Tracked Drilling Machine Load-Cell Barycentre Sensing for Stability
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Solution Overview
Problem
Existing drilling machines face instability risks due to the vertical extension of masts and external forces, leading to potential overturning, with current stability calculations relying on a priori assumptions and manual input of component masses, which are prone to human error and inaccuracy.
Innovation Solution
A system of sensors, including load cells and anemometers, measures instantaneous physical actions on the machine to calculate the barycentre position without relying on pre-defined masses, providing real-time stability assessment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual input of component masses is used for stability calculations, then the calculation process is simple, but human error and inaccuracy increase
Solution Approach 1:
The patent replaces the manual mechanical input system with an automated sensor-based measurement system. Load cells and other sensors automatically detect and transmit component mass data to the control unit, eliminating manual input operations while ensuring high precision measurements of the barycentre position and stability parameters.
Solution Approach 2:
The machine performs self-measurement of its own component masses through integrated sensors and load cells. The system automatically detects, records, and processes mass data without external intervention, enabling the machine to self-determine its barycentre position and stability characteristics with high accuracy.
2Productivity
If pre-defined masses are used for stability calculations, then the calculation process is fast, but accuracy decreases due to outdated information
Solution Approach 1:
The patent implements a real-time feedback system where sensors continuously monitor component masses and automatically update the stability calculation. The control unit receives live data from load cells and other sensors, dynamically adjusting the barycentre position and stability assessment to reflect current machine conditions, ensuring both speed and accuracy.
Solution Approach 2:
The system transitions from static pre-defined mass values to dynamic real-time mass measurement. The patent enables the stability calculation to adapt automatically to changing component masses as they are loaded or unloaded from the machine, maintaining up-to-date accuracy without sacrificing computational speed.
3Measurement precision
If a system of sensors is installed to measure instantaneous physical actions, then measurement precision improves, but device complexity increases
Solution Approach 1:
The patent employs multi-functional sensors and measurement devices that serve multiple purposes within the stability calculation system. The same sensor system measures both component masses and positional data, reducing the total number of devices needed while maintaining high measurement precision across all parameters.
Solution Approach 2:
The patent integrates multiple measurement functions into a unified sensor system and control unit. Rather than separate devices for measuring masses, positions, and forces, the system combines these functions into an integrated measurement network that reduces overall device complexity while enhancing measurement capabilities.
4Reliability
If real-time stability assessment is implemented, then operational safety improves, but computational requirements increase
Solution Approach 1:
The patent implements partial real-time assessment by continuously monitoring critical stability parameters while updating the complete stability calculation at key decision points. The control unit performs continuous lightweight monitoring of barycentre position and component masses, executing full stability assessments when configuration changes occur or at predetermined intervals, balancing safety with energy efficiency.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances stability calculations by accurately determining the barycentre position and wind effects, reducing the risk of overturning and improving operational safety by providing precise, real-time feedback.
Implementation Method 1
each point of connection between said track and said transverse assembly comprises a load cell configured for measuring the reaction force
Implementation Method 2
an inclinometer configured for detecting angle data indicative of at least one angle of inclination between a reference axis and the direction of the force of gravity
Implementation Method 3
an accelerometer configured for detecting acceleration data indicative of the acceleration undergone by said base machine
Implementation Method 4
A system of sensors, including load cells and anemometers, measures instantaneous physical actions on the machine
Data Source
Figure 1
Figure 2A
Figure 2B
AI summary
The machine (100) and the method utilize a tracked undercarriage (101) comprising a frame (201) comprising a central body (202), a front transverse assembly (203a) and a rear transverse assembly (203b) connected to the central body (202) and extending on two opposite sides. There are also a pair of lateral tracks (204, 205), each one of said tracks being connected, at the front and at the rear, to the ends of the transverse assemblies (203a, 203b). It is envisaged that the base machine (102) comprises excavation equipment (103, 104, 105, 06) adapted to take different working positions or configurations. The tracked undercarriage (101) further comprises a pair of front load cells (208), one mounted between a lateral track (204) and the front transverse assembly (203a), and the other mounted between the other lateral track (205) and the front transverse assembly (203a). There are also a pair of rear load cells (208), one mounted between a lateral track (204) and the rear transverse assembly (203b), and the other mounted between the other lateral track (205) and the rear transverse assembly (203b). Each one of the load cells (208) is configured for detecting force data ( Fantdx, Fantsx, Fpostdx, Fpostsx) indicative of the reaction force exerted between the associated lateral track (204, 205) and the respective transverse assembly (203a, 203b). The machine further comprises a control system (CPU) configured for computing a barycentre planar position (XG, ZG) of the machine (100) situated substantially at the level of a reference plane (X- Z). The barycentre planar position (XG, ZG) is computed as a function of the force data ( Fantdx, Fantsx, Fpostdx, Fpostsx).