A counterweight system and counterweight method for improving the stability of a complete vehicle, and a backhoe

Abstract

The application discloses a counterweight system and method for improving the stability of a whole vehicle and a excavator, and belongs to the technical field of engineering machinery. The system comprises a counterweight body, wherein the upper portion of the counterweight body is provided with a containing space; a floating counterweight block, wherein the floating counterweight block is arranged in the containing space and can slide in the vertical direction; a driving device, wherein the driving device drives the floating counterweight block to move up and down; a posture detection module, wherein the posture detection module is installed on each working device of the excavator and is used for detecting the motion parameters of the working device of the excavator in real time; and a controller, wherein the controller is used for receiving the motion parameters and controlling the driving device to act according to a preset logic, so that the inertial force generated by the floating counterweight block offsets the impact inertial force generated when the working device stops. The inertial force of the floating counterweight block offsets the inertial force of the working device, so as to reduce the impact caused when the working device stops and improve the stability of the whole machine.

Description

Technical Field

[0001] This invention relates to a counterweight system, counterweight method, and excavator for improving the stability of a vehicle, belonging to the field of engineering machinery technology. Background Technology

[0002] When loading materials onto a truck using an excavator, after the bucket is full, it must first be raised above the truck bed, and the entire machine rotated until the bucket is above the truck bed. The boom then lowers, and the bucket reaches position B in the diagram. At this point, the boom stops. Due to the inertia of the working device and the material, a significant impact is generated when the boom stops. Most excavators incorporate a buffer when stopping; instead of stopping the boom immediately, they bring it to a gradual stop to reduce the impact of the working device on the entire machine.

[0003] Because the working device of an excavator experiences significant impact during operation, the entire machine may shake violently when making large movements. Therefore, it is necessary to find a way to improve the stability of the machine without increasing the counterweight. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a counterweight system, counterweight method and excavator to improve the stability of the whole vehicle. By canceling the inertial force of the floating counterweight block with the inertial force of the working device, the impact caused when the working device stops is reduced and the stability of the whole machine is improved.

[0005] To achieve the above objectives, the present invention is implemented using the following technical solution: In a first aspect, the present invention provides a counterweight system for improving the stability of a vehicle, comprising: A counterweight, wherein the upper part of the counterweight is provided with a receiving space; A floating counterweight, wherein the floating counterweight is disposed in the accommodating space and can slide in the vertical direction; A drive unit, connected to the main valve of the excavator, is used to drive the floating counterweight to move up and down; An attitude detection module is installed on each working device of the excavator to detect the motion parameters of the excavator's working devices in real time. The controller is electrically connected to the attitude detection module and the drive device, and is used to receive the motion parameters and control the drive device to operate according to preset logic, so that the inertial force generated by the floating counterweight can counteract the impact inertial force generated when the working device stops.

[0006] Furthermore, the drive device includes a counterweight cylinder connected to the floating counterweight and a sliding rod for guidance. The counterweight cylinder is connected to the main valve of the excavator, and the sliding rod passes vertically through the floating counterweight.

[0007] Furthermore, the attitude detection module includes: Boom angle sensor, used to detect boom angle θ_boom; A boom angle sensor is used to detect the boom angle θ_arm; Bucket angle sensor, used to detect bucket angle θ_bucket.

[0008] Furthermore, the controller is configured to execute the following control logic: Calculate the boom angular velocity ω_boom based on the boom angle θ_boom, and monitor the operating handle signal; When ω_boom < 0 is detected and the control handle returns to the neutral position, it is determined that a stop command has been received; When a stop command is received, the decision to start the drive device is made based on the following conditions: Condition 1: The start condition is triggered when the boom descent speed ω_boom at the moment the stop command is issued is greater than the first speed threshold v_a. Condition 2: Calculate the impact potential coefficient K, and trigger the activation condition when K is greater than the set threshold K1; Condition 3: The start condition is triggered when the total operation time T_operation from the start of the descent instruction to the end of the stop instruction is greater than the time threshold t1; If the activation conditions are met, a signal is immediately sent to the control valve of the counterweight cylinder to lift the floating counterweight with a preset acceleration a.

