KR20170065341A

KR20170065341A - Excavator preventing overturn and the method of preventing overturn of excavator

Info

Publication number: KR20170065341A
Application number: KR1020150171633A
Authority: KR
Inventors: 김정윤; 박희정; 김재현; 노영흔; 김동규; 윤현중; 김진곤
Original assignee: 대구가톨릭대학교산학협력단
Priority date: 2015-12-03
Filing date: 2015-12-03
Publication date: 2017-06-13

Abstract

The present invention provides an excavator having a rollover prevention function and a method for preventing rollover of an excavator. A boom for a vehicle, comprising: a traveling body; a main body rotatably mounted on the traveling body; a boom rotatably mounted on the main body; an arm having one end rotatably mounted on the boom; An inclination measuring unit installed on the main body and measuring an inclination angle between the main body and the ground, and an inclination measuring unit measuring an inclination of the main body and the ground measured by the angle sensor, And a control unit for calculating the center of gravity of the excavator with the rotation angle and determining the danger of rollover by using the calculated center of gravity and the inclination angle of the main body measured by the inclination measuring unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an excavator and an excavator,

And more particularly, to an excavator having a function of preventing rollover during operation and a method of preventing rollover of an excavator.

An excavator is a machine that collects digging or digging the earth or rock. Generally, an excavator has a lower traveling body, an upper rotating body, an engine, a boom, an arm, and a bucket. Under the engine driving, the lower traveling body is moved to change the working position, And operates to transfer the digging or digging of the soil or rock to the bucket by the mutual action of the boom and the arm.

During the work of the excavator, a safety fence is installed around the excavator for the safety of other workers or pedestrians, or a separate safety guard prevents people or objects from entering the work radius of the excavator.

The accident rate caused by the overturning of the excavator during the accident caused by the excavator is not negligible. Therefore, care must be taken to prevent the excavator from rolling over when the excavator is running, or when the boom, arm, or tool, such as excavation work, is moved to change the center of gravity. The driver is fatigued in constant work, less attention to rollovers, which can lead to accidents. In order to prevent such an accident, it is necessary to warn the excavator if there is a risk of overturning.

Korean Patent Laid-Open Publication No. 10-2015-0022781 (protective device for a cabin for a construction machine) discloses a technique for protecting a cab from the conduction of an excavator.

Korean Patent Publication No. 10-2015-0022781 (Feb.

Embodiments of the present invention aim to provide an excavator that improves safety and work efficiency by informing a driver of the risk of rollover during excavation work.

According to an aspect of the present invention, there is provided a vehicle including a traveling body, a main body rotatably mounted on the traveling body, a boom rotatably mounted on the main body, an arm having one end rotatably mounted on the boom, An angle sensor for measuring a rotation angle of the boom, the arm, and the bucket, a tilt measuring unit installed in the main body and measuring an inclination angle between the main body and the ground, A control unit for calculating a center of gravity of the excavator by a rotation angle measured from the angle sensor and an inclination angle between the main body and the ground measured by the inclination measuring unit and using the calculated center of gravity and the inclination angle to determine a risk of overturning The present invention provides an excavator having an anti-rollover function.

The apparatus may further include a torque sensor installed at the other end of the arm for measuring a torque of the bucket.

The control unit may calculate a weight acting on the bucket by using the torque measured by the torque sensor.

The angle sensor includes a first angle sensor provided between the boom and the main body for measuring a rotation angle of the boom and a second angle sensor provided between the boom and the arm for measuring a rotation angle of the arm, And a third angle sensor installed between the arm and the bucket for measuring a rotation angle of the bucket.

The apparatus may further include an alarm unit installed in the main body and connected to the control unit to transmit information on the risk of rollover.

The apparatus may further include a variable weight portion movably installed in an inner space of the main body.

In another aspect of the present invention, there is provided an excavator comprising: measuring a rotation angle of a boom, an arm, and a bucket of an excavator in operation; measuring a slope of the ground and the excavator; measuring the center of gravity of the excavator in real- Determining whether the excavator is stable based on the center of gravity and the inclination of the excavator, and generating an alarm signal in the alarm unit when it is determined that the excavator may be rolled over. to provide.

