CN212689034U - Excavator action state monitoring device and excavator - Google Patents
Excavator action state monitoring device and excavator Download PDFInfo
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- CN212689034U CN212689034U CN202021133417.2U CN202021133417U CN212689034U CN 212689034 U CN212689034 U CN 212689034U CN 202021133417 U CN202021133417 U CN 202021133417U CN 212689034 U CN212689034 U CN 212689034U
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Abstract
The utility model provides an excavator action state monitoring devices and excavator, excavator action state monitoring devices include main control terminal and set up the gesture measurement terminal in each action position of excavator, gesture measurement terminal includes the casing, sets up sensor, power supply battery and the wireless communication module in the casing, the wireless communication module is used for the data transmission who detects the sensor to main control terminal. The excavator action state monitoring device is flexible to set, can be installed on an excavator which is put into use to realize the performance improvement of the existing excavator, and can identify misoperation at the action initial stage of the misoperation by comparing the detected state with an excavator handle action signal, so that a stop instruction is sent to an engine, and the working safety of the excavator is improved.
Description
Technical Field
The utility model relates to a relevant technical field of excavator, specific theory relates to an excavator action state monitoring devices and excavator.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In order to meet the requirements of market intellectualization and informatization, a control system of the excavator begins to develop towards a full electric control direction, namely, all actions of the excavator are electrically controlled. Even if the driver does not operate the excavator, the excavator can still operate under the control of the control system. This presents a safety problem and places greater demands on the reliability of the components of the excavator control system. For example, when a certain component fails or a control program has a leak, malfunction of the excavator can be caused, and personnel and property safety can be damaged.
The inventor finds that at present, in order to improve the safety of the fully-electric excavator, the industry generally does work on the aspect of improving the reliability of parts, such as performing redundancy design: two key parts are arranged, so that the failure probability of the parts is reduced. On one hand, because of space limitation, certain parts cannot be designed redundantly; on the other hand, the cost of the whole machine is greatly increased. Most of the existing excavators are not provided with an action state monitoring device, the existing excavators mainly drive by self judgment of operators, the requirements on drivers are high, and when misoperation occurs, the inertia effect of large-scale equipment and delay caused by reaction time easily cause safety accidents.
SUMMERY OF THE UTILITY MODEL
The utility model provides a solve above-mentioned problem, provide an excavator action state monitoring devices and excavator, this excavator action state monitoring devices sets up in a flexible way, can install the performance improvement that realizes current excavator on the excavator that has come into use, and through the comparison of the state that detects and excavator handle actuating signal, can discern the malfunction at the action initial stage of malfunction to send the shut down instruction to the engine, improve the security of excavator work.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
one or more embodiments provide an excavator action state monitoring device, including master control terminal and the gesture measurement terminal of setting in each action position of excavator, the gesture measurement terminal includes the casing, sets up sensor, power supply battery and the wireless communication module in the casing, the wireless communication module is used for transmitting the data that the sensor detected to master control terminal.
One or more embodiments provide an excavator, the excavator is provided with the excavator action state monitoring device, each attitude measurement terminal of the action state monitoring device is respectively arranged on a chassis, an excavator body, a movable arm, a bucket rod or a rocker, the main control terminal is in communication connection with a main control module of the excavator, the main control module acquires excavator action state data sent by the main control terminal, compares the action state data with control data of the excavator, and when the action state data is inconsistent with the control data, false actions are determined, an alarm instruction is sent out, and the engine of the excavator is controlled to be closed.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses an action state monitoring devices sets up on the excavator, sets up gesture measurement terminal through each action position at the excavator, can gather the action data at each position of excavator, and main control terminal receives the action data at each position and carries out data processing and can obtain the whole action state of excavator to can realize the state monitoring of excavator action. Every gesture measurement terminal sets up in the casing, can adapt to the concrete service environment of excavator, realizes the protection to the device in the terminal, avoids scraping and bumps the damage, and the flexibility that the device set up is high, and gesture measurement terminal's the quantity that sets up and position can be adjusted according to actual conditions, and unusual sensor of work can more convenient replacement, and device maintenance cost is lower.
