098] The measuring device 110 measures the "first strain" (ε0°) when the rotating body 3 shown in Figure 1 is in the first rotation position, and the "second strain" (ε0°) when the rotating body 3 is in the second rotation position. 180 The first rotation position and the second rotation position are positions where the rotation angle of the rotating body 3 differs by 180°, as described above. The measured "first strain" (ε0°) and "second strain" (ε0°) are measured. 180 The value (°) is sent to the strain calculation unit 121 of the calculation device 120 shown in Figure 7.

[0099] "First strain" (ε0°) and "Second strain" (ε 180 There is a strain memory section that stores the "first strain" (ε0°) and the "second strain" (ε 180 The strain (°) may be sent from the strain measuring instrument 112 to the strain storage unit, and from the strain storage unit to the strain calculation unit 121. Furthermore, the strain storage unit may be separate from the measuring device 110 and the system 100, the measuring device 110 may have the strain storage unit, and the system 100 may have the strain storage unit.

[0100] The position where the strain gauge 111 is attached to the traveling body 2, the measurement of the "first strain" (ε0°) at the first turning position, and the measurement of the "second strain" (ε0°) at the second turning position. 180 Measurements such as ° are the same as those described in the "pre-process" and "measurement process" sections above, including position and measurement.

[0101] (computing device) As shown in Figure 7, the calculation device 120 includes a strain calculation unit 121 and a position calculation unit 122.

[0102] <Strain Calculation Department> The strain calculation unit 121 calculates the "first strain" (ε0°) and the "second strain" (ε 180 Based on °), "bending strain" (ε M ) calculates "bending strain" (ε M The calculation method for "bending strain" (ε) is the same as the "strain calculation process" described above. M The data is sent to the position calculation unit 122 shown in Figure 7.

[0103] Note that "bending strain" (ε M There is a bending strain memory unit that stores the "bending strain" (ε M The strain calculation unit 121 may send the bending strain storage unit, and the bending strain storage unit may send the bending strain storage unit to the position calculation unit 122. The calculation device 120 may also have a bending strain storage unit.

[0104] <Position calculation part> The position calculation unit 122 calculates "bending strain" (ε MBased on the "weight of the rotating body" (W), the "center of gravity position" (L) is calculated. The method for calculating the "center of gravity position" (L) is the same as the "position calculation process" described above. The "center of gravity position" (L) is sent to the display device 130.

[0105] Furthermore, there may be a center of gravity storage unit that stores the "center of gravity position" (L), and the "center of gravity position" (L) may be sent from the position calculation unit 122 to the center of gravity storage unit, and from the center of gravity storage unit to the display device 130. For example, the center of gravity storage unit may be separate from the calculation device 120, or the calculation device 120 may have the center of gravity storage unit.

[0106] The "center of gravity position" (L) is calculated based on parameters such as the weight W of the rotating body, Young's modulus E, and section modulus Z. For example, there may be a parameter storage unit that stores the parameters (numerical values) used in calculating the "center of gravity position" (L). For example, the parameter storage unit may be separate from the calculation device 120, or the calculation device 120 may have a parameter storage unit.

[0107] Furthermore, the calculation device 120 may have a display unit (not shown). In this case, the "center of gravity position" (L) may be sent from the position calculation unit 122 or the center of gravity position storage unit to the display unit. The display unit can display, for example, at least one of the "center of gravity position" (L) calculated by the position calculation unit 122 and the "center of gravity position" (L) stored in the center of gravity position storage unit. The display unit may display the "center of gravity position" (L) as a specific numerical value, or it may be displayed as a plot on a diagram or table showing the traveling body 2 or work machine 1 viewed from above, as shown in Figure 2. Examples of the display unit include a liquid crystal display or an organic EL (Electro-Luminescence) display.

[0108] Furthermore, the computing device 120 may have a section calculation unit that calculates the section modulus Z according to the rotational position of the rotating body. The section calculation unit calculates the section modulus Z according to the rotational position of the rotating body, for example, using the method described in the "section calculation process". There may also be a section memory unit that stores known section moduli, the section modulus Z calculated by the section calculation unit, etc. For example, the section calculation unit and the section memory unit may be separate from the computing device 120, or the computing device 120 may have the section calculation unit and the section memory unit.