In addition, measuring the center of gravity of the excavator in real time may measure a torque acting on the bucket to measure the weight acting on the bucket.

The method for preventing rollover of an excavator and an excavator according to an embodiment of the present invention determines the risk of rollover and notifies the driver of the risk of rollover, thereby improving the safety of the work and improving the work efficiency.

Also, the method for preventing rollover of an excavator and an excavator according to an embodiment of the present invention calculates the center of gravity which changes in real time during operation, and continuously delivers the danger of rollover to a driver.

Also, in the method of preventing rollover of an excavator and an excavator according to an embodiment of the present invention, the position of the center of gravity is detected in real time and the variable weight portion is mounted to set the position of the variable weight portion optimized for the center of gravity, It is possible to reduce the weight of the excavator.

1 is a perspective view illustrating an excavator having a rollover prevention function according to an embodiment of the present invention.
Fig. 2 is a side view showing the excavator of Fig. 1; Fig.
3 is a block diagram showing a partial configuration of the excavator of FIG.
FIG. 4 is a flowchart illustrating an overturn prevention method of an excavator according to an embodiment of the present invention.
5 is a front view showing a case where the excavator of FIG. 1 is located on an inclined plane.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods of achieving them will be apparent with reference to the embodiments described in detail below with reference to the drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or corresponding components throughout the drawings, and a duplicate description thereof will be omitted .

In the following embodiments, the terms first, second, and the like are used for the purpose of distinguishing one element from another element, not the limitative meaning.

In the following examples, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise.

In the following embodiments, terms such as inclusive or possessive are intended to mean that a feature, or element, described in the specification is present, and does not preclude the possibility that one or more other features or elements may be added.

In the following embodiments, when a part of a film, an area, a component or the like is on or on another part, not only the case where the part is directly on the other part but also another film, area, And the like.

In the drawings, components may be exaggerated or reduced in size for convenience of explanation. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of explanation, and thus the present invention is not necessarily limited to those shown in the drawings.

If certain embodiments are otherwise feasible, the particular process sequence may be performed differently from the sequence described. For example, two processes that are described in succession may be performed substantially concurrently, and may be performed in the reverse order of the order described.

FIG. 1 is a perspective view showing an excavator 100 having an rollover prevention function according to an embodiment of the present invention. FIG. 2 is a side view showing the excavator 100 of FIG. 1, 100 shown in FIG.

1 to 3, an excavator 100 includes a main body 10, a traveling body 20, a boom 30, an arm 40, a bucket 50, a control unit 60, and an alarm unit 80. [ .

The main body 10 can be rotatably connected to the traveling body 20. A driving device such as an engine may be mounted in the main body 10 and a cab may be installed on one side of the main body 10 to allow the driver to sit on the main body 10 to adjust the excavator 100.

A variable weight portion (not shown) may be provided so as to be movable in an inner space of the main body 10 or outside. The variable weighing part can change the position of the center of gravity by moving its position. The center of gravity changes due to the relative positional change of each component of the excavator 100 during the excavation work. The variable weight portion can respond to the change of the center of gravity flexibly by changing the position corresponding to the changing center of gravity.

The traveling body 20 can be driven by receiving the driving force from the main body 10. [ The traveling body 20 is a moving device for moving in a rough or flat place, and is not limited to a specific configuration. For example, it may have a plurality of wheels, a caterpillar, or a combination of a wheel and a caterpillar.

The boom (30) can be rotatably mounted on the main body (10). The first cylinder 31 connects the side surface of the boom 30 to the main body 10 and can move the boom 30 by the hydraulic pressure of the first cylinder 31. A first angle sensor 35 may be installed at a portion connecting the boom 30 and the main body 10. The first angle sensor 35 can measure the angle at which the boom 30 is rotated by the main body 10.

One end of the arm 40 is connected to the boom 30 and the other end of the arm 40 is connected to the bucket 50. The arm 40 can be installed to be rotatable on the boom 30. The arm 40 can rotate about the boom 30 by the hydraulic pressure of the second cylinder 32. [ And a second angle sensor 45 may be installed at a portion connecting the arm 40 and the boom 30. [ The second angle sensor 45 can measure the angle of rotation of the arm 40 with respect to the boom 30.

