KR20170065341A - Excavator preventing overturn and the method of preventing overturn of excavator - Google Patents
Excavator preventing overturn and the method of preventing overturn of excavator Download PDFInfo
- Publication number
- KR20170065341A KR20170065341A KR1020150171633A KR20150171633A KR20170065341A KR 20170065341 A KR20170065341 A KR 20170065341A KR 1020150171633 A KR1020150171633 A KR 1020150171633A KR 20150171633 A KR20150171633 A KR 20150171633A KR 20170065341 A KR20170065341 A KR 20170065341A
- Authority
- KR
- South Korea
- Prior art keywords
- excavator
- measuring
- bucket
- main body
- boom
- Prior art date
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/24—Safety devices, e.g. for preventing overload
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
The present invention provides an excavator having a rollover prevention function and a method for preventing rollover of an excavator. A boom for a vehicle, comprising: a traveling body; a main body rotatably mounted on the traveling body; a boom rotatably mounted on the main body; an arm having one end rotatably mounted on the boom; An inclination measuring unit installed on the main body and measuring an inclination angle between the main body and the ground, and an inclination measuring unit measuring an inclination of the main body and the ground measured by the angle sensor, And a control unit for calculating the center of gravity of the excavator with the rotation angle and determining the danger of rollover by using the calculated center of gravity and the inclination angle of the main body measured by the inclination measuring unit.
Description
And more particularly, to an excavator having a function of preventing rollover during operation and a method of preventing rollover of an excavator.
An excavator is a machine that collects digging or digging the earth or rock. Generally, an excavator has a lower traveling body, an upper rotating body, an engine, a boom, an arm, and a bucket. Under the engine driving, the lower traveling body is moved to change the working position, And operates to transfer the digging or digging of the soil or rock to the bucket by the mutual action of the boom and the arm.
During the work of the excavator, a safety fence is installed around the excavator for the safety of other workers or pedestrians, or a separate safety guard prevents people or objects from entering the work radius of the excavator.
The accident rate caused by the overturning of the excavator during the accident caused by the excavator is not negligible. Therefore, care must be taken to prevent the excavator from rolling over when the excavator is running, or when the boom, arm, or tool, such as excavation work, is moved to change the center of gravity. The driver is fatigued in constant work, less attention to rollovers, which can lead to accidents. In order to prevent such an accident, it is necessary to warn the excavator if there is a risk of overturning.
Korean Patent Laid-Open Publication No. 10-2015-0022781 (protective device for a cabin for a construction machine) discloses a technique for protecting a cab from the conduction of an excavator.
Embodiments of the present invention aim to provide an excavator that improves safety and work efficiency by informing a driver of the risk of rollover during excavation work.
According to an aspect of the present invention, there is provided a vehicle including a traveling body, a main body rotatably mounted on the traveling body, a boom rotatably mounted on the main body, an arm having one end rotatably mounted on the boom, An angle sensor for measuring a rotation angle of the boom, the arm, and the bucket, a tilt measuring unit installed in the main body and measuring an inclination angle between the main body and the ground, A control unit for calculating a center of gravity of the excavator by a rotation angle measured from the angle sensor and an inclination angle between the main body and the ground measured by the inclination measuring unit and using the calculated center of gravity and the inclination angle to determine a risk of overturning The present invention provides an excavator having an anti-rollover function.
The apparatus may further include a torque sensor installed at the other end of the arm for measuring a torque of the bucket.
The control unit may calculate a weight acting on the bucket by using the torque measured by the torque sensor.
The angle sensor includes a first angle sensor provided between the boom and the main body for measuring a rotation angle of the boom and a second angle sensor provided between the boom and the arm for measuring a rotation angle of the arm, And a third angle sensor installed between the arm and the bucket for measuring a rotation angle of the bucket.
The apparatus may further include an alarm unit installed in the main body and connected to the control unit to transmit information on the risk of rollover.
The apparatus may further include a variable weight portion movably installed in an inner space of the main body.
In another aspect of the present invention, there is provided an excavator comprising: measuring a rotation angle of a boom, an arm, and a bucket of an excavator in operation; measuring a slope of the ground and the excavator; measuring the center of gravity of the excavator in real- Determining whether the excavator is stable based on the center of gravity and the inclination of the excavator, and generating an alarm signal in the alarm unit when it is determined that the excavator may be rolled over. to provide.
In addition, measuring the center of gravity of the excavator in real time may measure a torque acting on the bucket to measure the weight acting on the bucket.
The method for preventing rollover of an excavator and an excavator according to an embodiment of the present invention determines the risk of rollover and notifies the driver of the risk of rollover, thereby improving the safety of the work and improving the work efficiency.
Also, the method for preventing rollover of an excavator and an excavator according to an embodiment of the present invention calculates the center of gravity which changes in real time during operation, and continuously delivers the danger of rollover to a driver.
Also, in the method of preventing rollover of an excavator and an excavator according to an embodiment of the present invention, the position of the center of gravity is detected in real time and the variable weight portion is mounted to set the position of the variable weight portion optimized for the center of gravity, It is possible to reduce the weight of the excavator.
1 is a perspective view illustrating an excavator having a rollover prevention function according to an embodiment of the present invention.
Fig. 2 is a side view showing the excavator of Fig. 1; Fig.
3 is a block diagram showing a partial configuration of the excavator of FIG.
FIG. 4 is a flowchart illustrating an overturn prevention method of an excavator according to an embodiment of the present invention.
5 is a front view showing a case where the excavator of FIG. 1 is located on an inclined plane.
BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods of achieving them will be apparent with reference to the embodiments described in detail below with reference to the drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or corresponding components throughout the drawings, and a duplicate description thereof will be omitted .
In the following embodiments, the terms first, second, and the like are used for the purpose of distinguishing one element from another element, not the limitative meaning.
In the following examples, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise.
In the following embodiments, terms such as inclusive or possessive are intended to mean that a feature, or element, described in the specification is present, and does not preclude the possibility that one or more other features or elements may be added.
In the following embodiments, when a part of a film, an area, a component or the like is on or on another part, not only the case where the part is directly on the other part but also another film, area, And the like.
In the drawings, components may be exaggerated or reduced in size for convenience of explanation. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of explanation, and thus the present invention is not necessarily limited to those shown in the drawings.
If certain embodiments are otherwise feasible, the particular process sequence may be performed differently from the sequence described. For example, two processes that are described in succession may be performed substantially concurrently, and may be performed in the reverse order of the order described.
FIG. 1 is a perspective view showing an
1 to 3, an
The
A variable weight portion (not shown) may be provided so as to be movable in an inner space of the
The traveling
The boom (30) can be rotatably mounted on the main body (10). The
One end of the
A camera module (not shown) may be installed at one side of the
The
A
A
The
The
The
Referring again to FIG. 3, a process of determining the danger of rollover of the
The position of the
The positional change caused by the rotation of the
The
The
The
[Equation 1]
L is the length of the
The
Data of the position of the
The center-of-
&Quot; (2) "
X is the position of the center of gravity of the
The position of the center of gravity in the x-axis, y-axis, and z-axis directions can be calculated by using and modifying Equation (2). That is, the
The
For example, a vehicle such as an
Fig. 5 is a front view showing the case where the
The
When the
FIG. 4 is a flowchart illustrating an overturn prevention method of an excavator according to an embodiment of the present invention.
4, the method for preventing rollover of an excavator measures rotation angle and torque information from the first to
The
In step S20 of measuring the inclination between the ground and the
The calculation of the center of gravity of the
The step of determining whether the
When it is determined that the
The method of preventing the overturning of the excavator (100) and the excavator determines the risk of rollover and notifies the driver of the risk of overturning, thereby improving the safety of the work and improving the work efficiency.
The method of preventing the overturning of the
The present invention has been described above with reference to preferred embodiments. It will be understood by those skilled in the art that the present invention may be embodied in various other forms without departing from the spirit or essential characteristics thereof. Therefore, the above-described embodiments should be considered in an illustrative rather than a restrictive sense. For example, in the preferred embodiment of the present invention, the variable weight portion is installed in the main body. However, a fixed weight portion may be provided instead of the variable weight portion, and the risk of rollover due to the change in the center of gravity of the excavator It is of course possible to calculate it.
The scope of the present invention is indicated by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.
10: Body
20:
30: Boom
35: first angle sensor
40: Cancer
45: second angle sensor
50: Bucket
55: Third angle sensor
56: Torque sensor
60:
61: center of gravity calculating section
62: Risk judgment section
63:
65: inclination measuring unit
80: Alarm section
100: Excavator
Claims (8)
A body pivotably mounted on the traveling body;
A boom rotatably mounted on the main body;
An arm whose one end is rotatably mounted on the boom;
A bucket rotatably connected to the other end of the arm;
An angle sensor for measuring a rotation angle of the boom, the arm, and the bucket;
A tilt measuring unit installed in the main body and measuring an inclination angle between the main body and the ground; And
A control unit for calculating a center of gravity of the excavator by a rotation angle measured from the angle sensor and an inclination angle between the main body and the ground measured by the inclination measuring unit and using the calculated center of gravity and the inclination angle to determine a risk of overturning And an anti-rollover function.
And a torque sensor installed at the other end of the arm and measuring a torque of the bucket.
Wherein,
And calculating a weight acting on the bucket by using the torque measured by the torque sensor,
Wherein the angle sensor comprises:
A first angle sensor provided between the boom and the main body for measuring a rotation angle of the boom;
A second angle sensor installed between the boom and the arm and measuring a rotation angle of the arm; And
And a third angle sensor installed between the arm and the bucket and measuring a rotation angle of the bucket.
And an alarm unit installed in the main body and connected to the control unit to transmit information on the risk of rollover.
And a variable weight portion movably installed in the main body.
Measuring the slope of the excavator and the ground;
Measuring the center of gravity of the excavator in real time;
Determining whether the excavator is stable using the center of gravity and the inclination of the excavator; And
And generating an alarm signal in the alarm unit if it is determined that the excavator is likely to be rolled over.
The step of measuring the center of gravity of the excavator in real-
A method of preventing rollover of an excavator, comprising measuring a torque acting on the bucket and measuring a weight acting on the bucket.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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KR1020150171633A KR20170065341A (en) | 2015-12-03 | 2015-12-03 | Excavator preventing overturn and the method of preventing overturn of excavator |
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KR1020150171633A KR20170065341A (en) | 2015-12-03 | 2015-12-03 | Excavator preventing overturn and the method of preventing overturn of excavator |
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20190093055A (en) * | 2018-01-31 | 2019-08-08 | 충남대학교산학협력단 | Rollover Warning Method and Same Apparatus for Tractore |
CN110908318A (en) * | 2019-12-17 | 2020-03-24 | 三一重机有限公司 | Control method and control device for dumping of excavator and readable storage medium |
KR102077493B1 (en) * | 2019-06-13 | 2020-04-08 | 재단법인 한국전자기계융합기술원 | excavator rollover detection system |
CN114442616A (en) * | 2022-01-05 | 2022-05-06 | 中联重科土方机械有限公司 | Control method and device for excavator, processor and excavator |
CN115383758A (en) * | 2022-08-23 | 2022-11-25 | 中国人民解放军63653部队 | Engineering operation robot anti-overturning early warning device and method |
KR20230147286A (en) | 2022-04-14 | 2023-10-23 | 주식회사 더블유엔에스 | Mini excavator rollover and loss prevention system |
CN117449371A (en) * | 2023-12-25 | 2024-01-26 | 山西太重数智科技股份有限公司 | Intelligent electric shovel attitude adjusting control system and method |
-
2015
- 2015-12-03 KR KR1020150171633A patent/KR20170065341A/en not_active Application Discontinuation
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20190093055A (en) * | 2018-01-31 | 2019-08-08 | 충남대학교산학협력단 | Rollover Warning Method and Same Apparatus for Tractore |
KR102077493B1 (en) * | 2019-06-13 | 2020-04-08 | 재단법인 한국전자기계융합기술원 | excavator rollover detection system |
CN110908318A (en) * | 2019-12-17 | 2020-03-24 | 三一重机有限公司 | Control method and control device for dumping of excavator and readable storage medium |
CN110908318B (en) * | 2019-12-17 | 2020-10-13 | 三一重机有限公司 | Control method and control device for dumping of excavator and readable storage medium |
CN114442616A (en) * | 2022-01-05 | 2022-05-06 | 中联重科土方机械有限公司 | Control method and device for excavator, processor and excavator |
KR20230147286A (en) | 2022-04-14 | 2023-10-23 | 주식회사 더블유엔에스 | Mini excavator rollover and loss prevention system |
CN115383758A (en) * | 2022-08-23 | 2022-11-25 | 中国人民解放军63653部队 | Engineering operation robot anti-overturning early warning device and method |
CN115383758B (en) * | 2022-08-23 | 2023-09-19 | 中国人民解放军63653部队 | Engineering operation robot anti-overturning early warning method |
CN117449371A (en) * | 2023-12-25 | 2024-01-26 | 山西太重数智科技股份有限公司 | Intelligent electric shovel attitude adjusting control system and method |
CN117449371B (en) * | 2023-12-25 | 2024-03-19 | 山西太重数智科技股份有限公司 | Intelligent electric shovel attitude adjusting control system and method |
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