[0009] Furthermore, the formula for calculating the impact potential coefficient K is as follows: K = (L_bucket * M_bucket + L_arm * M_arm + L_boom * M_boom) / (L_upper structure * M_upper structure); Where K is the impact potential coefficient, L_bucket is the distance from the bucket's center of gravity to the swing center, calculated using the bucket angle θ_bucket, M_bucket is the mass of the material contained in the bucket, L_arm is the distance from the stick's center of gravity to the swing center, calculated using the stick angle θ_arm, M_arm is the stick mass, L_boom is the distance from the boom's center of gravity to the swing center, calculated using the boom angle θ_boom, M_boom is the boom weight, L_upper structure is the distance from the upper structure's center of gravity to the swing center, and M_upper structure is the upper structure weight.

[0010] Furthermore, the controller is also configured to: Obtain the preset buffer stop time t2 of the working device; The duration of the drive device's operation, t3, is controlled to be greater than the buffer stop time, t2, so that the inertial force generated by the floating counterweight fully covers the duration of the impact force.

[0011] Furthermore, the buffer stop time t2 is dynamically calculated by the controller based on the real-time detected boom angular velocity ω_boom.

[0012] In a second aspect, the present invention provides a method for counterweighting a counterweight system for improving vehicle stability according to any one of the foregoing claims, comprising: The motion parameters of each working device of the excavator are acquired in real time through the attitude detection module; Calculate the boom angular velocity ω_boom based on the motion parameters; When ω_boom < 0 is detected and the operating handle returns to the neutral position, it is identified as a boom descent stop command; When a stop command is detected, the system determines whether the floating counterweight start-up conditions are met by comparing at least one of the following parameters with a preset threshold: boom descent speed ω_boom, impact potential coefficient K, and total operation time T_operation. If the starting conditions are met, the controller immediately sends a control signal to the counterweight cylinder, causing it to lift the floating counterweight with a preset acceleration a. After a duration of t3, the oil circuit is closed, allowing the floating counterweight to fall back to its original position under the action of gravity.

[0013] Furthermore, the formula for calculating the impact potential coefficient K is as follows: K = (L_bucket * M_bucket + L_arm * M_arm + L_boom * M_boom) / (L_upper structure * M_upper structure); Where K is the impact potential coefficient, L_bucket is the distance from the bucket's center of gravity to the swing center, M_bucket is the mass of the material contained in the bucket, L_arm is the distance from the stick's center of gravity to the swing center, M_arm is the stick mass, L_boom is the distance from the boom's center of gravity to the swing center, M_boom is the boom weight, L_upper structure is the distance from the upper structure's center of gravity to the swing center, and M_upper structure is the upper structure weight.

[0014] Thirdly, the present invention provides an excavator including the counterweight system described in any of the preceding claims for improving overall vehicle stability.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: 1. This invention provides a counterweight system, counterweight method, and excavator for improving the stability of the entire vehicle. The inertial force of the floating counterweight block cancels out the inertial force of the working device, thereby reducing the impact when the working device stops and improving the stability of the entire machine. 2. By directly detecting the motion parameters of the working device and determining the starting conditions, this invention can accurately distinguish between small-amplitude fine-tuning actions and large-impact stopping actions, and only activate the floating counterweight when it is really needed, thus avoiding unnecessary actions and energy loss. 3. The judgment logic based on motion parameters of this invention can adapt to different working device configurations, load states and operating habits; this invention combines multiple judgments of time threshold t1 and velocity threshold v_a to improve the robustness and reliability of the system; this invention dynamically calculates t2 and ensures that t3>t2 to achieve the best match between the inertial force action time and the impact force action time of the floating counterweight, thereby maximizing the stability effect. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the counterweight assembly provided in an embodiment of the present invention; Figure 2 This is a control schematic diagram of the attitude detection module provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of key parameter monitoring provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the loading operation provided in an embodiment of the present invention.