A camera module (not shown) may be installed at one side of the arm 40, and an illumination unit may be provided adjacent to the camera module. The illuminating unit brightens the working environment or the periphery of the camera module, so that the camera module can capture a clear image. An air nozzle (not shown) may be provided on the arm 40 to remove foreign matter adhering to the camera module or the illumination unit.

The bucket 50 can lift or move the weight produced by the excavation work. The bucket 50 can be connected to the arm 40 by the third cylinder 41 and the fourth cylinder 51. [ The bucket 50 is installed at the other end of the arm 40 and can be rotated at a predetermined angle.

A third angle sensor 55 may be installed at a portion where the bucket 50 and the arm 40 are connected. The third angle sensor 55 can measure the rotation angle of the bucket 50.

A torque sensor 56 may be installed at a portion where the bucket 50 and the arm 40 are connected. The torque sensor can detect the torque acting on the bucket 50 and measure the weight of the weight contained in the bucket 50.

The control unit 60 may include a center of gravity calculating unit 61, a danger determining unit 62, and a signal generating unit 63. The controller 60 may be connected to the first angle sensor 35, the second angle sensor 45, the third angle sensor 55 and the torque sensor 56 to receive the measured value. The control unit 60 may be connected to the inclination measuring unit 65 to measure the inclination angle between the excavator 100 and the ground. The control unit 60 may be connected to the alarm unit 80 to transmit a warning alarm signal to the alarm unit 80 when it is determined that the excavator 100 may be rolled over.

The inclination measuring unit 65 may be implemented as a tilt sensor installed on the main body 10 and capable of measuring the inclination angle between the main body 10 and the ground. The inclination angle measured by the inclination measuring unit 65 may be used as data for determining the risk of the excavator 100 by calculating the center of gravity of the excavator 100.

The alarm unit 80 can inform the driver of the danger of rollover of the excavator 100. [ The alarm unit 80 is not limited to a specific configuration, and an apparatus for transmitting a warning message to an operator can be used. For example, the alarm unit 80 may be constituted by a display device 81 or an alarm bell 82 installed in front of the cabin cap. Further, the alarm unit 80 may be an adjustment stick (not shown) that is vibrated if there is a risk of rollover.

Referring again to FIG. 3, a process of determining the danger of rollover of the excavator 100 by the control unit 60 can be described.

The position of the boom 30, the arm 40, and the bucket 50 changes when the excavator 100 performs the digging operation. The boom 30, the arm 40, the bucket 50 and the main body 10 each rotate to change their position in the x-, y-, and z-axis directions, and the inclination of the ground on which the excavator 100 is located It can affect the position change. Also, as the weight is contained in the bucket 50, the weight of the bucket 50 also changes. Here, the center point of the bottom surface of the traveling body 20 of the excavator 100 is defined as the origin, the direction toward the front and rear of the excavator 100 is defined as x axis, the direction toward the side of the excavator 100 as y axis, 100 may be the z-axis direction.

The positional change caused by the rotation of the boom 30, the arm 40 and the bucket 50 of the excavator 100 is performed in the plane formed by the x-axis and the z-axis, The positional change in the y-axis direction can also be considered.

The control unit 60 receives information about the angle of rotation of the boom 30 relative to the main body 10 from the first angle sensor 35 and the arm 40 receives the information from the second angle sensor 45 about the boom 30 And receives information about the angle at which the bucket 50 is rotated about the arm 40 from the third angle sensor 55. [

The control unit 60 controls the boom 30 and the arm 40 using the rotation angle received from the first to third angle sensors 55 and the lengths of the boom 30, , And calculates the data regarding the position of the bucket 50.

The control unit 60 can calculate the weight at the center of gravity of the bucket 50 using the torque sensor 56. [ The weight at the center of the bucket 50 can be calculated by the following equation (1).

