KR0157276B1 - Overturnning protection device for wheel type heavy machine - Google Patents

Abstract

The present invention relates to a device for preventing overturning of wheel type heavy equipment during driving or work. In particular, the present invention relates to an optimum body for the ground of a vehicle according to steering angle, driving speed, and body tilt angle when driving heavy equipment on a curve road or descending a steep slope. It is a device to prevent the heavy equipment is overturned by controlling to maintain the inclination angle of the.

To this end, the present invention is a single-body hydraulic cylinder (3, 4, 5, 6) is mounted between the left and right sides of the front and rear axles (2a, 2b) and the lower end of the vehicle body (1), respectively On the left and right sides of the front axle 2a, the steering angle detectors 14 and 15 and the one of the rear axle 2b are provided with a speed sensor 17 and a body tilt angle sensor 16 at the bottom of the body 1. When the flow rate of the tank is pressurized by the gear pump 13, the spools of the flow control valves 10a and 10b are operated by the electromagnetic proportional pressure reducing valves 11a to 11d controlled by the controller 9 to control the pump 12. Oil pressure is fed to the hydraulic cylinders 5, 6 on the rear axle 26, and the drain on the hydraulic oil cylinders 5, 6 is driven by relief valves 24, 25 describing its own pilot pressure. When the pressure of the gear pump 13 is transmitted to the hydraulic cylinders 3 and 4 on the front axle 2a and returned to the oil tank, the pilot pressure is checked to the mounted solenoid valve 23. The relief valve 22 is driven to arrange the check valves 20 and 21 of the cylinders 3 and 4, and the drain on the hydraulic cylinders 3 and 4 is electromagnetic proportional pressure reducing valves 11a to. 11d) can be returned to the oil tank together with the drain to properly control the inclination angle of the vehicle body while the heavy equipment is running or working, thereby preventing the equipment from overturning and preventing the driver's seat from tilting, improving the work efficiency. It would be.

Description

Overturn prevention device of wheel type heavy equipment

1 is a system configuration of the conventional invention.

2 is a configuration diagram of the present invention.

3 is an application state diagram of an embodiment of the present invention.

4 is a state diagram of application to another embodiment of the present invention.

5 is an application state of another embodiment of the present invention.

6 is an application state of another embodiment of the present invention.

7 is an application state of another embodiment of the present invention.

8 is a system flow diagram of the main parts of the present invention.

* Explanation of symbols for main parts of the drawings

1: body 2a: front axle

2b: rear axle 3: single acting hydraulic cylinder

4: single acting hydraulic cylinder 5: single acting hydraulic cylinder

6: single acting hydraulic cylinder 7: flow control valve

8: flow control valve 9: controller

10a: flow control valve 10b: flow control valve

11a: electromagnetic proportional pressure reducing valve 11b: electromagnetic proportional pressure reducing valve

11c: Electronic proportional pressure reducing valve 11d: Electronic proportional pressure reducing valve

12 main pump 13 gear pump

14: steering angle detection device 15: steering angle detection device

16: 2-way inclination angle sensor 17: speed sensor

20: check valve 21: check valve

22: relief valve 23: solenoid valve

24: relief valve 25: relief valve

26: load detection sensor 27: load detection sensor

28: Compensation value calculation 19: Inclined angle control value calculation

30: Control value judgment

The present invention relates to a device for preventing overturning of wheel type heavy equipment during driving or work. In particular, the present invention relates to an optimum body for the ground of a vehicle according to steering angle, driving speed, and body tilt angle when driving heavy equipment on a curve road or descending a steep slope. It is a device to prevent the heavy equipment is overturned by controlling to maintain the inclination angle of the.

Heavy equipment also requires a lot of driving to move between construction sites and work in the workplace, because heavy equipment is a heavy load than the vehicles due to its characteristics, more centripetal force acts during rotational steering, there is a risk of overturning.

However, in the conventional wheel-type heavy equipment, when the heavy equipment turns the curve, if the proper balance between the driving speed and the steering angle is not balanced, the heavy equipment may be overturned. According to the size, proper deceleration operation was required.