[0017] In the diagram: 10, counterweight assembly; 100, counterweight body; 110, floating counterweight block; 120, counterweight block cylinder; 130, sliding rod; 200, boom angle sensor; 210, stick angle sensor; 220, bucket angle sensor; 230, controller. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0019] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0020] Example 1, as Figure 1As shown in the figure, this embodiment introduces a counterweight system to improve the stability of the vehicle, including: a counterweight assembly 10, a drive device, an attitude detection module, and a controller 230; the counterweight assembly 10 includes: a counterweight body 100 and a floating counterweight block 110; the drive device includes a counterweight block cylinder 120 and a sliding rod 130; the attitude detection module includes a boom angle sensor 200, a stick angle sensor 210, and a bucket angle sensor 220; In this embodiment, a square space is provided on the upper part of the counterweight 100. A floating counterweight 110 is installed in the square space. A linear rolling bearing is installed on the floating counterweight 110, which can slide up and down along the sliding rod 130. The counterweight cylinder 120 is connected to the main valve. When the valve is opened, the floating counterweight 110 can be lifted. When the valve is closed, the floating counterweight 110 slowly descends under the action of gravity. The weight of the floating counterweight 110 is m. When it is lifted with an acceleration a, the counterweight 100 is subjected to a force of (1+a / g)mg. If the acceleration is g, the counterweight 100 is subjected to a force of 2mg. This is equivalent to an increase of m in the weight of the counterweight 100. The inertial force generated when the working device stops cancels out the inertial force of the floating counterweight 110, thus ensuring the stability of the whole machine when the working device stops rapidly.

[0021] To address the issue of precisely controlling the timing of the floating counterweight's movement, this embodiment integrates a working device attitude detection module and a corresponding control unit. The attitude detection module monitors key motion parameters of the working device in real time, providing the controller with decision-making information to accurately determine under what working conditions the floating counterweight needs to be activated to counteract impact forces; such as... Figure 2 As shown, the attitude detection module specifically includes: Boom angle sensor 200: Installed near the hinge point between the boom and the turntable. Used to measure the boom's pitch angle θ_boom relative to the horizontal plane or the turntable reference plane in real time.

[0022] Stick angle sensor 210: Installed near the hinge point between the stick and the boom. Used to measure the angle θ_arm between the stick and the boom in real time.

[0023] Bucket angle sensor 220: Installed near the hinge point between the bucket and the stick. Used to measure the angle θ_bucket between the bucket and the stick in real time.

[0024] The controller 230 receives signals from all sensors. The controller 230 has built-in preset control logic and algorithms for: Real-time calculation of the attitude and speed of the working device; Determine whether the current working device is in an operating phase that "may generate a large impact"; Calculate the predicted impact force or impact tendency; Based on preset rules and real-time data, it is determined whether to issue an instruction to start the counterweight cylinder 120 and to control its action sequence, including lifting speed, duration t3, etc. Control the on / off of the oil circuit of the counterweight cylinder 120.

[0025] like Figure 3 As shown, the controller 230 determines when to lift the floating counterweight 110 based on real-time monitoring and logical judgment of the following key parameters: The boom angle θ_boom is continuously monitored, and the boom angular velocity ω_boom is calculated from the angle difference.

[0026] When the boom is detected to be in a lowered state (ω_boom < 0) and the operating handle returns to the neutral stop position, the controller 230 evaluates whether the floating counterweight 110 needs to be activated. The evaluation criteria include: a. The greater the boom descent speed ω_boom at the moment the stop command is issued, the greater the impact force. Controller 230 sets a critical speed v_a. When the boom descent speed ω_boom at the moment the handle returns to the center position is greater than v_a, the impact risk is high, and the floating counterweight needs to be activated; b. Combining the stick angle θ_arm, bucket angle θ_bucket, and boom angle θ_boom, accurately calculate the impact potential coefficient of the working device at this moment, using the following formula: K=(L_bucket*M_bucket+ L_arm*M_arm+ L_boom*M_boom) / ( L_upperstructure* M_upper structure); Where K is the impact potential coefficient, L_bucket is the distance from the bucket's center of gravity to the swing center, calculated using the bucket angle θ_bucket, M_bucket is the mass of the material contained in the bucket, L_arm is the distance from the stick's center of gravity to the swing center, calculated using the stick angle θ_arm, M_arm is the stick mass, L_boom is the distance from the boom's center of gravity to the swing center, calculated using the boom angle θ_boom, M_boom is the boom weight, L_upper structure is the distance from the upper structure's center of gravity to the swing center, and M_upper structure is the upper structure weight. When the controller 230 calculates that the impact potential coefficient K is greater than the set value K1, it triggers the floating counterweight to move. c. The impact potential assessment described above only begins when the total duration T_operation from the start of the descent command to the return-to-center command is greater than a preset threshold t1. In this embodiment, t1 is taken as 0.5 - 1 second; if T_operation <= t1, it is considered a small adjustment action with a small impact force, and the floating counterweight is not activated.