[Equation 1]

L is the length of the bucket 50 and is defined as the length between the end of the bucket 50 and the end of the arm 40. A is the weight taken at the center of the bucket, τ is the torque measured at the torque sensor 56, can do. g is the gravitational acceleration.

The control unit 60 can receive the tilt angle information between the excavator body 10 and the ground through the inclination measuring unit 65. [

Data of the position of the boom 30, the arm 40 and the bucket 50, the inclination angle information of the excavator main body 1 and the ground and the weight of the bucket 50 are calculated and used, Can be calculated.

The center-of-gravity calculating section 61 of the control section 60 calculates the center-of-gravity point of the main body 10, the traveling body 20, the boom 30, the arm 40 and the bucket 50 in the X direction Can be calculated.

&Quot; (2) "

X is the position of the center of gravity of the excavator 100 in the x-axis direction. xc denotes the length in the x-axis direction of the variable weight portion provided in the main body 10, and xb denotes the length in the x-axis direction of the main body 10. [ xbo is the length of the boom 30 in the x-axis direction, and xa is the length of the arm 40 in the x-axis direction. xbu is the length of the bucket 50 in the x-axis direction. wc is the weight of the variable weight portion installed in the main body 10, and wb is the weight of the main body 10. wbo is the weight of the boom 30, wa is the weight of the arm 40, wbu is the weight of the bucket 50 calculated in Equation (1) above.

The position of the center of gravity in the x-axis, y-axis, and z-axis directions can be calculated by using and modifying Equation (2). That is, the control unit 60 can calculate the position of the center of gravity of the excavator 100 in three dimensions in real time.

The risk judging unit 62 judges the risk of rollover by using the center of gravity calculated by the center of gravity calculating unit 61.

For example, a vehicle such as an excavator 100 may be considered a risk of rollover when the center of gravity is not within the area of the bearing surface. Here, the supporting surface refers to an area obtained by virtually projecting the excavator 100 on a flat surface without inclination. In order to determine the risk of rollover, the center of gravity and the inclination angle information are used to determine whether the excavator 100 is being driven forward or side-by-side, along with checking the area of the bearing surface following the rolling of the excavator 100, ) Is located on the bearing surface or in the outer region of the bearing surface, so that it is possible to confirm whether there is a possibility of rollover.

Fig. 5 is a front view showing the case where the excavator 100 of Fig. 1 is positioned on an inclined plane and side rolling is performed.

The excavator 100 is positioned on the inclined plane s' inclined at an angle? On the ground s. The center of gravity is calculated by the center of gravity calculating section 61 based on the angle information through the sensors and the inclination angle information between the excavator 100 and the ground s, It is judged that the center of gravity is within the area of the supporting surface and it is judged that it is safe if it is in the area, but it is judged that it is dangerous when the area is out of the area.

When the risk judging unit 62 judges that the excavator 100 is in danger of rollover, the signal generating unit 63 generates an alarm signal to be transmitted to the alarm unit 80. [ The alarm unit 80 receives the warning signal from the signal generating unit 63 and can inform the driver of the risk of overturning.

FIG. 4 is a flowchart illustrating an overturn prevention method of an excavator according to an embodiment of the present invention.

4, the method for preventing rollover of an excavator measures rotation angle and torque information from the first to third angle sensors 35, 45 and 55 and the torque sensor 56, The center of gravity of the excavator 100 is calculated using the measured rotation angle, torque, and tilt angle (S30), and it is determined whether or not the excavator is stable (S40) , And transmits an alarm signal to the alarm unit if it is not stable (S50).

The boom 30 is installed in the main body 10 in order to obtain the positional data of the boom 30, the arm 40 and the bucket 50 of the excavator 100 in the step S10 of measuring the pitch angle and the torque of the excavator 100 10 is obtained from the first angle sensor 35 and the angle at which the arm 40 is rotated with respect to the boom 30 is obtained from the second angle sensor 45 and the bucket 50 is moved from the arm 40 can be obtained from the third angle sensor 55. In order to calculate the weight of the bucket 50, it is possible to detect the torque acting on the bucket 50 from the torque sensor 56 provided at the portion where the arm 40 and the bucket 50 are connected.