However, manipulating the maximum operable speed according to the steering angle requires a lot of experience, and there is a safety problem, so it is common practice to turn the vehicle at a sufficient deceleration state. The efficiency will be reduced.

In addition, when a steep slope is carried out in a heavy equipment such as an excavator while a heavy load is placed on the work machine, the center of gravity is shifted forward and there is a risk of the vehicle body overturning even with a slight impact.

Therefore, in order to solve such a problem, the wheel anti-overload apparatus of Utility Model No. 88-21285 includes a steering angle detecting means, a traveling speed detecting means, and a vehicle inclination angle detecting means as shown in FIG. And the safety driving device has been devised so that the optimum speed for the steering angle is automatically set by inputting the vehicle inclination angle signal to the control unit so that the speed is not increased further.

However, even in such a device, the maximum driving speed of the equipment is limited, so there is a problem in that the maximum performance of the equipment is not exhibited.

In addition, a shock absorbing device for a wheel type heavy equipment of Utility Model Publication No. 88-15716 has been devised, and FIG. 1 is a block diagram of the device, and a shock absorbing cylinder 3 between the front axle 2a and the vehicle body 1 is provided. 4) is installed, and load sensors 26 and 27 are installed between the shock absorbing cylinders 3 and 4 and the vehicle body 1, and between the vehicle body 1 and the axle in the load sensor sensors 26 and 27. The shock applied to the controller and the work load are input to the controller (9). The controller 9 processes this signal and outputs a control signal to the flow path control valve 7 and the flow regulating valve 8. The flow control valve 7 is only for changing the flow direction of the pressure oil so that the pressure oil inside the hydraulic cylinders 3 and 4 is returned to the oil tank, while the flow rate control valve 8 is applied from the controller 9. The spool is moved proportionally according to the magnitude of the electrical signal, so that the amount of passage of the extruded oil through the flow regulating valve 8 is linearly adjusted according to the magnitude of the load so that the impact force of the hydraulic cylinders 3 and 4 is optimal. It is supposed to buffer.

Therefore, since the piston of the cylinder moves so that the pressure applied to both wheels is the same while driving, the same pressure is always applied to the two wheels, so that the driving force is maintained even when driving in rough terrain, and the stability of the vehicle body is also affected. It is an invention that can absorb shocks when they occur, reduce fatigue of the driver, and extend parts life.

However, this apparatus is also configured to simultaneously control two cylinders on the front axle, so that only the amount of impact in the front and rear directions can be absorbed, and there is a problem that control in the left and right directions is impossible. That is, since the upper structure, such as an excavator, works while turning at an arbitrary angle with respect to the lower traveling body, lifting or impact of the vehicle body may occur in front and rear, left and right.

Therefore, controlling only the front-rear direction with respect to the traveling body is insufficient to reduce the overall shock of the vehicle body. In addition, the rear axle does not have a shock absorbing cylinder is not installed to control the body at any angle with respect to the axle, there is a problem that can not be applied to prevent the fall of the body or to maintain the stability of the body during operation.

Therefore, in order to solve the above problem, in the present invention, two left and right cylinders are installed between the body and the front axle, and two left and right cylinders are also installed between the body and the rear axle to control the vehicle body at any inclination angle with respect to the axle. The controller receives a signal input from the sensor that detects the steering angle, driving speed, and the inclination angle of the heavy equipment while the heavy equipment is running, and calculates the optimal inclination angle of the ground of the car body based on this value. By controlling the two cylinders to change the inclination angle of the body to the ground, to prevent overturning of heavy equipment and to maintain the level of the body, two cylinders between the front axle and the body of the left and right cylinders when driving the uneven part of the ground Safe driving device that is installed to get the same pressure Commanded.

2 is a structural state diagram which shows the system of this invention.