[0027] The controller 230 determines that the floating counterweight 110 needs to be activated based on the above logic, and sends a signal to the control valve of the counterweight cylinder 120 to connect the pressure oil and lift the floating counterweight 110 with a preset acceleration a.

[0028] The lifting duration t3 of the floating counterweight 110 is greater than the buffer stop time t2 of the working device itself. Here, t2 is a preset fixed value, or it can be dynamically calculated by the controller 230 based on the real-time detected boom angular velocity ω_boom. The controller ensures that t3 > t2 to guarantee that the inertial force generated by the floating counterweight continues to act during the main impact period, effectively counteracting the impact.

[0029] After the lifting duration t3 ends, the controller 230 closes the oil supply valve of the counterweight cylinder 120, and the floating counterweight 110 slowly falls back to its initial position under the action of gravity, ready for the next action.

[0030] This embodiment, by directly detecting the key attitudes (angle, speed) and operational stages of the working device, can accurately distinguish between small-amplitude fine-tuning movements and large-impact stopping movements, activating the floating counterweight only when truly needed, avoiding unnecessary movements and energy loss. The attitude parameter-based judgment logic of this embodiment can adapt to different working device configurations, load states, and operating habits. This embodiment combines multiple judgments based on time threshold t1 and speed threshold v_a, improving the system's robustness and reliability. This embodiment dynamically calculates t2 and ensures t3 > t2, optimally matching the inertial force application time of the floating counterweight with the impact force application time, maximizing the stabilization effect.

[0031] The following description, in conjunction with a preferred embodiment, illustrates the content involved in the above embodiments.

[0032] like Figure 4As shown, taking a typical loading operation as an example, the bucket, fully loaded with material, descends from point A to point B. Point A is the high position of the truck bed, and point B is the low position. The driver operates the boom lowering handle. The controller 230 monitors the boom descent in real time and detects that ω_boom < 0. When the bucket approaches point B, the driver returns the handle to the neutral position. The controller 230 detects a descent stop command. At this time, the controller 230 checks: the total operation time T_operation > t1. Next, it checks the boom descent speed at the stop time ω_boom > v_a. Based on these judgments, the controller 230 immediately issues a command to activate the counterweight cylinder 120, lifting the floating counterweight 110 with a set acceleration. The controller 230 estimates the buffer time t2 based on the current boom deceleration and controls the floating counterweight's lifting action time t3, where t3 > t2. The upward inertial force generated by the floating counterweight effectively counteracts the impact force generated by the downward stopping of the working device and material, significantly reducing the overall machine sway. After time t3 ends, the cylinder valve closes, and the floating counterweight slowly falls back to its original position.

[0033] Example 2: This example provides a method for counterweighting a counterweight system to improve vehicle stability according to any one of the methods in Example 1, comprising: The motion parameters of each working device of the excavator are acquired in real time through the attitude detection module; Calculate the boom angular velocity ω_boom based on the motion parameters; When ω_boom < 0 is detected and the operating handle returns to the neutral position, it is identified as a boom descent stop command; When a stop command is detected, the system determines whether the floating counterweight start-up conditions are met by comparing at least one of the following parameters with a preset threshold: boom descent speed ω_boom, impact potential coefficient K, and total operation time T_operation. If the start-up conditions are met, the controller 230 immediately sends a control signal to the counterweight cylinder 120, causing it to lift the floating counterweight 110 with a preset acceleration a. After a duration of t3, the oil circuit is closed, causing the floating counterweight 110 to fall back to its original position under the action of gravity.

[0034] The formula for calculating the impact potential coefficient K is as follows: K = (L_bucket * M_bucket + L_arm * M_arm + L_boom * M_boom) / (L_upper structure * M_upper structure); Where K is the impact potential coefficient, L_bucket is the distance from the bucket's center of gravity to the swing center, M_bucket is the mass of the material contained in the bucket, L_arm is the distance from the stick's center of gravity to the swing center, M_arm is the stick mass, L_boom is the distance from the boom's center of gravity to the swing center, M_boom is the boom weight, L_upper structure is the distance from the upper structure's center of gravity to the swing center, and M_upper structure is the upper structure weight.

[0035] Example 3: This example provides an excavator, including a counterweight system as described in any one of Examples 1 to improve the stability of the entire vehicle.