In step S20 of measuring the inclination between the ground and the excavator 100, the inclination measuring unit 65 installed on the main body 10 can measure the inclination angle between the main body 10 and the ground.

The calculation of the center of gravity of the excavator 100 calculates the position of the excavator 100 in operation using the specification of each of the first to third angle sensors and the excavator 100, The weight of the bucket 50 can be calculated. The center of gravity calculating section 61 can calculate the center of gravity of the excavator 100 in real time using the calculated position and weight.

The step of determining whether the excavator 100 is stable (S40) may determine whether the slope measured based on the calculated center of gravity is in a dangerous range. In addition, it is possible to judge whether the center of gravity calculated based on the measured slope corresponds to the dangerous range.

When it is determined that the excavator 100 is safe, the work is performed while determining the center of gravity continuously. However, if the excavator 100 determines that there is a danger of rollover, the signal generator 63 generates a warning signal, and transmits the warning signal to the alarm unit 80 so that the driver can recognize the risk of rollover.

The method of preventing the overturning of the excavator (100) and the excavator determines the risk of rollover and notifies the driver of the risk of overturning, thereby improving the safety of the work and improving the work efficiency.

The method of preventing the overturning of the excavator 100 and the excavator can calculate the center of gravity which changes in real time at the time of operation, and can continuously transmit the risk of overturning to the driver.

The present invention has been described above with reference to preferred embodiments. It will be understood by those skilled in the art that the present invention may be embodied in various other forms without departing from the spirit or essential characteristics thereof. Therefore, the above-described embodiments should be considered in an illustrative rather than a restrictive sense. For example, in the preferred embodiment of the present invention, the variable weight portion is installed in the main body. However, a fixed weight portion may be provided instead of the variable weight portion, and the risk of rollover due to the change in the center of gravity of the excavator It is of course possible to calculate it.

The scope of the present invention is indicated by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

10: Body
20:
30: Boom
35: first angle sensor
40: Cancer
45: second angle sensor
50: Bucket
55: Third angle sensor
56: Torque sensor
60:
61: center of gravity calculating section
62: Risk judgment section
63:
65: inclination measuring unit
80: Alarm section
100: Excavator

Claims

A traveling body;
A body pivotably mounted on the traveling body;
A boom rotatably mounted on the main body;
An arm whose one end is rotatably mounted on the boom;
A bucket rotatably connected to the other end of the arm;
An angle sensor for measuring a rotation angle of the boom, the arm, and the bucket;
A tilt measuring unit installed in the main body and measuring an inclination angle between the main body and the ground; And
A control unit for calculating a center of gravity of the excavator by a rotation angle measured from the angle sensor and an inclination angle between the main body and the ground measured by the inclination measuring unit and using the calculated center of gravity and the inclination angle to determine a risk of overturning And an anti-rollover function.

The method according to claim 1,
And a torque sensor installed at the other end of the arm and measuring a torque of the bucket.

3. The method of claim 2,
Wherein,
And calculating a weight acting on the bucket by using the torque measured by the torque sensor,

The method according to claim 1,
Wherein the angle sensor comprises:
A first angle sensor provided between the boom and the main body for measuring a rotation angle of the boom;
A second angle sensor installed between the boom and the arm and measuring a rotation angle of the arm; And
And a third angle sensor installed between the arm and the bucket and measuring a rotation angle of the bucket.

The method according to claim 1,
And an alarm unit installed in the main body and connected to the control unit to transmit information on the risk of rollover.

The method according to claim 1,
And a variable weight portion movably installed in the main body.

Measuring the rotation angle of the boom, the arm and the bucket of the excavator in operation;
Measuring the slope of the excavator and the ground;
Measuring the center of gravity of the excavator in real time;
Determining whether the excavator is stable using the center of gravity and the inclination of the excavator; And
And generating an alarm signal in the alarm unit if it is determined that the excavator is likely to be rolled over.

8. The method of claim 7,
The step of measuring the center of gravity of the excavator in real-
A method of preventing rollover of an excavator, comprising measuring a torque acting on the bucket and measuring a weight acting on the bucket.