[0109] (display device) The display device 130 is a separate device from the calculation device 120. The display device 130 is a device capable of displaying, for example, at least one of the "center of gravity position" (L) calculated by the position calculation unit 122 and the "center of gravity position" (L) stored in the center of gravity position storage unit. The display device 130 may display the "center of gravity position" (L) as a specific numerical value, or it may be displayed as a plot on a diagram or table showing the traveling body 2 or work machine 1 viewed from above, as shown in Figure 2. Examples of the display device 130 include, but are not limited to, a portable terminal or a PC (Personal Computer).

[0110] The above system 100, which is capable of performing the "Method for calculating the center of gravity of the rotating body of a work machine (1)", provides the following effects. This method allows for easy calculation of the center of gravity (L) of work machine 1 without the use of large machinery such as cranes. This enables more frequent inspections of the center of gravity (L) compared to existing methods that use large machinery such as cranes. Furthermore, the center of gravity (L) can be obtained in a shorter time than with existing methods. Additionally, it allows for more accurate calculation of the center of gravity (L) than methods that predict the center of gravity using large machinery such as cranes.

[0111] After calculating the "center of gravity position" (L), if, for example, the "center of gravity position" (L) deviates from a predetermined center of gravity position, cleaning of the bucket 32 ​​as shown in Figure 1 is performed. The predetermined center of gravity position is, for example, the center of gravity position where damage to the slewing body 3 or the work machine 1 may occur. This makes it possible to prevent damage to the slewing body 3 or the work machine 1 in advance. It also makes it possible to suppress damage to the slewing body 3 or the work machine 1. For example, the system 100 shown in Figure 7 may have a determination unit or determination device that determines whether the "center of gravity position" (L) deviates from a predetermined center of gravity position.

[0112] It is also possible to implement the "Method for Calculating the Center of Gravity of a Rotating Body of a Work Machine (2)" using the system 100 described above. Below, we will explain the case in which the "Method for Calculating the Center of Gravity of a Rotating Body of a Work Machine (2)" is implemented using the system 100 described above. Note that the same points as those for the system 100 used to implement the "Method for Calculating the Center of Gravity of a Rotating Body of a Work Machine (1)" and the "Method for Calculating the Center of Gravity of a Rotating Body of a Work Machine (2)" will be omitted or simplified in the explanation.

[0113] [System for performing the calculation method (2) for the center of gravity of the slewing body of a work machine] (Measuring device) The measuring device 110 shown in Figure 7 has a plurality of strain gauges 111 and a strain measuring instrument 112. In Figure 7, one strain gauge 111 is shown, and the other strain gauges 111 are omitted. The plurality of strain gauges 111 are attached to the traveling body 2. The plurality of strain gauges 111 are arranged in the positions described in the "previous process". Two of the plurality of strain gauges 111 are arranged in positions corresponding to the front and back of the working machine 1 (column). The measuring device 110 may have one or more strain measuring instruments 112.

[0114] The measuring device 110 measures the "first strain" (ε0°) when the rotating body 3 shown in Figure 1 is in the first rotation position, and the "second strain" (ε0°) when the rotating body 3 is in the second rotation position. 180The angle (°) is measured. Furthermore, when the rotating body 3 is rotating from the first rotation position to the second rotation position, the strain is measured at multiple arbitrary rotation positions using the measuring device 110. The strain at arbitrary rotation positions is measured using each of the sets of strain gauges placed at positions corresponding to the front and back of the work machine 1 (column).

[0115] "First strain" (ε0°), "Second strain" (ε 180 The strains at the °) and multiple arbitrary rotational positions are sent to the strain calculation unit 121 of the calculation device 120 shown in Figure 7.

[0116] Furthermore, similarly to the above, "first strain" (ε0°), "second strain" (ε 180 There is a strain memory unit that stores the strain at multiple arbitrary rotation positions (ε0°), and "first strain" (ε0°), "second strain" (ε0°), 180 The strain at the °) and multiple arbitrary rotational positions may be sent from the strain measuring instrument 112 to the strain storage unit, and from the strain storage unit to the strain calculation unit 121.

[0117] Measurement of the "first strain" (ε0°) at the first rotation position, and the "second strain" (ε0°) at the second rotation position. 180 Measurements such as the ° measurement and strain measurement at multiple arbitrary rotation positions are the same as those described in the "pre-process" and "measurement process" sections above.