In the lower body of the heavy-duty heavy duty vehicle, single-acting hydraulic cylinders 3, 4, 5, and 6 are mounted between the left and right sides of the front and rear axles 2a and 2b and the lower end of the body 1, respectively, and the front axle 2a. The steering angle detection device (14, 15) and the rear sensor (2b) on the left and right sides of the vehicle sensor (1) and the inclination sensor (16) below the vehicle body (1) and the flow rate of the oil tank When the oil pressure is 13, the oil pressure on the main pump 12 side is operated by controlling the spools of the flow rate control valves 10a and 10b by the electromagnetic proportional pressure reducing valves 11a to 11d controlled by the controller 9. (2b) is supplied to the hydraulic cylinder (5, 6) side, the drain on the hydraulic oil cylinder (5, 6) side is returned to the oil tank by the relief valve (24, 25) to check its own pilot pressure, In addition, the hydraulic cylinders 3 and 4 on the front axle 2a are provided with a relief valve 22 in which the pilot pressure is checked by the mounted solenoid valve 23 when the pressure of the gear pump 13 is transmitted. Drive to arrange the check valves 20 and 21 of the cylinders 3 and 4, and the drains on the hydraulic cylinders 3 and 4 are connected to the drains of the electromagnetic proportional pressure reducing valves 11a to 11d. Together to return to the oil tank.

In the above configuration, when the controller 9 is excited, the controller 9 inputs the left and right inclination angle ax and the forward and backward inclination angle ay from the inclination angle sensor 16 and sets the steering angle at from the steering wheel detection devices 14a and 14b. After inputting the driving speed V from the speed sensor 17, the compensation value calculation 28 and the body tilt angle control value calculation 29 are performed using these input values, and the control value judgment 30 and the forward and backward tilt angles are performed. It is more preferable to configure the electronic proportional pressure reducing valves 11a to 11d by determining (ay).

In the hydraulic circuit of the present invention configured as described above, the principle of operation thereof will be described. As shown in FIG. 3 (A), when the left wheel 18 climbs over an obstacle while the equipment is traveling, all the loads of the equipment are applied to the left wheel. Since the high pressure acts on the left cylinder 3 and the low pressure acts on the right cylinder 4, and thus the right wheel 19 becomes obsolete so that proper driving operation is not achieved.

At this time, when a control signal is output from the controller to the solenoid valve 23, the pilot pressure is supplied from the gear pump to open the check valves 20 and 21, and thus a flow path is formed from the left cylinder 3 to the right cylinder 4. As shown in the figure (a), the cylinder moves until the right wheel 19 is in close contact with the ground and becomes the same pressure as the left wheel. In addition, the relief valve 22 serves to block the flow path when the pressure exceeds the set pressure.

(A) of FIG. 4 is a diagram when the right wheel climbs on an obstacle, and in the same principle as above, as shown in (b), the cylinder 3 expands and the cylinder 4 closes to the ground. It is contracted to achieve smooth running performance.

Referring to the operation principle of the hydraulic cylinder (5,6) installed on the rear axle, first, the signal from the body tilt angle sensor 16, the steering angle sensor (14, 15), the speed sensor (17) is input from the controller (9) The optimum body tilt angle control signal is calculated and output to the electromagnetic proportional pressure reducing valves 11a, 11b, 11c, and 11d. Each of the electromagnetic proportional pressure reducing valves throttles the flow rate output from the gear pump 13, and outputs a pilot pressure proportional to the electric signal from the controller 9, thereby closing the spool of each flow control valve 10a, 10b. Push it up.

The flow control valves 10a and 10b supply the discharge flow rate of the main pump 12 to the hydraulic cylinder by an amount proportional to the pilot pressure of the electromagnetic proportional pressure reducing valves 11a to 11d, or the flow rate of the hydraulic cylinder to the oil tank. By returning, it maintains the optimum body tilt angle.

That is, when the equipment is running or stopped in the place where the ground is inclined to the right as shown in FIG. 5 (a), the existing equipment is inclined at the same slope as the ground as in (a), so that the risk of tipping over of the vehicle body is increased. In addition, since the driver's seat is inclined, the worker's posture is also unstable and the work is performed, thereby reducing work efficiency.

