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 PDFInfo
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes 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
- B66C23/88—Safety gear
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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
- E02F9/24—Safety devices, e.g. for preventing overload
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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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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
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).
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| 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 |
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