[0118] (computing device) <Strain Calculation Department> The strain calculation unit 121 performs the following calculations, which are similar to the calculations in the "strain calculation process" described above. The strain calculation unit 121 calculates the "first strain" (ε0°) at the first rotation position and the "second strain" (ε0°) at the second rotation position. 180 °) to "normal strain (ε T Calculate the sum of the error (α) and the result. The strain calculation unit 121 calculates "normal strain (ε TBased on the sum of the () and error (α) and the strain measured at one or more sets of mounting parts located at positions corresponding to the front and back of the work machine 1 (column) at any given rotation position, the individual bending strains corresponding to the front and back of the work machine 1 (column) at any given rotation position are calculated, and the average value of these individual bending strains is calculated. If, at any given rotational position, there is only one average value of the individual bending strains corresponding to the front and back of the work machine 1 (column), then the average value of the individual bending strains is "the "bending strain" at any given rotational position (ε M )''. If there are multiple average values ​​of individual bending strains at any given rotation position, the strain calculation unit 121 calculates the total average value by averaging these values. In this case, the total average value becomes ''the "bending strain" at any given rotation position (ε M )'. The strain calculation unit 121 performs these calculations for each of the multiple arbitrary rotation positions.

[0119] Furthermore, there may be a determination unit that determines whether there is one or multiple average values ​​of individual bending strains corresponding to the front and back of the work machine 1 (column) at any given rotation position. If the determination unit determines that there are multiple average values ​​of individual bending strains corresponding to the front and back of the work machine 1 (column) at any given rotation position, the strain calculation unit 121 may calculate the overall average value.

[0120] The above average or total average is "bending strain" (ε M The strain calculation unit 121 then sends the data to the position calculation unit 122 shown in Figure 7.

[0121] Alternatively, instead of the strain calculation unit 121, another part of the calculation device 120 or system 100 (for example, an average calculation unit) may calculate the overall average value by averaging the average values ​​of multiple individual bending strains. In this case, the overall average value is sent from the other part (for example, the average calculation unit) to the position calculation unit 122 shown in Figure 7 as "bending strain" (ε M It may be sent as ).

[0122] Methods for calculating individual bending strain, methods for calculating the average value of individual bending strain, methods for calculating the overall average value, and the average value of individual bending strain is called "bending strain" (ε M In some cases, the total average value is calculated and the total average value is used as the "bending strain" (ε M Cases such as those described above are similar to the "strain calculation process".

[0123] Furthermore, there may be a "bending strain memory unit" that stores at least one of the following: "individual bending strain," "average value of the 'individual bending strains'," and "overall average value." Alternatively, the "individual bending strain" may be sent from the "strain calculation unit 121" to the "bending strain memory unit," and once the "bending strain memory unit" has stored "two 'individual bending strains' corresponding to the front and back of the work machine 1 (column)," these "two 'individual bending strains' corresponding to the front and back of the work machine 1 (column)" may be sent from the "bending strain memory unit" to the "strain calculation unit 121," and the "strain calculation unit 121" may calculate "average value of the 'individual bending strains'." Alternatively, the strain calculation unit 121 may calculate the average value of the individual bending strains, then send the average value of the individual bending strains from the strain calculation unit 121 to the bending strain memory unit, and once the bending strain memory unit has stored the average value of multiple individual bending strains at arbitrary rotation positions, the average value of multiple individual bending strains at arbitrary rotation positions may be sent from the bending strain memory unit to the strain calculation unit 121, and the strain calculation unit 121 may calculate the total average value. Alternatively, after the strain calculation unit 121 calculates the average value of the individual bending strains or the total average value, the average value of the individual bending strains or the total average value may be sent from the strain calculation unit 121 to the bending strain memory unit, and the bending strain memory unit may send the bending strain (ε) to the position calculation unit 122. M It may be sent as ). The "calculating device 120" may have a "bending strain memory unit".

[0124] <Position calculation part> The position calculation unit 122 calculates the "bending strain" (ε) of an arbitrary rotation position. MBased on the "weight of the rotating body" (W), the "center of gravity position" (L) of any rotating position is calculated. The position calculation unit 122 calculates the "center of gravity position" (L) for each of the multiple arbitrary rotating positions. The position calculation unit 122 calculates the average value of the "center of gravity position" (L) of the multiple arbitrary rotating positions. This average value becomes the "center of gravity position" (L) (the average "center of gravity position" (L)). The method for calculating the "center of gravity position" (L) and the average "center of gravity position" (L) is the same as in the "position calculation process" described above.

[0125] Alternatively, instead of the position calculation unit 122, another part of the calculation device 120 or system 100 (for example, a position average calculation unit) may calculate the average value of the "center of gravity position" (L) for multiple arbitrary rotation positions. This average value becomes the "center of gravity position" (L) (the average "center of gravity position" (L)). The average "center of gravity position" (L) is sent to the display device 130.

[0126] Furthermore, there may be a "center of gravity position storage unit" that stores the "center of gravity position" (L) of any turning position. In this case, after the "center of gravity position storage unit" has stored the "center of gravity positions" (L) of multiple arbitrary turning positions, the "center of gravity positions" (L) of multiple arbitrary turning positions may be sent from the "center of gravity position storage unit" to the "position calculation unit 122," and the "position calculation unit 122" may calculate the average value of the "center of gravity positions" (L) of multiple arbitrary turning positions. Furthermore, there may be a "center of gravity position storage unit" that stores the "average value of the center of gravity position" (L). The "average value of the center of gravity position" (L) may be sent from the "center of gravity position storage unit" to the "display device 130."

[0127] The aforementioned "center of gravity position storage unit" may be separate from the calculation device 120, the calculation device 120 may have the "center of gravity position storage unit", or the position calculation unit 122 may have the "center of gravity position storage unit".

[0128] Furthermore, there may be a parameter storage unit that stores parameters (numerical values) used in calculating the "center of gravity position" (L). For example, the parameter storage unit may be separate from the calculation device 120, or the calculation device 120 may have a parameter storage unit.

[0129] Furthermore, the calculation device 120 may have a display unit not shown. In this case, the "center of gravity position (L)" of any turning position and / or the "center of gravity position (L) as an average value" may be sent from the "position calculation unit 122" or the "center of gravity position storage unit" to the "display unit". The "display unit" may display the "center of gravity position (L)" of any turning position and / or the "center of gravity position (L) as an average value" as, for example, a specific numerical value, or it may be displayed as a plot on a diagram or table showing the traveling body 2 or work machine 1 viewed from above, as shown in Figure 2, or it may be displayed in relation to the turning angle.

[0130] Furthermore, the computing device 120 may have a section calculation unit that calculates the section modulus Z according to the rotation position of the rotating body. It may also have a section memory unit that stores known section moduli, the section modulus Z calculated by the section calculation unit, etc.

[0131] (display device) The display device 130 is a device capable of displaying, for example, at least one of the "center of gravity position (L)" and "average value of the center of gravity position (L)" calculated by the "position calculation unit 122" and the "center of gravity position (L)" and "average value of the center of gravity position (L)" stored in the "center of gravity position storage unit". The display device 130 may display at least one of these as, for example, a specific numerical value, or as a plot on a diagram or table showing the traveling body 2 or work machine 1 viewed from above, as shown in Figure 2, or in relation to the turning angle.

[0132] The above system 100, which is capable of performing the "Method for calculating the center of gravity of the rotating body of a work machine (2)," provides the following effects. This method allows for easy calculation of the center of gravity (L) (average value of the center of gravity (L)) of work machine 1 without the use of large machinery such as cranes. This enables more frequent inspections of the center of gravity (L) than existing methods that use large machinery such as cranes. Furthermore, the center of gravity (L) can be obtained in a shorter time than with existing methods. In addition, it allows for more accurate calculation of the center of gravity (L) than methods that predict the center of gravity using large machinery such as cranes.

[0133] After calculating the "center of gravity position" (L) (the average value of the "center of gravity position" (L)), if, for example, the "center of gravity position" (L) deviates from a predetermined center of gravity position, cleaning of the bucket 32 ​​as shown in Figure 1 is performed. The predetermined center of gravity position is, for example, the center of gravity position where damage to the slewing body 3 or the work machine 1 may occur. This makes it possible to prevent damage to the slewing body 3 or the work machine 1 in advance. It also makes it possible to suppress damage to the slewing body 3 or the work machine 1. For example, the system 100 shown in Figure 7 may have a determination unit or determination device that determines whether the "center of gravity position" (L) deviates from a predetermined center of gravity position.

[0134] Furthermore, in the above system 100, the "strain calculation unit 121" calculates the average value of the individual bending strains corresponding to the front and back of the work machine 1 (column) at any rotation position. If there is only one average value of the individual bending strains at any rotation position, the average value of the individual bending strains is calculated as "the "bending strain" at any rotation position (ε M )''. If there are multiple average values ​​of individual bending strains at any given rotation position, the strain calculation unit 121 calculates a total average value by averaging the multiple average values ​​of individual bending strains. In this case, the total average value becomes ''"bending strain (ε" at any given rotation position". M The strain calculation unit 121 performs the above series of calculations for each of the multiple arbitrary rotation positions. The position calculation unit 122 calculates the "bending strain" (ε) of the arbitrary rotation position. MBased on the above, the position calculation unit 122 calculates the center of gravity position (L) for each of the multiple arbitrary turning positions. The position calculation unit 122 calculates the average value of the center of gravity positions (L) of the multiple arbitrary turning positions. This average value becomes the "center of gravity position (L)" (the average "center of gravity position (L)"). By doing so, noise is removed, which improves the accuracy of the centroid position (L) (the average value of "centroid position (L)").

[0135] In Figure 2, there are two sets of mounting parts positioned corresponding to the front and back of the work machine 1 (column). However, there may be one set of mounting parts positioned corresponding to the front and back of the work machine 1 (column), or there may be three or more sets. If there are three or more sets of mounting parts, strain may be measured with one set of mounting parts at any rotation position, or strain may be measured with two or more sets of mounting parts. As the number of sets of mounting parts used to measure strain increases, the accuracy of the center of gravity position (L) further improves. Also, as the number of arbitrary rotation positions between the first rotation position and the second rotation position increases, the accuracy of the center of gravity position (L) improves.

[0136] Although embodiments of the present invention have been described above with reference to the drawings, it should be understood that the specific configurations are not limited to these embodiments. The scope of the present invention is indicated not by the above description but by the claims, and all modifications within the meaning and scope equivalent to the claims are included.

[0137] For example, when attaching multiple mounting parts of a measuring device to a work machine, the "first strain" (ε0°) and the "second strain" (ε0°) are measured at all mounting parts. 180 The "first strain" (ε0°) may be measured at one or more of the mounting parts, and the "second strain" (ε0°) may be measured at one or more of the mounting parts. 180 °) May be measured.

[0138] Furthermore, the center of gravity position calculation system for the rotating body of a work machine is not limited to the configuration shown in Figure 7 or the configuration described above. For example, in the system shown in Figure 7, the calculation device 120 has a strain calculation unit 121 and a position calculation unit 122, but there may also be a calculation device having a strain calculation unit 121 and a calculation device having a position calculation unit 122.

[0139] Furthermore, in the above explanation of the center of gravity position calculation system for the rotating body of a work machine, it was explained that there may be various memory units, but each memory unit may be a different part, and two or more memory units may exist as a single memory unit.

[0140] Furthermore, the center of gravity position calculation system for the rotating body of the work machine of the present invention (hereinafter referred to as "the system of the present invention") may have a control unit and the like. For example, the system of the present invention may have a "strain control unit" that sends strain from the "strain measuring instrument 112" or a "strain memory unit" that stores strain, as shown in Figure 7, to the "strain calculation unit 121". The system of the present invention may have a "bending strain control unit" that sends bending strain from the "strain calculation unit 121" or a "bending memory unit" that stores bending strain, to the "position calculation unit 122". The system of the present invention may have a center of gravity position control unit that sends the center of gravity position from the "position calculation unit 122" or a "center of gravity position memory unit" that stores the center of gravity position, to the "display device 130" or the "display unit of the calculation device 120". The system of the present invention may have an "average control unit" that sends the average value of the center of gravity position from the "average calculation unit" or an "average memory unit" that stores the average value of the center of gravity position, to the "display device 130" or the "display unit of the calculation device 120". Furthermore, these control units may be different parts, and two or more control units may exist as a single control unit. Also, the system of the present invention may have a PLC (Programmable Logic Controller) having the above-described control units. The PLC may further have the above-described storage unit.

[0141] Furthermore, the working machine capable of measuring the center of gravity of a slewing body according to the present invention is not limited to the configuration shown in Figure 1. The working machine may have a configuration other than that shown in Figure 1, as long as it has a drivable vehicle and a slewing body that can rotate relative to the vehicle. [Explanation of Symbols]

[0142] 1. Working Machinery 2. Running body 3. Rotating body 21. Swivel device 22 Support part 23 1st leg 24 Second leg 25 Third leg 26 4th leg 27 wheels 31 Boom 32 buckets 33 Elevation device 41. First mounting section (mounting section) 42 Second mounting section (mounting section) 43 Third mounting section (mounting section) 44. Fourth mounting section (mounting section) 100. System for calculating the center of gravity of a rotating body of a construction machine (system) 110 Measuring device 111 Strain gauge (mounting part) 112 Strain Gauge 120 Computing equipment 121 Strain Calculation Unit 122 Position calculation section 130 Display device C Centerline F circumference P horizontal plane

Claims

1. A method for calculating the center of gravity of a slewing body of a work machine having a traveling body and a slewing body positioned above the traveling body and capable of slewing relative to the traveling body, A pre-process of attaching the mounting part of the strain measuring device to the traveling body, A measurement step of measuring strain using the measuring device when the rotating body is positioned at a first rotating position and a second rotating position, respectively, where the rotation angles of the rotating body differ by 180°, A strain calculation step for calculating bending strain based on a first strain measured when the rotating body is located at the first rotation position and a second strain measured when the rotating body is located at the second rotation position, A position calculation step that calculates the center of gravity position, which is the distance from the pivot point of the pivot body to the center of gravity of the pivot body, based on the bending strain and the weight of the pivot body, Equipped with, A method for calculating the center of gravity of a rotating body of a construction machine.

2. In the preceding step, The plurality of mounting parts of the measuring device are attached to the traveling body. The multiple mounting parts are arranged at the same distance from the pivot center in a horizontal plane passing through the vertical pivot center line passing through the pivot center of the pivot body. Two of the multiple mounting parts are positioned in the horizontal plane at two intersection points between the circumference centered on the pivot centerline and the horizontal line passing through the pivot centerline. A method for calculating the center of gravity of a rotating body of a work machine according to claim 1.

3. In the measurement process described above, While the rotating body rotates from the first rotation position to the second rotation position, strain is measured at at least each of the two mounting portions at a plurality of arbitrary rotation positions. In the strain calculation process, Based on the first strain measured when the rotating body is located at the first rotation position, the second strain measured when the rotating body is located at the second rotation position, and the strain measured when the rotating body is located at a plurality of arbitrary rotation positions, the bending strain at a plurality of arbitrary rotation positions is calculated. In the position calculation step, Based on the bending strain and the weight of the rotating body at multiple arbitrary rotation positions, the center of gravity position at multiple arbitrary rotation positions is calculated, and the average value of the center of gravity position at multiple arbitrary rotation positions is calculated. A method for calculating the center of gravity of a rotating body of a work machine according to claim 2.

4. This is a system for calculating the center of gravity of a slewing body of a work machine having a traveling body and a slewing body positioned above the traveling body and capable of slewing relative to the traveling body. A strain calculation unit calculates bending strain based on the first strain and second strain measured when the rotating body is positioned at a first rotation position and a second rotation position, respectively, where the rotation angles of the rotating body differ by 180°. A position calculation unit calculates the center of gravity position, which is the distance from the pivot center of the pivot body to the center of gravity of the pivot body, based on the bending strain and the weight of the pivot body. Equipped with, A system for calculating the center of gravity of a rotating body of a construction machine.

5. The strain calculation unit is, Based on the first strain measured when the rotating body is located at the first rotation position, the second strain measured when the rotating body is located at the second rotation position, and the strain measured when the rotating body is located at a plurality of arbitrary rotation positions while rotating from the first rotation position to the second rotation position, the bending strain at a plurality of arbitrary rotation positions is calculated. The position calculation unit, Based on the bending strain and the weight of the rotating body at multiple arbitrary rotation positions, the center of gravity position at multiple arbitrary rotation positions is calculated, and the average value of the center of gravity position at multiple arbitrary rotation positions is calculated. A system for calculating the center of gravity of a rotating body of a work machine according to claim 4.

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