The figure (b) shows the result when the vehicle body inclination angle was controlled by the present invention. That is, the controller detects the vehicle body inclination angle ax, calculates a control value so that the vehicle body becomes horizontal, and outputs an electrical signal to the electromagnetic proportional pressure reducing valves 11a11b, 11c, and 11d, and the secondary pressure of the electromagnetic proportional pressure reducing valves 11a to 11d. By pushing one of the spools of the flow control valves 10a and 10b, the flow rate of the cylinder 5 is returned to the oil tank, and the flow rate of the pump 12 is supplied to the right cylinder 6 so that the cylinders 5 and 6 By moving, the body 1 moves horizontally with respect to the ground.

At this time, in the cylinder (3,4) between the front axle (2a) and the body (1), when the body (1) is lifted horizontally, all the load is applied to the left cylinder (3) of the front axle (2a) to the circuit described above As the cylinders 3 and 4 move until the pressures applied to the left and right cylinders 3 and 4 are equal, the right wheel of the front axle 2a also comes into close contact with the ground as shown in Fig. (B).

Figure (a) of FIG. 6 shows the existing state of the machine when the machine is traveling or working with the body tilted back and forth with respect to the driving direction. The body 1 is tilted at the same slope as the ground. There is a risk of tipping over when stopping suddenly or moving the work machine while driving. Fig. (B) shows the result when the vehicle body inclination angle is controlled according to the present invention. The controller 9 detects the vehicle body inclination angle ay and calculates the control value so that the vehicle body becomes horizontal. The flow rate of the cylinders 5 and 6 is returned to the oil tanks by pushing the spools of the tank so that the vehicle body is leveled.

Figure (a) of FIG. 7 shows the machine traveling on a curve.

Fig. (B) shows the result of controlling the body tilt angle according to the present invention when driving on a curved road as shown in Fig. (A). The controller inputs the tilt angle ax, the steering angle ast, and the traveling speed V of the body. By associating the optimum inclination angle control value to control the cylinders 5 and 6 of the rear axle, the vehicle body is controlled so as to run in an inclined state in a direction opposite to the centrifugal force so as to prevent overturning or slipping while driving.

8 is a flowchart of a controller calculation process of the present invention, and shows a process of calculating an optimal vehicle body tilt angle for the fall prevention. Referring to the calculation process according to the figure, in A ₁ , as a sensor signal input unit, a signal is input from the inclination angle sensor 16 installed on the vehicle body and detecting the inclination angle ax and the inclination angle ay of the vehicle body, and the steering angle of the front wheel is set. Speed sensor 17 for inputting a signal from the steering angle detection device 14a, 14b to detect, inputting a steering angle signal asast from the steering angle detection device 14a, 14b for detecting the steering angle of the front wheel, and detecting the traveling speed of the equipment Enter the machine's travel speed V.

In A ₂ , the process of calculating the compensation value to prevent the machine from falling when driving the curve. That is, the centrifugal force generated in the equipment is determined by the traveling speed and the steering angle of the equipment, so the optimum body tilt angle compensation value Δa _x according to the steering angle a _st and the traveling speed V input from A ₁ is as follows: Δa _x = f (a _st , V).

A ₃ in the functions to the vehicle body as a process for calculating the body tilt angle control value for maintaining the horizontal and ensure the safety of the upset, and a driver's seat the driver improve the efficiency of hameuroseo operation to work in a stable posture .

When the calculation process is described, when the body inclination angle a _x input from A ₁ is subtracted from the body inclination angle compensation value Δa _x calculated from A ₂ , a _{x_r} is greater than 0, the body 1 is inclined to the left. The flow rate is supplied to the left cylinder 5 of the rear vehicle side 2b, the flow rate of the right cylinder 6 is returned to the tank, and the control values Url1 and Url2 are calculated to keep the vehicle body horizontal.

That is, Url1 = Krl1 * a _{x_r} , url2 = -kul2 * a _{x_r} where Krl1 and Krl2 are proportional constant values.

In addition, when a _{x_r} is less than 0, since the vehicle body 1 is inclined to the right side, the flow rate of the left cylinder 5 of the rear axle 2b is returned to the tank, and the flow rate is supplied to the right cylinder 6 to supply the vehicle body. The output values Url1 and Url2 of the electromagnetic proportional pressure reducing valves 11a to 11d are calculated so that (1) is horizontal.

That is, it calculates as Url1 = -Krl1 * a _{x_r} and Url2 = Kul2 * a _{x_r} . In addition, when the body inclination angle ay in the front-rear direction is greater than 0, the vehicle body 1 is inclined forward, so that the flow rate of the cylinders 5 and 6 is returned to the tank so that the vehicle body 1 remains horizontally controlled values Ubf1 and Ubf2. Calculate

That is, Ubf1 = -Kbfl * a _y and Ubf2 = -Kbf2 * a _y where Kbf1 and Kbf2 are proportional constant values.

When the body inclination angle a _y is less than zero, the body 1 is inclined backwards. Therefore, the control values Ubf1 and Ubf2 are supplied to supply the flow rates from the pump 12 to the cylinders 5 and 6 to keep the body 1 horizontal. Calculate

That is, Ubf1 = Kbfl * a _y and Ubf2 = Kbf2 * a _y .

In A ₄ , the final output values U1 output to the electromagnetic proportional pressure reducing valve 11a and U2 output to 11b are calculated based on the values calculated in A ₃ .

That is, it calculates as U1 = Url1 + Ubf1 and U2 = Url2 + Ubf2. When the U1 value is greater than 0, the control value is output to the electromagnetic proportional pressure reducing valve 11a, and when it is less than 0, the control value is output to the electromagnetic proportional pressure reducing valve 11b. When the U2 value is larger than 0, the control value is output to the electromagnetic proportional pressure reducing valve 11c, and when smaller than 0, the control value is output to the electromagnetic proportional pressure reducing valve 11d. According to the present invention, by properly controlling the inclination angle of the vehicle body while the heavy equipment is driving or working, it is possible to prevent the equipment from overturning, and to prevent the inclination of the driver's seat to improve the work efficiency.

Claims (2)

In the lower body of the heavy-duty heavy duty vehicle, single-acting hydraulic cylinders 3, 4, 5, and 6 are mounted between the left and right sides of the front and rear axles 2a and 2b and the lower end of the body 1, respectively, and the front axle 2a. On the left and right sides of the crank angle detectors 14 and 15 and on one side of the rear axle 2b, a speed sensor 17 and a body tilt angle sensor 16 are disposed below the body 1, and the flow rate of the oil tank is increased. When oil pressure is applied to the gear pump 13, the spools of the flow control valves 10a and 10b are operated by the electromagnetic proportional pressure reducing valves 11a to 11d controlled by the controller 9 so that the oil pressure on the main pump 12 side is increased. It is fed to the hydraulic cylinders 5 and 6 on the rear axle 2b, and the drain on the hydraulic cylinders 5 and 6 is returned to the oil tank by relief valves 24 and 25 which check their own pilot pressure. Also, the hydraulic cylinders 3 and 4 on the front axle 2a are provided with a relief valve 22 in which the pilot pressure is checked by the mounted solenoid valve 23 when the pressure of the gear pump 13 is transmitted. Drive to arrange the check valves 20 and 21 of the cylinders 3 and 4, and the drains on the hydraulic cylinders 3 and 4 are connected to the drains of the electromagnetic proportional pressure reducing valves 11a to 11d. Roll over prevention device of the wheel type heavy equipment, characterized in that configured to return to the oil tank together. The method according to claim 1, wherein when excited, the inclination angle ax and the inclination angle ay are input from the inclination angle sensor 16, and the steering angle at is input from the steering angle detection devices 14a, 14b. After inputting the traveling speed V from 17, the compensation value calculation 28 and the body tilt angle control value calculation 29 are performed using these input values, and the control value judgment 30 and the forward and backward inclination angle are determined. Roll over prevention device of the wheel type heavy equipment, characterized in that the controller (9) to control the electronic proportional pressure reducing valves (11a ~ 11d).