CN113879979A - Anti-tipping monitoring device and method for operation of pipe hanging equipment of hydraulic excavator - Google Patents

Anti-tipping monitoring device and method for operation of pipe hanging equipment of hydraulic excavator Download PDF

Info

Publication number
CN113879979A
CN113879979A CN202110896944.1A CN202110896944A CN113879979A CN 113879979 A CN113879979 A CN 113879979A CN 202110896944 A CN202110896944 A CN 202110896944A CN 113879979 A CN113879979 A CN 113879979A
Authority
CN
China
Prior art keywords
movable arm
tipping
controller
angle sensor
moment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110896944.1A
Other languages
Chinese (zh)
Inventor
司刚强
李亚平
曹旦夫
张苏
彭云超
刘伟
杨光发
淦邦
曹胜
耿云鹏
齐丹阳
付邦稳
马凯军
王萌萌
戴小龙
陈昱含
史振龙
仲谦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Oil and Gas Pipeline Network Corp
Pipechina Eastern Crude Oil Storage and Transportation Co Ltd
Original Assignee
China Oil and Gas Pipeline Network Corp
Pipechina Eastern Crude Oil Storage and Transportation Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Oil and Gas Pipeline Network Corp, Pipechina Eastern Crude Oil Storage and Transportation Co Ltd filed Critical China Oil and Gas Pipeline Network Corp
Priority to CN202110896944.1A priority Critical patent/CN113879979A/en
Publication of CN113879979A publication Critical patent/CN113879979A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/16Applications of indicating, registering, or weighing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00Safety gear
    • B66C15/06Arrangements or use of warning devices
    • B66C15/065Arrangements or use of warning devices electrical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88Safety gear
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24Safety devices, e.g. for preventing overload
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26Indicating devices
    • E02F9/264Sensors and their calibration for indicating the position of the work tool

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

A hydraulic excavator pipe hanging equipment operation anti-tipping monitoring device and method, the device: the device comprises an angle sensor A, an angle sensor B, a horizontal inclination angle sensor and an alarm, wherein the angle sensor A, the angle sensor B, the horizontal inclination angle sensor and the alarm are respectively connected with a controller, the angle sensor A is installed between a movable arm and a bucket rod, the angle sensor B is installed at the hinged position of the movable arm and a rotary platform, and the horizontal inclination angle sensor is installed on the rotary platform. The method comprises the following steps: measuring an angle signal A between a movable arm and a bucket rod, an angle signal B between the movable arm and a rotary platform and an inclination angle signal of the rotary platform relative to a reference ground plane; calculating the tilting moment generated by a hoisted object, the tilting moment generated by the bucket rod, the tilting moment generated by the movable arm and the anti-tilting moment; and calculating the total tilting moment and the safety moment of the hydraulic excavator, and controlling an alarm to warn. The device and the method can monitor the angle of the working face in real time during operation, can give out early warning in time when the risk of rollover occurs, and can effectively eliminate potential safety hazards in the operation process.