[0036] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A counterweight system for improving vehicle stability, characterized in that, include: A counterweight (100) has an accommodating space on its upper part; A floating counterweight (110) is disposed in the accommodating space and can slide in the vertical direction; A drive unit is connected to the main valve of the excavator and is used to drive the floating counterweight (110) to move up and down; the drive unit includes a counterweight cylinder (120) connected to the floating counterweight (110) and the counterweight cylinder (120) is connected to the main valve of the excavator. An attitude detection module is installed on each working device of the excavator to detect the motion parameters of the excavator's working devices in real time. The attitude detection module includes: A boom angle sensor (200) is used to detect the boom angle θ_boom; A boom angle sensor (210) is used to detect the boom angle θ_arm; Bucket angle sensor (220) is used to detect bucket angle θ_bucket; A controller (230), electrically connected to the attitude detection module and the drive device, is used to receive the motion parameters and control the drive device to operate according to preset logic, so that the inertial force generated by the floating counterweight (110) counteracts the impact inertial force generated when the working device stops; the controller (230) is configured to execute the following control logic: Calculate the boom angular velocity ω_boom based on the boom angle θ_boom, and monitor the operating handle signal; When ω_boom < 0 is detected and the control handle returns to the neutral position, it is determined that a stop command has been received; When a stop command is received, the following conditions are used to determine whether to start the drive device: Condition 1: The start condition is triggered when the boom descent speed ω_boom at the moment the stop command is issued is greater than the first speed threshold v_a; Condition 2: Calculate the impact potential coefficient K, and trigger the activation condition when K is greater than a set threshold K1; the calculation formula for the impact potential coefficient K is as follows: K = (L_bucket * M_bucket + L_arm * M_arm + L_boom * M_boom) / (L_upperstructure * M_upper structure); Where K is the impact potential coefficient, L_bucket is the distance from the bucket's center of gravity to the swing center, calculated using the bucket angle θ_bucket, M_bucket is the mass of the material contained in the bucket, L_arm is the distance from the stick's center of gravity to the swing center, calculated using the stick angle θ_arm, M_arm is the stick mass, L_boom is the distance from the boom's center of gravity to the swing center, calculated using the boom angle θ_boom, M_boom is the boom weight, L_upper structure is the distance from the upper structure's center of gravity to the swing center, and M_upper structure is the upper structure weight. Condition 3: The start condition is triggered when the total operation time T_operation from the start of the descent instruction to the end of the stop instruction is greater than the time threshold t1; If the starting conditions are met, a signal is immediately sent to the control valve of the counterweight cylinder (120) to lift the floating counterweight (110) with a preset acceleration a.

2. The counterweight system for improving vehicle stability according to claim 1, characterized in that, The drive device also includes a guide rod (130) that passes vertically through the floating counterweight (110).

3. The counterweight system for improving vehicle stability according to claim 1, characterized in that, The controller (230) is also configured to: Obtain the preset buffer stop time t2 of the working device; The duration of the drive device's operation, t3, is controlled to be greater than the buffer stop time, t2, so that the inertial force generated by the floating counterweight fully covers the duration of the impact force.

4. The counterweight system for improving vehicle stability according to claim 3, characterized in that, The buffer stop time t2 is dynamically calculated by the controller (230) based on the real-time detected boom angular velocity ω_boom.

5. A method for counterweighting a counterweight system for improving vehicle stability according to claim 1, characterized in that, include: The motion parameters of each working device of the excavator are acquired in real time through the attitude detection module; Calculate the boom angular velocity ω_boom based on the motion parameters; When ω_boom < 0 is detected and the operating handle returns to the neutral position, it is identified as a boom descent stop command; When a stop command is detected, the system determines whether the floating counterweight start-up conditions are met by comparing at least one of the following parameters with a preset threshold: boom descent speed ω_boom, impact potential coefficient K, and total operation time T_operation. If the start-up conditions are met, the controller (230) immediately sends a control signal to the counterweight cylinder (120) so that it lifts the floating counterweight (110) with a preset acceleration a. After a duration of t3, the oil circuit is closed so that the floating counterweight (110) falls back to its original position under the action of gravity.

6. An excavator, characterized in that, Including the counterweight system for improving vehicle stability as described in any one of claims 1 to 4.

Images