Drawings
The accompanying drawings, which form a part of the specification, are provided to provide a further understanding of the invention, and are included to explain the illustrative embodiments and the description of the invention, and not to constitute a limitation of the invention.
Fig. 1 is a schematic view of an arrangement structure of an operation state monitoring device according to embodiment 1 of the present invention;
wherein: 1. the system comprises a machine body, 2, a movable arm, 3, an arm, 4, a bucket, 51, a movable arm attitude measuring terminal, 52, an arm attitude measuring terminal, 53, a bucket attitude measuring terminal, 6, a magnetometer, 7, a rocker, 8 and a chassis.
The specific implementation mode is as follows:
the present invention will be further explained with reference to the accompanying drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise. It should be noted that, in the present invention, the features of the embodiments and the examples may be combined with each other without conflict. The embodiments will be described in detail below with reference to the accompanying drawings.
Example 1
In one or more embodiments, as shown in fig. 1, an excavator action state monitoring device includes a main control terminal and attitude measurement terminals disposed at each action position of an excavator, where the attitude measurement terminals include a housing, and a sensor, a power supply battery and a wireless communication module disposed in the housing, and the wireless communication module is configured to transmit data detected by the sensor to the main control terminal.
The action state monitoring device of the embodiment can acquire action data of each part of the excavator by arranging the attitude measurement terminal at each action position of the excavator, and the main control terminal can acquire the overall action state of the excavator by receiving the action data of each part and processing the data, so that the action state monitoring of the excavator can be realized. The gesture measurement terminal sets up and to adapt to the concrete service environment of excavator in the casing, realizes the protection to the device in the terminal, avoids scraping and bumps the damage, and the flexibility that the device set up is high, and gesture measurement terminal sets up quantity and position and can adjust according to actual conditions, and unusual sensor of work can more convenient replacement, and device maintenance cost is lower.
Further, the action positions of the excavator include a chassis 8, a machine body 1, a boom 2, an arm 3, a swing lever 7 and a bucket 4.
Optionally, tilt sensors are arranged in attitude measurement terminals of the movable arm 2, the bucket rod 3 and the rocker 7 of the excavator, and are respectively used for detecting tilt angles of the movable arm 2, the bucket rod 3 and the rocker 7.
As another way of realisation, the tilt sensor may be replaced by an angle sensor.
In this embodiment, the tilt sensor disposed on the rocker is used to detect the movement angle of the rocker, and the rocker 7 and the bucket form a 4-bar linkage, so that the movement angle of the bucket 4 can be calculated by measuring the angle of the rocker 7.
Optionally, magnetometers are respectively arranged in attitude measurement terminals arranged on the chassis 8 and the machine body 1 of the excavator, and are respectively used for detecting the rotation angles or orientations of the chassis 8 and the machine body 1. Magnetometers are respectively arranged on the machine body 1 and the chassis 8, and the relative rotation angle of the machine body 1 and the chassis 8 can be calculated through detection data of the two magnetometers, namely the rotation angle can be calculated through the difference value of the two magnetometers.
In some embodiments, the housing may be a transparent plastic housing or a stainless steel housing, and the wireless communication module antenna is disposed on the housing.
As a further improvement, in order to further reduce the external dimension of the attitude measurement terminal, optionally, a contact surface of the housing and the excavator is set to be a plane, and an opposite surface of the contact surface is set to be a smooth surface in smooth transition.
The shell of the attitude measurement terminal is connected with each action position of the excavator in any connection mode, optionally, the shell can be provided with a first threaded hole through threaded connection, the action position of the excavator is provided with a second threaded hole or a screw rod, the first threaded hole is matched with the second threaded hole in size, or the first threaded hole is matched with the screw rod.
