CN108487366B - Excavator silting condition detection system and detection method - Google Patents
Excavator silting condition detection system and detection method Download PDFInfo
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- CN108487366B CN108487366B CN201810207384.2A CN201810207384A CN108487366B CN 108487366 B CN108487366 B CN 108487366B CN 201810207384 A CN201810207384 A CN 201810207384A CN 108487366 B CN108487366 B CN 108487366B
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- 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
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- 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
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
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- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
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Abstract
The invention relates to an excavator, aiming at solving the problem of safely detecting whether the construction position of the excavator has a silt sinking risk or not; the excavator is characterized in that when a construction position is detected to be in a silting risk state, a bucket bottom plate is horizontally placed at the construction position to be detected, a movable arm oil cylinder is retracted to enable a bucket to sink into the ground until the movable arm oil cylinder cannot further retract to the position, a controller calculates the acting force of the ground to the plane of the bucket bottom plate and the sinking depth of the bucket according to detected parameter values, calculates the maximum ground pressure capable of bearing the construction position by combining the plane area of the bucket bottom plate, judges whether the position to be constructed can cause the silting of the whole excavator by comparing with the depth of the sinking allowed by the whole excavator, and displays the judgment result on a display. The system can accurately judge whether the construction position will cause the whole machine to sink or not under the condition that the whole machine is far away from the dangerous position, and remind the driver, thereby effectively reducing the possibility of accidents.
Description
Technical Field
The invention relates to an excavator, in particular to a silt sinking working condition detection system and a silt sinking working condition detection method for the excavator.
Background
The excavator is an engineering machinery product capable of being constructed in a complex environment and is widely applied to working conditions of buildings, farmlands, water conservancy and the like. The excavator is lower in specific pressure of grounding relative to a tire type product, and is often used for construction of areas which are easy to be silted up and sunk, such as swamps and the like. At present, an excavator for constructing a marsh land generally adopts a mode of configuring a widened crawler belt, and the specific pressure of ground contact is further reduced to prevent silting. But the amount of weight that can be carried varies due to the different softness at each location in the swamp area. Drivers often think that one station is reliable, so that the drivers are paralyzed and are driven and constructed randomly in a swamp, and the whole machine is sunk into sludge.
At present, an excavator with a widened crawler belt is adopted, when whether the whole excavator is silted or not under a certain working condition is judged, a driver still needs to carefully drive the whole excavator to the dangerous working condition, and whether silting or not can be caused in an actual test is judged. Once the potential for silting is discovered, the driver is required to quickly bring the machine back to the safe area. And often, the whole machine enters dangerous working conditions and cannot return to a safe area, so that the whole machine is silted.
Disclosure of Invention
The invention aims to solve the technical problem that the excavator is required to be driven to a construction point to be detected when the existing excavator is in construction at a marsh site to judge whether the excavator can sink or not, and the actual test shows whether the excavator can sink or not, so that the excavator has the risk of sinking or not during detection, and provides the excavator sinking condition detection system and the detection method which can detect whether the excavator can sink or not without driving to a detection point.
The technical scheme for realizing the purpose of the invention is as follows: the excavator comprises a movable arm, an arm connected to the front end of the movable arm, a bucket connected to the front end of the arm, and a movable arm oil cylinder for lifting the movable arm; the construction position detection device is characterized by further comprising a pressure sensor for detecting the hydraulic oil pressure in a movable arm oil cylinder, a posture sensor for detecting the postures of a movable arm, an arm and a bucket, a display for displaying a detection result, a controller connected with the pressure sensor, the posture sensor and the display, and a detection starting button connected with the controller, wherein when the construction position is detected to have the risk of silting, the bottom plate of the bucket is horizontally placed at the construction position to be detected, the detection starting button is pressed down and the movable arm oil cylinder is retracted to enable the bucket to sink to the ground until the movable arm oil cylinder can not further retract, the controller calculates the acting force of the ground to the bottom plate plane of the bucket and the sinking depth of the bucket according to parameter values detected by the posture sensor and the movable arm pressure sensor, calculates the maximum ground specific pressure capable of bearing the construction position by combining the area of the bottom plate of the bucket, and judges whether the construction position can cause silting of the whole machine by comparing with the, and displaying the judgment result on a display.