Description

Anti-tipping monitoring device and method for operation of pipe hanging equipment of hydraulic excavator
Technical Field
The invention belongs to the technical field of excavators, and particularly relates to a device and a method for preventing a hydraulic excavator pipe hanging device from operation from tipping.
Background
An excavator is a common engineering machine and is widely applied to various construction places. In the process of excavator operation, especially under the working conditions of heavy load and large operation gradient, if the operation hands are not properly treated, the excavator is easy to tip over, and further serious safety accidents can be caused.
At present, most of domestic hydraulic excavators for pipe hanging operation are constructed in the field, and the environment conditions of hilly and slope operation are more. Thus, the hydraulic excavator is likely to tip over during pipe hanging work. However, the excavator in the prior art is not provided with an effective anti-tipping operation protection device, so that safety accidents are easy to happen if the danger coefficient is large during operation on a large slope, and even the life safety of operators is easily threatened.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an operation anti-tipping monitoring device for a pipe hanging device of a hydraulic excavator, which can monitor the angle of a working surface in operation in real time and give an early warning in time when the pipe hanging device has a tipping risk, so that an operator can take correct countermeasures in time, and the potential safety hazard of the hydraulic excavator in the pipe hanging operation process on hills and slopes can be effectively eliminated. The method can quickly and accurately calculate the total tipping moment and the safety moment, and can timely control the alarm to warn when the total tipping moment exceeds the safety moment.
In order to achieve the purpose, the invention provides a hydraulic excavator pipe hanging equipment operation anti-tipping monitoring device, which comprises an angle sensor A, an angle sensor B, a horizontal inclination angle sensor, a controller and an alarm;
the angle sensor A is arranged between the movable arm and the bucket rod, and is used for measuring an angle signal A between the movable arm and the bucket rod in real time and sending the angle signal A to the controller in real time;
the angle sensor B is arranged at the hinged position of the movable arm and the rotary platform, is used for measuring an angle signal B between the movable arm and the rotary platform in real time and sending the angle signal B to the controller in real time;
the horizontal inclination angle sensor is arranged on the rotary platform and used for measuring an inclination angle signal of the rotary platform relative to a reference ground plane in real time and sending the inclination angle signal to the controller in real time;
the controller is used for processing the received angle signal A, the angle signal B and the inclination angle signal, calculating the total tipping moment according to the mass of the hoisted materials, meanwhile, comparing the total tipping moment with the safety moment, and controlling the alarm to warn when the total tipping moment is larger than or equal to the safety moment.
In the technical scheme, the rotation angle a between the bucket rod and the movable arm, the rotation angle B between the movable arm and the excavator body reference surface and the included angle c between the hydraulic excavator reference surface and the reference ground plane can be monitored and obtained in real time through the arrangement of the angle sensor A, the angle sensor B and the horizontal inclination angle sensor, so that the total tipping moment and the safety moment can be calculated through the quality of the hoisted object, whether the tipping danger exists or not can be rapidly judged according to the comparison relation between the total tipping moment and the safety moment, and the operator can be timely warned when the tipping danger exists, so that the operator is reminded to timely take countermeasures, and the occurrence of tipping accidents is avoided. The anti-tipping protection system has a simple structure, can effectively eliminate potential safety hazards of the hydraulic excavator in the pipe hanging operation process on hills and slopes, and can be widely applied to the anti-tipping protection system of engineering machinery, construction machinery and mining machinery in the pipe hanging operation process on hills and slopes.
Further, the controller is a PLC controller or an embedded controller.
Furthermore, in order to facilitate display of the processing result and input of parameters, the system further comprises an input module and a display module, wherein the input module and the display module are connected with the controller, the input module is used for inputting set parameters to the controller by an operator, and the display module is used for displaying the processing result of the controller.
The invention also provides a hydraulic excavator pipe hanging equipment operation anti-tipping monitoring method, which comprises the following steps:
the method comprises the following steps: measuring an angle signal A between a movable arm and an arm in real time through an angle sensor A arranged between the movable arm and the arm; measuring an angle signal B between the movable arm and the rotary platform in real time through an angle sensor B arranged at the hinged position of the movable arm and the rotary platform; measuring an inclination angle signal of the rotary platform relative to a reference ground plane in real time through a horizontal inclination angle sensor arranged on the rotary platform;
step two: the controller processes the angle signal A, the angle signal B and the inclination angle signal to respectively obtain angle data a, angle data B and inclination angle data c, calculates a tipping moment T1 generated by a hoisted object according to a formula (1), calculates a tipping moment T2 generated by a bucket rod according to a formula (2), calculates a tipping moment T3 generated by a movable arm according to a formula (3), and calculates a counter tipping moment T4 generated by a hydraulic excavator body according to a formula (4);
T1=M1*g*[L1*sina-90-b+L3*cosb-L6+L7*sinc] (1);
T2=M2*g*[L2*sina-90-b+L3*cosb-L6*cosc] (2);
T3=M3*g*[L4*cosb-L6*cosc] (3);
T4=M4*g*L5* cosc (4);