Optionally, the wireless communication module may be a lora module, a zigbee module, or a 4G wireless communication module.
The main control terminal can be arranged in the excavator or a cab, the main control terminal can be connected with a main control module of the excavator, the main control module compares the detected action state data with the control data, and when the action state data is inconsistent with the control data, the main control module can judge that misoperation occurs, send an alarm instruction and control the closing of an engine of the excavator.
In order to realize real-time alarm, optionally, an alarm can be further arranged and connected with the main control terminal.
The above-mentioned device of this embodiment is through setting up the action data into each part of a plurality of gesture measurement terminals monitoring excavator, and every gesture measurement terminal is connected through wireless communication module respectively with main control terminal, can set up gesture measurement terminal's quantity and position as required, and the flexibility that the device set up is higher, is applicable to the repacking of the excavator that comes into operation simultaneously, and is with low costs, sets up simply, is favorable to using widely.
Example 2
The embodiment provides an excavator, wherein the excavator is provided with the excavator action state monitoring device of embodiment 1, each attitude measuring terminal of the action state monitoring device is respectively arranged on a chassis 8, an excavator body 1, a movable arm 2, a bucket rod 3 or a rocker 7, the main control terminal is in communication connection with a main control module of the excavator, the main control module acquires excavator action state data sent by the main control terminal, compares the action state data with control data of the excavator, and when the action state data is inconsistent with the control data of the excavator, determines that a false action occurs, sends an alarm instruction and controls to close an engine of the excavator.
Specifically, as shown in fig. 1, the present embodiment provides four attitude measurement terminals, including a boom attitude measurement terminal 51, an arm attitude measurement terminal 52, a bucket attitude measurement terminal 53, and a body attitude measurement terminal.
The movable arm attitude measuring terminal 51 is installed on the movable arm 2, and an inclination angle sensor is arranged in the movable arm attitude measuring terminal and used for detecting the movement angle of the movable arm 2; the bucket rod posture measuring terminal 52 is installed on the bucket rod 3, and is internally provided with an inclination angle sensor for detecting the movement angle of the bucket rod 3; the bucket attitude measurement terminal 53 is installed on a rocker 7, the rocker 7 and the bucket form a 4-link mechanism, and an inclination angle sensor is arranged in the bucket attitude measurement terminal to calculate the motion angle of the bucket by measuring the angle of the rocker. The magnetometer 6 on the machine body 1 measures the heading angle or the rotation angle of the machine body 1, if the relative rotation angle of the machine body and the chassis is required to be calculated, one magnetometer 6 is also arranged on the chassis 8, and the rotation angle is calculated through the difference value of the two magnetometers.
In order to further improve the accuracy of the action of the excavator bucket, optionally, the bucket is driven by hydraulic pressure, a displacement sensor is arranged in the hydraulic oil cylinder, and the displacement sensor is in communication connection with the main control module.
In embodiment 1, the action state of the bucket is calculated by measuring the inclination angle of the remote lever and the structural relationship between remote sensing and the bucket, and this embodiment can verify the calculation result by detecting with the displacement sensor in the cylinder, and the measurement accuracy can be determined if the difference between the two is small, such as smaller than a set value. Therefore, the accuracy of monitoring the bucket action state is improved.
According to the embodiment, whether the action state data of the excavator accords with the control command or not can be judged at the initial action stage, so that the action control delay is reduced, and the action safety of the excavator can be effectively improved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.
Claims (8)
1. An excavator action state monitoring device is characterized in that: the attitude measurement terminal comprises a shell, a sensor, a power supply battery and a wireless communication module, wherein the sensor, the power supply battery and the wireless communication module are arranged in the shell, and the wireless communication module is used for transmitting data detected by the sensor to the master control terminal;
magnetometers are respectively arranged in attitude measurement terminals arranged on a chassis and a machine body of the excavator and are respectively used for detecting the rotating angles or the orientations of the chassis and the machine body;
the action positions of the excavator comprise a chassis, an excavator body, a movable arm, a bucket rod, a rocker and a bucket.