Further, in the system for detecting a condition of dredging operation of an excavator, the attitude sensor includes a boom rotation angle sensor for detecting a rotation angle of the boom, an arm rotation angle sensor for detecting a rotation angle of the arm with respect to the boom, and a bucket rotation angle sensor for detecting a rotation angle of the bucket with respect to the arm. The angular relationships between the bucket and the arm, between the arm and the movable arm, and between the movable arm and the rotary platform are detected through the rotation angle sensor, so that the position of the bucket is determined. Or the attitude sensor comprises a movable arm cylinder extension displacement sensor for detecting the extension length of the movable arm cylinder, an arm cylinder extension displacement sensor for detecting the extension length of the arm cylinder, and a bucket cylinder extension displacement sensor for detecting the extension length of the bucket cylinder; the controller calculates and determines the position of the bucket by detecting the extending amounts of the bucket cylinder, the arm cylinder and the boom cylinder.
The technical scheme for realizing the purpose of the invention is as follows: the excavator comprises a movable arm, an arm connected to the front end of the movable arm, a bucket connected to the front end of the arm, and a movable arm oil cylinder for lifting the movable arm; the excavator is characterized by further comprising a pressure sensor for detecting the pressure of hydraulic oil in a movable arm oil cylinder, an attitude sensor for detecting the attitude of a movable arm, an arm and a bucket, a display for displaying the detection result, and a controller connected with the pressure sensor, the attitude sensor and the display, wherein the method comprises the following steps: flatly placing a bucket bottom plate on the bottom surface of a construction position to be detected, pressing down a detection start button controller, and recording the current position of the bucket through a posture sensor; retracting a movable arm oil cylinder to enable a movable arm to descend until the ground supports a bucket, so that the movable arm can not descend any more, calculating and detecting the position of the bucket and the pressure of the bucket on the ground through an attitude sensor and a pressure sensor by a controller, and calculating the maximum ground specific pressure which can be borne by a construction position by combining the plane area of a bottom plate of the bucket; the depth of the bucket sinking into the ground is calculated by comparing the positions of the bucket before and after the boom is lowered, and the depth of the complete machine sinking allowing is also used to determine whether the position of the construction will cause the complete machine to sink and display on the display.
Further, in the method for detecting the silting condition of the excavator, when the bucket bottom plate is flatly placed on the ground of the construction position to be detected, the bucket rod extends to the posture of the maximum excavating range.
Further, in the method for detecting a silting condition of an excavator, the attitude sensor includes a boom rotation angle sensor for detecting a rotation angle of the boom, an arm rotation angle sensor for detecting a rotation angle of the arm with respect to the boom, and a bucket rotation angle sensor for detecting a rotation angle of the bucket with respect to the arm, and the controller calculates a position of the bucket by using detection values of the rotation angle sensors and size parameters of the boom, the arm, and the bucket. Or the attitude sensor comprises a movable arm cylinder extension displacement sensor for detecting the extension length of the movable arm cylinder, an arm cylinder extension displacement sensor for detecting the extension length of the arm cylinder, and a bucket cylinder extension displacement sensor for detecting the extension length of the bucket cylinder, and the controller calculates the position of the bucket according to the detection values of the displacement sensors and the size parameters of the movable arm, the arm and the bucket.
Compared with the prior art, the invention has the following advantages:
1. in the aspect of cost, compared with the intelligent excavator, the intelligent excavator has no additional component and no increase in cost.
2. In terms of function, the present invention can accurately determine whether the construction position will cause the whole machine to sink or not under the condition that the whole machine is far away from the dangerous position. And the driver is reminded, so that the possibility of accidents is effectively reduced.
Drawings
FIG. 1 is a schematic block diagram of an excavator silting condition detection system of the present invention.
Part names and serial numbers in the figure:
the excavator main unit 1, a boom 2, an arm 3, a bucket 4, a boom cylinder 5, an arm cylinder 6, a bucket cylinder 7, a pressure sensor 8, a boom attitude sensor 9, an arm attitude sensor 10, a bucket attitude sensor 11, a controller 12, a display 13, and a detection start button 14.
Detailed Description
The following description of the embodiments refers to the accompanying drawings.
As shown in fig. 1, in the system for detecting a silting condition of an excavator in the present embodiment, the excavator includes a boom 2, an arm 3 connected to a front end of the boom 2, a bucket 4 connected to a front end of the arm 3, a boom cylinder 5 connected between the boom 2 and an excavator main body 1 for lifting the boom, an arm cylinder 6 connected between the boom 2 and the arm 3 for pushing the arm to rotate, and a bucket cylinder 7 connected between the arm 3 and the bucket 4 for pushing the bucket to rotate; the hydraulic shovel further comprises a pressure sensor 8 for detecting hydraulic oil pressure in a boom cylinder, a boom attitude sensor 9 for detecting an attitude of a boom, an arm attitude sensor 10 for detecting an attitude of an arm, a bucket attitude sensor 11 for detecting an attitude of a bucket, a display 13 for displaying a detection result, a controller 12 connected to the pressure sensor 8, the attitude sensors and the display 13, and a detection start button 14 connected to the controller 12.
The boom attitude sensor 9 may be a rotation angle sensor for detecting a rotation angle of the boom with respect to the excavator main unit, or a displacement sensor for detecting an extension amount of the boom cylinder; similarly, the arm attitude sensor 10 may be a rotation angle sensor of the arm relative to the rotation angle of the boom, or may be a displacement sensor for measuring the extension of the arm cylinder; the bucket attitude sensor 11 may be a rotation angle sensor for measuring a rotation angle of the bucket with respect to the arm, or may be a displacement sensor for measuring an extension amount of the bucket cylinder.
The excavator detection construction position whether has the silt sinking risk or not comprises the following steps: the excavator is close to the construction position but does not enter the construction position, the bucket rod 3 is extended forwards until the bucket is in the maximum excavation range, the bottom plate of the bucket 4 is flatly placed at the construction position to be detected, the detection start button 14 is pressed, and the excavator starts to detect whether the construction position has the risk of siltation. During detection, the controller 12 calculates the position height of the bucket 4 by using the corresponding parameters detected by the boom attitude sensor 9, the arm attitude sensor 10, and the bucket attitude sensor 11 in combination with the size parameters of the boom 2, the arm 3, and the bucket 4 of the excavator. At the same time, the boom cylinder 5 starts to retract, the boom 2 descends, the bucket 4 starts to sink into the ground by the action of the arm 3 and the boom 2, the boom descending operation continues until the bucket 4 is supported by the resistance of the ground and does not sink any more, and at this time, the controller 12 calculates the position and height of the bucket 4 by using the parameters detected by the boom attitude sensor 9, the arm attitude sensor 10, and the bucket attitude sensor 11 in combination with the size parameters of the boom 2, the arm 3, and the bucket 4 of the excavator, and calculates the acting force of the bucket 4 on the ground in combination with the pressure in the boom cylinder detected by the pressure sensor 8. The controller 12 calculates the depth h of the bucket sunk into the ground by comparing the height of the position of the bucket 4 before and after the boom is lowered; calculating the maximum grounding specific pressure which can be borne by the construction position by combining the plane area of the bottom plate of the bucket; the depth of the sinking of the bucket and the depth of the allowable sinking of the machine are combined to determine whether the position to be constructed will cause the machine to sink, and the determination result and the calculated maximum ground contact ratio are displayed on the display for the operator to refer.
In this embodiment, when detecting whether there is the silt risk of sinking, the excavator need not enter into the construction position, only need stretch into the construction position with the scraper bowl and detect to the risk that the excavator silt was sunk has been avoided.
Claims (7)
1. A silt sinking condition detection system of an excavator comprises a movable arm, a bucket rod connected to the front end of the movable arm, a bucket connected to the front end of the bucket rod and a movable arm oil cylinder used for lifting the movable arm; the construction position detection device is characterized by further comprising a pressure sensor for detecting the hydraulic oil pressure in a movable arm oil cylinder, a posture sensor for detecting the postures of a movable arm, an arm and a bucket, a display for displaying a detection result, a controller connected with the pressure sensor, the posture sensor and the display, and a detection starting button connected with the controller, wherein when the construction position is detected to have the risk of silting, the bottom plate of the bucket is horizontally placed at the construction position to be detected, the detection starting button is pressed down and the movable arm oil cylinder is retracted to enable the bucket to sink to the ground until the movable arm oil cylinder can not further retract, the controller calculates the acting force of the ground to the bottom plate plane of the bucket and the sinking depth of the bucket according to parameter values detected by the posture sensor and the movable arm pressure sensor, calculates the maximum ground specific pressure capable of bearing the construction position by combining the area of the bottom plate of the bucket, and judges whether the construction position can cause silting of the whole machine by comparing with the, and displaying the judgment result on a display.
2. The system for detecting the condition of dredging operation of an excavator according to claim 1, wherein the attitude sensor includes a boom rotation angle sensor for detecting a rotation angle of the boom, an arm rotation angle sensor for detecting a rotation angle of the arm with respect to the boom, and a bucket rotation angle sensor for detecting a rotation angle of the bucket with respect to the arm.
3. The system for detecting the dredging operation condition of the excavator according to claim 1, wherein the attitude sensor includes a boom cylinder extension displacement sensor for detecting an extension length of the boom cylinder, an arm cylinder extension displacement sensor for detecting an extension length of the arm cylinder, and a bucket cylinder extension displacement sensor for detecting an extension length of the bucket cylinder.
4. A method for detecting the silting condition of an excavator comprises a movable arm, a bucket rod connected to the front end of the movable arm, a bucket connected to the front end of the bucket rod and a movable arm oil cylinder used for lifting the movable arm; the excavator is characterized by further comprising a pressure sensor for detecting the pressure of hydraulic oil in a movable arm oil cylinder, an attitude sensor for detecting the attitude of a movable arm, an arm and a bucket, a display for displaying the detection result, and a controller connected with the pressure sensor, the attitude sensor and the display, wherein the method comprises the following steps: flatly placing a bucket bottom plate on the bottom surface of a construction position to be detected, and recording the current position of the bucket by a controller through an attitude sensor; retracting a movable arm oil cylinder to enable a movable arm to descend until the ground supports a bucket, so that the movable arm can not descend any more, calculating and detecting the position of the bucket and the pressure of the bucket on the ground through an attitude sensor and a pressure sensor by a controller, and calculating the maximum ground specific pressure which can be borne by a construction position by combining the plane area of a bottom plate of the bucket; the depth of the bucket sinking into the ground is calculated by comparing the positions of the bucket before and after the boom is lowered, and the depth of the complete machine sinking allowing is also used to determine whether the position of the construction will cause the complete machine to sink and display on the display.
5. The method for detecting the dredging condition of the excavator according to claim 4, wherein the boom is extended to the maximum dredging range posture when the bucket bottom plate is flatly placed on the ground at the construction position to be detected.
6. The method as claimed in claim 4 or 5, wherein the attitude sensor includes a boom angle sensor for detecting a rotation angle of the boom, an arm angle sensor for detecting a rotation angle of the arm with respect to the boom, and a bucket angle sensor for detecting a rotation angle of the bucket with respect to the arm, and the controller calculates the position of the bucket from the detected values of the angle sensors and the size parameters of the boom, the arm, and the bucket.
7. The method as claimed in claim 4 or 5, wherein the attitude sensor includes a boom cylinder extension displacement sensor for detecting an extension length of the boom cylinder, an arm cylinder extension displacement sensor for detecting an extension length of the arm cylinder, and a bucket cylinder extension displacement sensor for detecting an extension length of the bucket cylinder, and the controller calculates the position of the bucket from the detected values of the respective displacement sensors and the size parameters of the boom, the arm, and the bucket.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810207384.2A CN108487366B (en) | 2018-03-14 | 2018-03-14 | Excavator silting condition detection system and detection method |
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| CN201810207384.2A CN108487366B (en) | 2018-03-14 | 2018-03-14 | Excavator silting condition detection system and detection method |
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| CN108487366B true CN108487366B (en) | 2020-09-11 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110375916A (en) * | 2019-08-14 | 2019-10-25 | 广西玉柴机器股份有限公司 | The test method of digger operating device and engine load |
| CN112252387B (en) * | 2020-10-30 | 2023-06-20 | 徐州徐工挖掘机械有限公司 | Swing arm deflection system of excavator, excavator and swing arm deflection control method of excavator |
| CN113559985A (en) * | 2021-07-30 | 2021-10-29 | 中铁物总资源科技有限公司 | Method for crushing and disposing waste railway sleepers |
| CN114289424A (en) * | 2022-02-23 | 2022-04-08 | 西安帕兰提尔环境技术有限公司 | Underwater pipeline dredging robot |
| CN114982424A (en) * | 2022-08-03 | 2022-09-02 | 徐州中矿岩土技术股份有限公司 | High and steep slope plant-growing hole drilling construction machine and construction method |
| CN115559381A (en) * | 2022-08-25 | 2023-01-03 | 中联重科土方机械有限公司 | Control method for engineering vehicle, processor, engineering vehicle and storage medium |
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| CN201040850Y (en) * | 2007-04-19 | 2008-03-26 | 三一重机有限公司 | Anti-tipping device for hydraulic excavator |
| CN102691321A (en) * | 2011-12-08 | 2012-09-26 | 上海三一重机有限公司 | Optimal control system and method for realizing instant excavation turning angle and excavation force of bucket |
| CN104018544B (en) * | 2014-04-24 | 2016-05-04 | 湖南中联重科智能技术有限公司 | The anti-silting sunken control method of excavator, device, system and excavator |
| GB2529996A (en) * | 2014-04-28 | 2016-03-16 | Rds Technology Ltd | Payload weighing apparatus and method |
| KR101629716B1 (en) * | 2014-09-22 | 2016-06-21 | (주)영신디엔씨 | Coordinate Measuring System for Excavating Work and Method Thereof |
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