in the formula, M1 is the mass of a hoisted object, L1 is the length of a bucket rod, L3 is the length of a movable arm, L7 is the distance between the hoisted object and a hoisting point, M2 is the mass of the bucket rod, L2 is the distance between the mass center of the bucket rod and a rotating shaft of the bucket rod, L6 is the horizontal distance between the center of the rotating shaft of the movable arm and a tipping line, M3 is the mass of the movable arm, L4 is the length between the mass center of the movable arm and the rotating shaft of the movable arm, M4 is the mass of an excavator body, and L5 is the horizontal distance between the mass center of the excavator body and the tipping line;
step three: the controller calculates the total tilting moment T5 of the hydraulic excavator according to the formula (5), calculates the safety moment Tc according to the formula (6), compares the T5 with the Tc, and controls the alarm to give an alarm when the T5 is greater than or equal to the Tc;
T5= T1+T2+T3 (5) ;
Tc=T4*75% (6)。
further, M1 is input by an input module connected to the controller.
According to the method, the angle sensor A is arranged between the movable arm and the bucket rod, the angle sensor B is arranged at the hinged position of the movable arm and the rotary platform, and the horizontal inclination angle sensor is arranged on the rotary platform, so that the working face angle during operation can be monitored, the tipping moment can be calculated in real time, meanwhile, the safety moment can be set, and an alarm prompt is given when the tipping moment is greater than the safety moment set by the monitoring system, so that the effect of effective warning can be achieved, an operator can be reminded to timely recover to operate at the safety angle, and the tipping safety accident during construction operation can be avoided.
Drawings
FIG. 1 is a first schematic structural diagram of the present invention;
FIG. 2 is a second schematic structural view of the present invention;
FIG. 3 is a schematic flow diagram of the present invention.
In the figure: 1. the device comprises a hoisted object, 2, a bucket rod, 3, angle sensors A and 4, a movable arm, 5, angle sensors B and 6, a controller, 7, a horizontal tilt angle sensor, 8, a vehicle body mass center, 9, a tipping line, 10, a reference ground plane, 11, a rotary platform, 12, a bucket rod mass center, 13 and a movable arm mass center.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 and 2, the anti-tipping monitoring device for the operation of the pipe hanging equipment of the hydraulic excavator comprises an angle sensor 3, an angle sensor 5, a horizontal tilt angle sensor 7, a controller 6 and an alarm;
the angle sensor 3 is arranged between the movable arm 4 and the bucket rod 2, is used for measuring an angle signal A between the movable arm 4 and the bucket rod 2 in real time, and sends the angle signal A to the controller 6 in real time;
the angle sensor 5 is installed at the hinged position of the movable arm 4 and the rotary platform 11, is used for measuring an angle signal B between the movable arm 4 and the rotary platform 11 in real time, and sends the angle signal B to the controller 6 in real time;
the horizontal inclination angle sensor 7 is arranged on the rotary platform 11 and used for measuring an inclination angle signal of the rotary platform 11 relative to the reference ground plane 10 in real time and sending the inclination angle signal to the controller 6 in real time;
the controller 6 is used for processing the received angle signal A, the angle signal B and the inclination angle signal, calculating the total tipping moment according to the mass of the hoisting object 1, meanwhile, comparing the total tipping moment with the safety moment, and controlling the alarm to warn when the total tipping moment is greater than or equal to the safety moment.
Preferably, the controller 6 is a PLC controller or an embedded controller.
In order to facilitate the display of the processing result and also facilitate the input of the parameters, the system further comprises an input module and a display module, wherein the input module and the display module are connected with the controller 6, the input module is used for inputting the set parameters to the controller 6 by an operator, and the display module is used for displaying the processing result of the controller 6.
The rotation angle a between the bucket rod and the movable arm, the rotation angle B between the movable arm and the excavator body reference surface and the included angle c between the hydraulic excavator reference surface and the reference ground plane (GRP) can be monitored and obtained in real time through the arrangement of the angle sensor A, the angle sensor B and the horizontal tilt angle sensor, then the total tipping moment and the safety moment can be calculated through the quality of a hoisted object, whether the tipping danger exists or not can be rapidly judged according to the comparison relation between the total tipping moment and the safety moment, and the alarm can be timely given to an operator when the tipping danger exists, so that the operator is reminded to timely take countermeasures, and the occurrence of tipping accidents is avoided. The anti-tipping protection system has a simple structure, can effectively eliminate potential safety hazards of the hydraulic excavator in the pipe hanging operation process on hills and slopes, and can be widely applied to the anti-tipping protection system of engineering machinery, construction machinery and mining machinery in the pipe hanging operation process on hills and slopes.
As shown in fig. 3, the invention also provides a method for monitoring the operation overturn prevention of the pipe hanging equipment of the hydraulic excavator, which comprises the following steps:
the method comprises the following steps: measuring an angle signal a between the boom 4 and the arm 2 in real time by an angle sensor a3 provided between the boom 4 and the arm 2; measuring an angle signal B between the movable arm 4 and the rotary platform 11 in real time through an angle sensor B5 arranged at the hinged part of the movable arm 4 and the rotary platform 11; measuring an inclination angle signal of the rotary platform 11 relative to a reference ground plane in real time through a horizontal inclination angle sensor 7 arranged on the rotary platform 11;
step two: the controller 6 processes the angle signal A, the angle signal B and the inclination angle signal to respectively obtain angle data a, angle data B and inclination angle data c, calculates a tipping moment T1 and a unit kN.m generated by a hoisted object 1 according to a formula (1), calculates a tipping moment T2 and a unit kN.m generated by a bucket rod 2 according to a formula (2), calculates a tipping moment T3 and a unit kN.m generated by a movable arm 4 according to a formula (3), and calculates a counter tipping moment T4 and a unit kN.m generated by a hydraulic excavator body according to a formula (4);
T1=M1*g*[L1*sina-90-b+L3*cosb-L6+L7*sinc] (1);
T2=M2*g*[L2*sina-90-b+L3*cosb-L6*cosc] (2);
T3=M3*g*[L4*cosb-L6*cosc] (3);
T4=M4*g*L5* cosc (4);
wherein M1 is the mass (kg) of the hoisted object 1, L1 is the length (M) of the bucket rod 2, L3 is the length (M) of the movable arm 4, L7 is the distance (M) between the hoisted object 1 and a hoisting point, M2 is the mass (kg) of the bucket rod 2, L2 is the distance (M) between the mass center 12 of the bucket rod and the rotating shaft of the bucket rod 2, L6 is the horizontal distance (M) between the rotating shaft center of the movable arm 4 and a tilting line, M3 is the mass (kg) of the movable arm 4, L4 is the length (M) between the mass center 13 of the movable arm and the rotating shaft of the movable arm 4, M4 is the mass (kg) of the excavator body, L5 is the horizontal distance (M) between the mass center 8 of the hydraulic excavator body and the tilting line, and g is the gravity acceleration (M/s)2);
Step three: the controller 6 calculates the total tilting moment T5 and the unit kN.m of the hydraulic excavator according to the formula (5), calculates the safety moment Tc and the unit kN.m according to the formula (6), compares the T5 with the Tc, and controls the alarm to warn when the total tilting moment T5 of the hydraulic excavator is greater than the safety moment Tc when the T5 is greater than or equal to the Tc;
T5= T1+T2+T3 (5);
Tc=T4*75% (6)。
m1 is input by an input module connected to controller 6.
Example (b):
when a certain hydraulic excavator and a hoisted object are positioned on the horizontal ground, the hydraulic excavator and the hoisted object are positioned on the horizontal ground
The mass of the hoisting material M1=1000 kg;
the mass of the bucket rod M2=1200 kg;
boom mass M3=2000 kg;
excavator body mass M4=8000 kg;
bucket rod length L1=2.2 m;
the distance L2=1 m from the mass center of the bucket rod to the rotating shaft of the bucket rod;
boom length L3=3.8 m;
the distance L4=1.9 m from the boom center of mass to the boom rotating shaft;
the horizontal distance L5=2.6 m from the center of mass of the hydraulic excavator body to the tipping line;
the horizontal distance L6=0.4 m from the center of the rotating shaft of the movable arm to the tilting line;
the distance L7=1.5 m between the sling and the sling point;
the rotation angle between the bucket rod and the movable arm is a =120 degrees;
the rotation angle b =60 ° between the boom and the excavator body reference plane;
acceleration of gravity g =9.8 m/s2
The included angle c =0 degree between the reference plane of the hydraulic excavator and the reference ground plane;
t5< Tc, the monitoring controller does not alarm, and the excavator does not overturn.
When the hoisting material mass M1=4200 kg, T5=192.472 kN.m, T5> Tc, the monitoring controller gives an alarm, the total tipping moment of the hydraulic excavator is larger than the set safety moment value of the hydraulic excavator, and the hydraulic excavator can tip over.
When the hoisting material mass M1=5000 kg, T5=221.48 kN.m, T5> T4> Tc, the monitoring controller gives an alarm, the total tipping moment of the hydraulic excavator is greater than the set safe moment value of the hydraulic excavator, the total tipping moment exceeds the anti-tipping moment generated by the hydraulic excavator body, and the excavator is tipped.
The mass M1 of the hoisted object and the length L7 of the hoisted object and a hoisting point can be estimated or actually measured by an operator and then input into a monitoring controller, the monitoring controller calculates the tipping moment by acquiring the rotating angle a between the bucket rod and the movable arm, the rotating angle b between the movable arm and the reference surface of the hydraulic excavator and the horizontal included angle c between the reference surface of the hydraulic excavator and the reference ground plane in real time, and displays and alarms according to the safety moment set by the operator to prevent the excavator from tipping dangers.
The working principle is as follows:
the arrangement of the horizontal inclinometer 7, the angle sensor A3 and the angle sensor B5 can be used for conveniently calculating the moment arm L1 from the action point of the hoisted object to the tipping line 9, the moment arm L2 from the bucket rod 2 to the tipping line 9, the moment arm L3 from the movable arm 4 to the tipping line 9, the distance L4 from the mass center 8 of the hydraulic excavator body to the tipping line 9, the mass of the hoisted object 1, the mass of the bucket rod 2 of the hydraulic excavator, the mass of the movable arm 4 of the hydraulic excavator and the mass of the excavator body in real time, the moment about the roll line 9 can thus be calculated, and when the roll moment T5 is greater than the 75% anti-roll moment T4, the hydraulic excavator has the risk of tipping, the monitoring controller is connected with a display module and an input module, the tipping moment can be displayed in real time through the display module, the buzzer alarms when the tipping moment is larger than the safety moment, and the input module is convenient for operators to input parameters.
According to the method, the angle sensor A is arranged between the movable arm and the bucket rod, the angle sensor B is arranged at the hinged position of the movable arm and the rotary platform, and the horizontal inclination angle sensor is arranged on the rotary platform, so that the working face angle during operation can be monitored, the tipping moment can be calculated in real time, meanwhile, the safety moment can be set, and an alarm prompt is given when the tipping moment is greater than the safety moment set by the monitoring system, so that the effect of effective warning can be achieved, an operator can be reminded to timely recover to operate at the safety angle, and the tipping safety accident during construction operation can be avoided.

Claims (5)

1. A hydraulic excavator pipe hanging equipment operation anti-tipping monitoring device comprises an angle sensor A (3), an angle sensor B (5), and is characterized by further comprising a horizontal tilt angle sensor (7), a controller (6) and an alarm;
the angle sensor A (3) is arranged between the movable arm (4) and the bucket rod (2) and used for measuring an angle signal A between the movable arm (4) and the bucket rod (2) in real time and sending the angle signal A to the controller (6) in real time;
the angle sensor B (5) is arranged at the hinged position of the movable arm (4) and the rotary platform (11) and is used for measuring an angle signal B between the movable arm (4) and the rotary platform (11) in real time and sending the angle signal B to the controller (6) in real time;
the horizontal inclination angle sensor (7) is arranged on the rotary platform (11) and is used for measuring an inclination angle signal of the rotary platform (11) relative to the reference ground plane (10) in real time and sending the inclination angle signal to the controller (6) in real time;
the controller (6) is used for processing the received angle signal A, the angle signal B and the inclination angle signal, calculating the total tipping moment according to the mass of the hoisting object (1), meanwhile, comparing the total tipping moment with the safety moment, and controlling the alarm to warn when the total tipping moment is greater than or equal to the safety moment.
2. The hydraulic excavator pipe hanging equipment operation anti-tipping monitoring device as claimed in claim 1, characterized in that the controller (6) is a PLC controller or an embedded controller.
3. The hydraulic excavator pipe hanging equipment operation anti-tipping monitoring device of claim 2, further comprising an input module and a display module which are connected with the controller (6), wherein the input module is used for an operator to input set parameters to the controller (6), and the display module is used for displaying the processing result of the controller (6).
4. A hydraulic excavator pipe hanging equipment operation anti-tipping monitoring method is characterized by comprising the following steps:
the method comprises the following steps: measuring an angle signal A between the movable arm (4) and the bucket rod (2) in real time through an angle sensor A (3) arranged between the movable arm (4) and the bucket rod (2); an angle sensor B (5) arranged at the hinged part of the movable arm (4) and the rotary platform (11) is used for measuring an angle signal B between the movable arm (4) and the rotary platform (11) in real time; measuring inclination angle signals of the rotary platform (11) relative to a reference ground plane in real time through a horizontal inclination angle sensor (7) arranged on the rotary platform (11);
step two: the controller (6) processes the angle signal A, the angle signal B and the inclination angle signal to respectively obtain angle data a, angle data B and inclination angle data c, calculates a tipping moment T1 generated by a hoisted object (1) according to a formula (1), calculates a tipping moment T2 generated by an arm (2) according to a formula (2), calculates a tipping moment T3 generated by a movable arm (4) according to a formula (3), and calculates a counter-tipping moment T4 generated by a hydraulic excavator body according to a formula (4);
T1=M1*g*[(L1*sin(a-(90-b))+L3*cos(b)-L6)+L7*sin(c)] (1);
T2=M2*g*[(L2*sin(a-(90-b))+L3*cos(b)-L6)*cos(c)] (2);
T3=M3*g*[(L4*cos(b)-L6)*cos(c)] (3);
T4=M4*g*L5*cos(c) (4);
wherein M1 is the mass of a hoisted object (1), L1 is the length of a bucket rod (2), L3 is the length of a movable arm (4), L7 is the distance between the hoisted object (1) and a hoisting point, M2 is the mass of the bucket rod (2), L2 is the distance between a mass center (12) of the bucket rod and a rotating shaft of the bucket rod (2), L6 is the horizontal distance between the center of the rotating shaft of the movable arm (4) and a tilting line, M3 is the mass of the movable arm (4), L4 is the length between a mass center (13) of the movable arm and the rotating shaft of the movable arm (4), M4 is the mass of an excavator body, L5 is the horizontal distance between a mass center (8) of the excavator body and the tilting line, and g is the gravity acceleration;
step three: the controller (6) calculates the total tilting moment T5 of the hydraulic excavator according to the formula (5), calculates the safety moment Tc according to the formula (6), compares the T5 with the Tc, and controls the alarm to give an alarm when the T5 is greater than or equal to the Tc;
T5=T1+T2+T3 (5);
Tc=T4*75% (6)。
5. the hydraulic excavator pipe hanging equipment operation anti-tipping monitoring method of claim 4, characterized in that M1 is input by an input module connected with the controller (6).
CN202110896944.1A 2021-08-05 2021-08-05 Anti-tipping monitoring device and method for operation of pipe hanging equipment of hydraulic excavator Pending CN113879979A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110896944.1A CN113879979A (en) 2021-08-05 2021-08-05 Anti-tipping monitoring device and method for operation of pipe hanging equipment of hydraulic excavator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110896944.1A CN113879979A (en) 2021-08-05 2021-08-05 Anti-tipping monitoring device and method for operation of pipe hanging equipment of hydraulic excavator

Publications (1)

Publication Number Publication Date
CN113879979A true CN113879979A (en) 2022-01-04

Family

ID=79010935

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110896944.1A Pending CN113879979A (en) 2021-08-05 2021-08-05 Anti-tipping monitoring device and method for operation of pipe hanging equipment of hydraulic excavator

Country Status (1)

Country Link
CN (1) CN113879979A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114536384A (en) * 2022-03-25 2022-05-27 徐州徐工挖掘机械有限公司 Material grabbing machine and control method thereof

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07180192A (en) * 1993-12-24 1995-07-18 Hitachi Constr Mach Co Ltd Overturn-preventing device for hydraulic backhoe
CN201040850Y (en) * 2007-04-19 2008-03-26 三一重机有限公司 Anti-tipping device for hydraulic excavator
CN103046606A (en) * 2012-12-21 2013-04-17 中联重科股份有限公司 Engineering mechanical equipment, movable counterweight system and control method
JP2013238097A (en) * 2012-05-17 2013-11-28 Sumitomo Heavy Ind Ltd Overturn preventing device for construction machine
CN103597147A (en) * 2011-06-10 2014-02-19 日立建机株式会社 Work machine
CN105102726A (en) * 2014-06-04 2015-11-25 株式会社小松制作所 Heated windshield wiper system for vehicle
CN105804148A (en) * 2016-03-14 2016-07-27 柳州柳工挖掘机有限公司 Control method for preventing tipping of excavator and excavator
CN110325687A (en) * 2017-02-24 2019-10-11 住友重机械工业株式会社 Excavator, the control method of excavator and portable information terminal
CN110998032A (en) * 2017-07-31 2020-04-10 住友重机械工业株式会社 Excavator
CN111295484A (en) * 2017-11-13 2020-06-16 日立建机株式会社 Construction machine
CN111373104A (en) * 2017-12-26 2020-07-03 日立建机株式会社 Working machine