2. The monitor for monitoring the operating state of an excavator according to claim 1, wherein: inclination angle sensors are arranged in attitude measurement terminals of a movable arm, an arm and a rocker of the excavator and are respectively used for detecting the inclination angles of the movable arm, the arm and the rocker.
3. The monitor for monitoring the operating state of an excavator according to claim 1, wherein: the attitude measurement terminals of a movable arm, an arm and a rocker of the excavator are provided with angle sensors which are respectively used for detecting the inclination angles of the movable arm, the arm and the rocker.
4. The monitor for monitoring the operating state of an excavator according to claim 1, wherein: the casing is transparent plastic casing or stainless steel casing, wireless communication module antenna sets up on the casing.
5. The monitor for monitoring the operating condition of an excavator according to claim 4, wherein: the contact surface of the shell and the excavator is a plane, and the opposite surface of the contact surface on the shell is a smooth surface in smooth transition.
6. The monitor for monitoring the operating state of an excavator according to claim 1, wherein: the wireless communication module is a lora module, a zigbee module or a 4G wireless communication module.
7. An excavator is characterized in that: the excavator action state monitoring device of any one of claims 1 to 6 is arranged on the excavator, each attitude measuring terminal of the action state monitoring device is respectively arranged on a chassis, an excavator body, a movable arm, a bucket rod or a rocker, the main control terminal is in communication connection with a main control module of the excavator, the main control module acquires excavator action state data sent by the main control terminal, compares the action state data with operation data of the excavator, and judges that misoperation occurs when the action state data is inconsistent with the operation data, sends out an alarm instruction and controls to close an engine of the excavator.
8. An excavator according to claim 7 wherein: the bucket is driven by hydraulic pressure, a displacement sensor is arranged in the hydraulic oil cylinder, and the displacement sensor is in communication connection with the main control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202021133417.2U CN212689034U (en) | 2020-06-17 | 2020-06-17 | Excavator action state monitoring device and excavator |
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| CN202021133417.2U CN212689034U (en) | 2020-06-17 | 2020-06-17 | Excavator action state monitoring device and excavator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111622283A (en) * | 2020-06-17 | 2020-09-04 | 雷沃工程机械集团有限公司 | Excavator action state monitoring device, excavator and control method |
| CN113126552A (en) * | 2021-05-08 | 2021-07-16 | 雷沃工程机械集团有限公司 | Intelligent crushing control method and excavator |
| CN114215500A (en) * | 2021-12-29 | 2022-03-22 | 徐州徐工挖掘机械有限公司 | Control system and control method for spiral drill pipe machine of hydraulic excavator |
-
2020
- 2020-06-17 CN CN202021133417.2U patent/CN212689034U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111622283A (en) * | 2020-06-17 | 2020-09-04 | 雷沃工程机械集团有限公司 | Excavator action state monitoring device, excavator and control method |
| CN113126552A (en) * | 2021-05-08 | 2021-07-16 | 雷沃工程机械集团有限公司 | Intelligent crushing control method and excavator |
| CN114215500A (en) * | 2021-12-29 | 2022-03-22 | 徐州徐工挖掘机械有限公司 | Control system and control method for spiral drill pipe machine of hydraulic excavator |
| CN114215500B (en) * | 2021-12-29 | 2024-01-23 | 徐州徐工挖掘机械有限公司 | Control system and control method for spiral drill rod machine tool of hydraulic excavator |
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Address after: No.75, Huanghe East Road, Huangdao District, Qingdao City, Shandong Province 266599 Patentee after: Lovol Heavy Industry Group Co.,Ltd. Address before: No.75, Huanghe East Road, Huangdao District, Qingdao City, Shandong Province 266599 Patentee before: LOVOL Engineering Machinery Group Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |