CN103422531A - Excavation depth computing device of excavator - Google Patents
Excavation depth computing device of excavator Download PDFInfo
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- CN103422531A CN103422531A CN2012101635188A CN201210163518A CN103422531A CN 103422531 A CN103422531 A CN 103422531A CN 2012101635188 A CN2012101635188 A CN 2012101635188A CN 201210163518 A CN201210163518 A CN 201210163518A CN 103422531 A CN103422531 A CN 103422531A
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Abstract
The invention discloses an excavation depth computing device of an excavator. The excavation depth computing device comprises a bucket measuring sensor unit, an inclination measuring sensor unit, a depth input unit, a computing unit and an output unit; the bucket measuring sensor unit is used for measuring the distance from a bucket of the excavator to an excavator body; the inclination measuring sensor unit is used for measuring an included angle between an intersection line and the horizontal plane, a rotation plane and a turntable are intersected with each other to form the intersection line, and a movable arm rotates around a hinge pin of the movable arm to form the rotation plane; the depth input unit is used for inputting a preset excavation depth; the computing unit is respectively connected with the bucket measuring sensor unit and the inclination measuring sensor unit and processes information of the bucket measuring sensor unit and information of the inclination measuring sensor unit; computation results are outputted by the output unit. The excavation depth computing device has the advantages that the excavation depth can be effectively controlled when the excavator excavates a groove, the work efficiency of the excavator is effectively improved, and oil consumption is reduced.
Description
Technical field
The present patent application relates to a kind of excavator shoveling depth calculation capacity checking device, especially excavator in digging groove, can calculate in real time the digging depth of scraper bowl.
Background technology
At present, excavator is when digging pipeline (as tap water, heating power, combustion gas) pipeline, need the builder before excavator work, along the pipeline each point, first measure down and dig the degree of depth, simultaneously when excavator is worked, again the digging depth of excavator is checked, time-consuming.
Summary of the invention
In order to increase work efficiency, the invention provides a kind of digging depth capacity checking device, calculate in real time the power shovel working depth, be prompted to excavating-machine operator.
The technical scheme adopted is: the scraper bowl sensor unit is used for measuring digger shovel buckets pitch excavator main body relative position and corner; The inclination sensor unit, be used for measuring the angle of intersection and horizontal plane, and this intersection is swing arm around its bearing pin rotational plane and the crossing intersection of rotating disk, also can be used for measuring the angle of rotating disk and horizontal plane; Degree of depth input block, be used for inputting the shoveling desired depth; Computing unit, be connected respectively with scraper bowl sensor unit, inclination sensor unit and degree of depth input block, and its information is processed; Output unit, be connected with computing unit, output result of calculation; It is characterized in that: computing unit, according to the data of scraper bowl sensor unit and the transmission of inclination sensor unit, calculates scraper bowl after ground relative position and corner, according to the desired depth of degree of depth input block, compares, by the output unit Output rusults.
Scraper bowl sensor unit above-mentioned, can adopt angular transducer.Preferably, adopt encoder.Angular transducer is arranged on the bearing pin of swing arm and/or dipper and/or scraper bowl and/or rocking bar and/or connecting rod, also can connect by shaft coupling.Existing excavator is that the mid portion of bearing pin is installed a bearing mostly, to this, should carry out corresponding transformation, and bearing is installed in the bearing pin two ends, and mid portion setting and device for fixing rod pieces, as pin, spline etc.Three angular transducers are arranged on respectively on the bearing pin between swing arm and turntable, swing arm and dipper, dipper and scraper bowl, measure their angle, then the angle data are passed to computing unit.
The scraper bowl sensor unit, except the use angle sensor, can also be used displacement transducer, can indirectly draw rotational angle equally.The displacement transducer two ends are arranged on respectively on the position except bearing pin of rotating disk and swing arm, swing arm and dipper, dipper and scraper bowl, displacement transducer passes to computing unit to shift length.
The inclination sensor unit is used for measuring the angle of intersection and horizontal plane, and this intersection is swing arm around its bearing pin rotational plane and the crossing intersection of rotating disk, also can measure the angle of excavator and horizontal plane.Its sensor adopts obliquity sensor, can adopt gas, liquid or solid obliquity sensor.Its sensor sensing axle installation direction is the bearing pin that is connected with rotating disk perpendicular to swing arm.Obliquity sensor is arranged on the excavator main body of rotating disk and the above good rigidly of rotating disk, and preferred, obliquity sensor is arranged on rotating disk.
Be used for measuring the situation of the angle of excavator and horizontal plane for inclination sensor, can adopt the sensor of two.Preferably, adopt two orthogonal sensors.
Adopt the situation of angular transducer for the scraper bowl sensor unit, computing unit is according to the angle of two bearing pin lines, scraper bucket tooth and the bearing pin line of swing arm, dipper and known swing arm, two bearing pin lines, scraper bucket tooth and the bearing pin wire length of dipper, and the bearing pin that is connected with swing arm of rotating disk is obtained the digging depth of scraper bucket tooth to the level altitude on ground.
When adopting displacement transducer, computing unit can, according to the parameter of known triangle two length of sides and displacement transducer, utilize trigonometric function to obtain angle; According to the length of known swing arm, dipper, scraper bowl, and bearing pin is to the level altitude on ground, and this bearing pin is the bearing pin that rotating disk is connected with swing arm, obtains the digging depth of scraper bowl crown.
In addition, displacement transducer can replace range sensor.
Computing unit is revised the scraper bowl degree of depth that calculates according to the signal of inclination sensor unit transmission, then compares with set depth, output unit with vision or/and the signal of sound to the driver, send.
Except above-mentioned kind of scheme, three kinds of scheme angular transducer, displacement transducer and range sensors used can also be used in combination, both used one or both or three kinds wherein, be arranged on working arm of excavating machine.
Output unit, the modes such as available sound, light are pointed out the driver, specific as follows:
Auditory tone cues: when digging depth arrives desired depth, carry out auditory tone cues.Indicator lamp prompting, when digging depth arrives desired depth, by the bright of indicator lamp or the mode of going out, pointed out.Also can be by scraper bowl poor apart from the difference of the ground degree of depth and predetermined digging depth or predetermined digging depth and scraper bowl apart from the ground degree of depth, be presented on screen, be prompted to more intuitively the driver.
Benefit of the present invention is: excavating-machine operator can be grasped the scraper bowl digging depth at any time, makes scraper bowl in desired depth work, avoid groove dig dark or dig shallow.
The accompanying drawing explanation
The structural representation that Fig. 1 is excavator shoveling depth calculation device;
1 position of bucket sensor unit 2 inclination sensor unit 3 degree of depth input block 4 computing unit 5 output units
The Computing Principle schematic diagram that Fig. 2 is excavator shoveling depth calculation device;
01. swing arm 02. dipper 03. scraper bowl 04. rotating disk
The cross-sectional schematic diagram in A-A cross section that Fig. 3 is Fig. 2;
001 angular transducer 002 bearing pin 003 bearing 004 pin 01 swing arm 02 dipper
Fig. 4 is the displacement transducer scheme of installation
011 displacement transducer 01 swing arm 02 dipper
The specific embodiment
Referring to accompanying drawing, illustrate the specific embodiment of the invention scheme.
The structural representation that Fig. 1 is excavator shoveling depth calculation device, position of bucket sensor unit 1, inclination sensor unit 2 and degree of depth input block 3 are connected with computing unit 4 respectively, after computing unit 4 carries out computational analysis by its data, by output unit 5 outputs.
The Computing Principle schematic diagram that Fig. 2 is excavator shoveling depth calculation device, be connected on each bearing pin 002 with scraper bowl 03 with dipper 02, dipper 02 with swing arm 01, swing arm 01 at excavator rotating disk 04, and angular transducer 001 all is installed, and measures its relative rotation angle θ
1, θ
2, θ
3, pass to computing unit 4, be arranged on inclination sensor unit 2 on rotating disk measure the excavator place domatic with horizontal plane angle α, pass to computing unit 4.
The connected mode of angular transducer 001 and bearing pin 002, as shown in Figure 3, bearing pin 002 is realized being connected with swing arm 01 by bearing 003 at the two ends of axis direction, and mid portion is placed in the hole of dipper 02, and realizes relatively fixing by pin 004.The rotating shaft of angular transducer 001 is connected in bearing pin 002, on the external stability of angular transducer 001 and swing arm 01.
Above embodiment is described the preferred embodiment of the present invention; not scope of the present invention is limited; design under the prerequisite of spirit not breaking away from the present invention; any various distortion and improvement that technical scheme of the present invention is made, all should fall in the definite protection domain of claims of the present invention.
Claims (14)
1. an excavator shoveling depth calculation device comprises:
A) scraper bowl sensor unit, be used for measuring digger shovel buckets pitch excavator main body relative position;
B) inclination sensor unit, be used for measuring the angle of intersection and horizontal plane, and this intersection is swing arm around its bearing pin rotational plane and the crossing intersection of rotating disk;
C) degree of depth input block, be used for inputting the shoveling desired depth;
D) computing unit, be connected respectively with scraper bowl sensor unit, inclination sensor unit and degree of depth input block, and its information is processed;
E) output unit, be connected with computing unit;
It is characterized in that: computing unit, according to the data of scraper bowl sensor unit and the transmission of inclination sensor unit, calculates scraper bowl apart from the ground relative position, according to the desired depth of degree of depth input block, compares, by the output unit Output rusults.
2. an excavator shoveling depth calculation device comprises:
A) scraper bowl sensor unit, be used for measuring digger shovel buckets pitch excavator main body relative position or/and corner;
B) inclination sensor unit, be used for measuring rotating disk and the horizontal plane angle of cut;
C) degree of depth input block, be used for inputting the shoveling desired depth;
D) computing unit, be connected respectively with scraper bowl sensor unit, inclination sensor unit and degree of depth input block, and its information is processed;
E) output unit, be connected with computing unit;
It is characterized in that: computing unit, according to the data of scraper bowl sensor unit and the transmission of inclination sensor unit, calculates scraper bowl apart from the ground relative position, according to the desired depth of degree of depth input block, compares, by the output unit Output rusults.
3. device as described as right 1 is characterized in that: in scraper bowl sensor unit sensor used, at least one sensor is angular transducer.
4. device as described as right 2 is characterized in that: in scraper bowl sensor unit sensor used, at least one sensor is angular transducer.
5. device as described as right 3 or 4 is characterized in that: angular transducer directly or by shaft coupling, be connected on the bearing pin of swing arm and/or dipper and/or scraper bowl and/or connecting rod and/or rocking bar.
6. the described device of right 3 or 4, it is characterized in that: at least one sensor of angular transducer is encoder.
7. device as described as right 1 or 2 is characterized in that: in scraper bowl sensor unit sensor used, at least one sensor is displacement transducer.
8. device as described as right 1 or 2 is characterized in that: in inclination sensor unit sensor used, at least one sensor is obliquity sensor.
9. device as described as right 2, is characterized in that: two orthogonal sensors of inclination sensor unit use.
10. device as described as right 1 or 2, it is characterized in that: the installation of sensors of inclination sensor unit is on the excavator rotating disk.
11. device as described as right 1 or 2 is characterized in that: in the inclination sensor unit sensor sensing axle installation direction perpendicular to swing arm the bearing pin that is connected with rotating disk.
12. device as described as right 1 or 2 is characterized in that: output unit with vision or/and the signal of sound to the driver, send.
13. device as described as right 12 is characterized in that: the visual signal of output unit is to show scraper bowl apart from the difference of the ground degree of depth and predetermined digging depth or be scheduled to dig the upper degree of depth and poor apart from the ground degree of depth of scraper bowl with display screen.
14. device as described as right 1 or 2 is characterized in that: the scraper bowl sensor unit is used for measuring the position of the bucket tooth of scraper bowl apart from the excavator main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101635188A CN103422531A (en) | 2012-05-17 | 2012-05-17 | Excavation depth computing device of excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101635188A CN103422531A (en) | 2012-05-17 | 2012-05-17 | Excavation depth computing device of excavator |
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| CN103422531A true CN103422531A (en) | 2013-12-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012101635188A Pending CN103422531A (en) | 2012-05-17 | 2012-05-17 | Excavation depth computing device of excavator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107435349A (en) * | 2017-08-09 | 2017-12-05 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of auxiliary of fax excavator puts down operation function implementation method |
| CN110799708A (en) * | 2018-03-12 | 2020-02-14 | 日立建机株式会社 | Working machine |
| CN114411843A (en) * | 2021-12-31 | 2022-04-29 | 太原重工股份有限公司 | Zero calibration device and method for lifting and pushing mechanism of front shovel type excavator |
-
2012
- 2012-05-17 CN CN2012101635188A patent/CN103422531A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107435349A (en) * | 2017-08-09 | 2017-12-05 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of auxiliary of fax excavator puts down operation function implementation method |
| CN110799708A (en) * | 2018-03-12 | 2020-02-14 | 日立建机株式会社 | Working machine |
| US11149411B2 (en) | 2018-03-12 | 2021-10-19 | Hitachi Construction Machinery Co., Ltd. | Work machine |
| CN110799708B (en) * | 2018-03-12 | 2021-12-31 | 日立建机株式会社 | Working machine |
| CN114411843A (en) * | 2021-12-31 | 2022-04-29 | 太原重工股份有限公司 | Zero calibration device and method for lifting and pushing mechanism of front shovel type excavator |
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Application publication date: 20131204 |