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07180192A (en) * 1993-12-24 1995-07-18 Hitachi Constr Mach Co Ltd Overturn-preventing device for hydraulic backhoe
CN201040850Y (en) * 2007-04-19 2008-03-26 三一重机有限公司 Anti-tipping device for hydraulic excavator
CN103597147A (en) * 2011-06-10 2014-02-19 日立建机株式会社 Work machine
JP2013238097A (en) * 2012-05-17 2013-11-28 Sumitomo Heavy Ind Ltd Overturn preventing device for construction machine
CN103046606A (en) * 2012-12-21 2013-04-17 中联重科股份有限公司 Engineering mechanical equipment, movable counterweight system and control method
CN105102726A (en) * 2014-06-04 2015-11-25 株式会社小松制作所 Heated windshield wiper system for vehicle
CN105804148A (en) * 2016-03-14 2016-07-27 柳州柳工挖掘机有限公司 Control method for preventing tipping of excavator and excavator
CN110325687A (en) * 2017-02-24 2019-10-11 住友重机械工业株式会社 Excavator, the control method of excavator and portable information terminal
CN110998032A (en) * 2017-07-31 2020-04-10 住友重机械工业株式会社 Excavator
CN111295484A (en) * 2017-11-13 2020-06-16 日立建机株式会社 Construction machine
CN111373104A (en) * 2017-12-26 2020-07-03 日立建机株式会社 Working machine

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
水利部,电力工业部: "《工程机械使用手册 上册》", 31 August 1981, 电力工业出版社, pages: 79 - 81 *
陈健元: "《挖掘机》", 30 April 1965, 中国工业出版社, pages: 244 - 245 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114536384A (en) * 2022-03-25 2022-05-27 徐州徐工挖掘机械有限公司 Material grabbing machine and control method thereof

Similar Documents

Publication Publication Date Title
CN201040850Y (en) Anti-tipping device for hydraulic excavator
US9745727B2 (en) System and method for controlling stability in heavy machinery
CN102910543B (en) Crane and forward tilting prevention protection method and device thereof
EP2060530A1 (en) Apparatus and method for monitoring the stability of a construction machine
US11242669B2 (en) Systems and methods for controlling machine ground pressure and tipping
CN102009914B (en) Lifting hook position monitoring system and method as well as crane with lifting hook position monitoring system
WO2022163388A1 (en) Construction machine
CN102774757B (en) Engineering machinery
KR102249671B1 (en) System and method for preventing overturn of working vehicle
CN103663210B (en) Safety control method, equipment and system for crawler-type machinery and engineering machinery
CN113879979A (en) Anti-tipping monitoring device and method for operation of pipe hanging equipment of hydraulic excavator
US20190234048A1 (en) Rollover prevention system and method for construction machine
KR20090034618A (en) Overload warning apparatus for construction machinery and control method thereof
GB2522968A (en) A disarm device
CN212450392U (en) Mobile crane and overturn prevention monitoring device thereof
KR20080099749A (en) Working device control apparatus and control method of excavator
CN211444794U (en) Tower crane safety limiting system
JP3351662B2 (en) Counterweight mounting state detection method, device and overload prevention device
JP2782235B2 (en) Outrigger reaction force limit signal generator for mobile crane
Kalairassan et al. Analysis of load monitoring system in hydraulic mobile cranes
JPH10338948A (en) Fall-preventive device of slewing construction vehicle with working arm
KR20150041936A (en) The wheel loader have a maximum load weight control unit
KR102088063B1 (en) Apparatus and method for controlling safety of construction machinery
KR20150076046A (en) Overload warning aparatus of construction machine and control method for the same
CN114523955A (en) Anti-rollover control method and system for engineering vehicle and engineering vehicle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination