CN107572433A - A kind of lorry-mounted crane rollover prevention system and method - Google Patents
A kind of lorry-mounted crane rollover prevention system and method Download PDFInfo
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Abstract
The invention belongs to engineering machinery field, and in particular to a kind of lorry-mounted crane active rollover prevention system and method, including supporting leg condition monitoring system, vehicle bridge condition monitoring system, anti-tipping controller, landing leg hydraulic cylinder extension and contraction control valve, it is characterised in that：The pressure information for the vertical leg that front side support leg pressure sensor and rear side support leg pressure sensor detect passes to supporting leg condition monitoring system, the displacement information that propons displacement transducer and back axle displacement transducer detect passes to vehicle bridge condition monitoring system, supporting leg condition monitoring system, pressure information and displacement information are passed to anti-tipping controller by vehicle bridge condition monitoring system respectively, data processing is carried out by anti-tipping controller and drives landing leg hydraulic cylinder extension and contraction control valve, and then drive cylinder action corresponding to different vertical supporting leg, to adjust different vertical supporting leg stress and body gesture.The present invention can automatically, safely realize that lorry-mounted crane is actively anti-tipping.
Description
Technical field
The invention belongs to engineering machinery field, and in particular to a kind of lorry-mounted crane active rollover prevention system and method.
Background technology
Lorry-mounted crane is that hoisting operation mechanism is installed on heavy-duty freight car, due to its tool as one of special vehicle
Standby lifting, loading, maneuverability particular advantages, be widely used in communications and transportation, civil construction, electric power, telecommunication, field work,
The field such as stone material industry and harbour, with the high speed development of national economy and the fast lifting of living standards of the people, hand labour by
Step is substituted by mechanization work, and the bigger market demand is brought to lorry-mounted crane.
Country requires more and more tighter to construction safety, and also more and more higher is required to the security performance of lorry-mounted crane, related
8 tons of clear stipulaties and above equipment must mounting torque limiter systems for law.It is different with the automobile chassis of car lifting in addition
In the full Terrain Cranes, the transformation of the way of its generally use body with frame forms, almost without for doing special change with crane
Enter, therefore the lifting operation stability of vehicle is hardly resulted in and is completely secured, the safety problem including tumbling is more prominent.Perhaps
More companies are studied for anti-tipping problem, more stresses got on the bus using monitoring hoisting process, prejudge and control and get on the bus
Arm stopping acts or adjustment direction of action, speed etc. reach anti-tipping purpose, rarely have proposition by supporting leg stress and under
Car axle positioning state integrates global scope assessment and anticipation vehicle lifting operation status, if monitor value is tumbled threshold more than setting
Value, there is precarious position, stopping is got on the bus, and actively individually four vertical telescopic amounts of control change posture of getting on the bus simultaneously for action, eliminate danger
Dangerous state.
It is mostly by detecting hydraulic leg oil cylinder working-pressure, vertical currently for the anti-tipping measure taken of lorry-mounted crane
Supporting leg determines whether in a safe condition with ground Interaction Force, or determines whether to locate based on modes such as limiters of moment
In safe condition, anti-tipping method mentioned above be mostly control get on the bus Lift-on/Lift-off System stop motion, send alarm reply with
The precarious position of car crane, and rarely have and propose the safe to use of further actively anti-tipping measure lifting lorry-mounted crane
Property.Control Lift-on/Lift-off System stop motion of getting on the bus, send precarious position automaticity, the safety of the reply lorry-mounted crane such as alarm
Property it is low, the risk of maloperation be present, belong to passive anti-tipping.
The content of the invention
, can in view of the deficiencies of the prior art, the present invention provides a kind of lorry-mounted crane active rollover prevention system and method
Automatically, safely realize that lorry-mounted crane is actively anti-tipping.
In order to realize foregoing invention purpose, the present invention uses following technical scheme：A kind of lorry-mounted crane is actively anti-tipping
System, including supporting leg condition monitoring system, vehicle bridge condition monitoring system, anti-tipping controller, landing leg hydraulic cylinder extension and contraction control valve,
It is characterized in that：The pressure information for the vertical leg that front side support leg pressure sensor and rear side support leg pressure sensor detect passes
Supporting leg condition monitoring system is passed, the displacement information that propons displacement transducer and back axle displacement transducer detect passes to vehicle bridge
Condition monitoring system, supporting leg condition monitoring system, vehicle bridge condition monitoring system respectively pass to pressure information and displacement information
Anti-tipping controller, data processing is carried out by anti-tipping controller and drives landing leg hydraulic cylinder extension and contraction control valve, and then driven not
With cylinder action corresponding to vertical leg, to adjust different vertical supporting leg stress and body gesture.
Propons displacement transducer and back axle displacement transducer are collectively referred to as axle positioning sensor；Front side support leg pressure sensor
Support leg pressure sensor is collectively referred to as with rear side support leg pressure sensor.
First pressure detection unit, second pressure detection unit, the 3rd pressure sensing cell, the 4th pressure sensing cell point
Yong Yu not detect vertical leg before the right side, left front vertical leg, it is right after vertical leg, the pressure of left back vertical leg；First displacement
Detection means, second displacement detection means are propons displacement transducer, and triple motion detection means, the 4th displacement detecting fill
Put, the 5th displacement detector, the 6th displacement detector are back axle displacement transducer.
Lift pedestal to be arranged on automobile chassis vehicle frame, horizontal support legs are arranged on lifting base interior, and horizontal support legs are in liquid
It can be connected under cylinder pressure driving to overhanging so as to obtain vertical leg to external expansion, vertical leg with horizontal support legs.
A kind of anti-tipping method of lorry-mounted crane active, comprises the following steps：
（1）The action of cross cylinder and Vertical Cylinders corresponding to each vertical leg is controlled by operation handle, until vertical branch
Leg establishes locking vertical leg hydraulic circuit after supporting relation with ground；
（2）Controller is according to the wheelbase of current state, wheelspan, the crane chassis parameter of supporting leg span and axle positioning sensing
Device, support leg pressure sensor Real-time Feedback parameter calculate lifting operation process carload bias of inclining and account for the maximum allowable bias ratio that inclines
Example, while comprehensive anticipation is tumbled direction.
（3）The carload calculated in real time is inclined anti-tipping threshold value of the bias not less than default, active rollover prevention system
Do not work, crane works on, and controller continues analysis and calculated.
（4）The carload calculated in real time incline bias exceed default anti-tipping threshold value, now system start to alarm,
Stopping is got on the bus all actions, and the vehicle fed back according to anti-tipping controller inclines folk prescription to each vertical leg of active independent control
Vertical drive oil cylinder expanding-contracting action, inclined side cylinder elongation of inclining, inclined side of inclining shortens to side cylinder, actively adjust four supporting legs by
Power state and body gesture, until it meets anti-tipping threshold requirements.
Compared with prior art, this patent provides a kind of lorry-mounted crane active anti-tilting apparatus and method, prevents with current
Tipple is different, and it completes detected value with preventing in a control unit mainly by detecting supporting leg stress and body gesture
Four vertical legs of control complete corresponding expanding-contracting action response and stop all actions of getting on the bus after design of tumbling threshold values contrast, actively
Vertical leg stress and vehicle lateral inclination and inclination in the running direction posture are adjusted, realizes that lorry-mounted crane is actively anti-tipping
Purpose, the safe and reliable property of this method are high, simple, applicable.
Brief description of the drawings
Fig. 1 is pressure monitoring unit of the present invention and axle positioning monitoring unit schematic view of the mounting position；
Fig. 2 be the present invention relates to system composition schematic diagram；
Fig. 3 is the present invention relates to supporting leg numbering schematic diagram；
Fig. 4 is control system schematic diagram；
Number definition is as follows in accompanying drawing：1 lifting pedestal；2 second pressure detection units；2-1 first pressures detection unit, 2-2
Three pressure sensing cells；The pressure sensing cells of 2-3 the 4th；6 ' horizontal support legs；Vertical leg before 4 right sides；5 left front vertical legs；It is right
Vertical leg 6 afterwards；Left back vertical leg 7；The displacement detectors of 8-1 first；8-2 second displacement detection means；8-3 the 3rd
Move detection means；The displacement detectors of 8-4 the 4th；The displacement detectors of 8-5 the 5th；The displacement detectors of 8-6 the 6th.
Embodiment
The present invention is further described in detail with specific embodiment below in conjunction with the accompanying drawings.
According to Fig. 1-3, the present invention designs a kind of lorry-mounted crane active rollover prevention system, and the system is related to hydraulic leg pressure
Power detection unit, axle positioning detection unit, anti-rollover control system, hydraulic leg independent control unit, warning system etc., cloth
Seated position is as shown in figure 1, rollover prevention system forms as shown in Fig. 2 mutual cooperation effect between above-mentioned part, can be realized with car
The active of lifting crane is anti-tipping.
In a kind of lorry-mounted crane active rollover prevention system, lifting pedestal is arranged on automobile chassis vehicle frame, horizontal support legs
6 ' are arranged on lifting base interior, horizontal support legs 6 ' under Driven by Hydraulic Cylinder can to it is overhanging so that vertical leg to extending out
Exhibition, vertical leg（Such as 4 and 5）It is connected with horizontal support legs, as shown in Figure 3.
First pressure detection unit 2-1, second pressure detection unit 2, the 3rd pressure sensing cell 2-2, the inspection of the 4th pressure
Survey unit 2-3 be respectively used to detection it is right before vertical leg 4, left front vertical leg 5, it is right after vertical leg 6, left back vertical leg 7
Pressure；First displacement detector 8-1, second displacement detection means 8-2 are propons（Vehicle bridge front end）Displacement transducer, the
Triple motion detection means 8-3, the 4th displacement detector 8-4, the 5th displacement detector 8-5, the 6th displacement detector 8-6
It is back axle（Vehicle bridge rear end）Displacement transducer.
The anti-tipping control process of lorry-mounted crane active is as shown in figure 4, specific operation process is as follows：
（1）User controls the cross cylinder of vertical leg and Vertical Cylinders to act by operation handle, until vertical leg and ground
Locking vertical leg hydraulic circuit after supporting relation is established in face.
（2）Crane chassis parameter and the vehicle bridge such as wheelbase, wheelspan, supporting leg span of the anti-tipping controller according to current state
The Real-time Feedback such as position sensor, support leg pressure sensor parameter calculates lifting operation process carload bias of inclining and accounts for and maximum permit
Permitted bias ratio of inclining, while comprehensive anticipation is tumbled direction.
（3）The load calculated in real time is inclined anti-tipping threshold value of the bias not less than default, and active rollover prevention system does not rise
Effect, crane work on, and controller continues analysis and calculated.
（4）The load calculated in real time incline bias exceed default anti-tipping threshold value, now system start to alarm, stop
Getting on the bus, all are acted, and the vehicle fed back according to controller inclines folk prescription to active independent control supporting leg vertical drive oil cylinder stretches
Action, inclined side cylinder elongation of inclining, inclined side of inclining are shortened to side cylinder, actively adjust four supporting leg stresses and body gesture, directly
Meet anti-tipping threshold requirements to it, reach lorry-mounted crane actively anti-tipping purpose.
The present invention provides a kind of lorry-mounted crane actively anti-tipping scheme, based on chassis wheelspan, wheelbase, supporting leg horizontal extension
The parameter global scope assessments such as amount, stress and axle positioning state and anticipation vehicle lifting operation status, lifting is made
Stress quantizes during industry, and compares rear individually four vertical hydraulics of control with the anti-tipping threshold values of control system setting
Landing leg stretching acts, and eliminates lorry-mounted crane precarious position, reaches lorry-mounted crane actively anti-tipping purpose, lifts it and use peace
Quan Xing.
It should be noted that the foregoing is only embodiments of the invention, it is not intended to limit the scope of the invention,
Every equivalent structure done using present specification or equivalent flow conversion, or directly or indirectly it is used in other phases
Technical field is closed, is included within the scope of the present invention.
Claims (10)
1. a kind of lorry-mounted crane active rollover prevention system, including supporting leg condition monitoring system, vehicle bridge condition monitoring system, anti-dumping
Turn over controller, landing leg hydraulic cylinder extension and contraction control valve, it is characterised in that：Front side support leg pressure sensor and rear side pressure of support leg sensing
The pressure information for the vertical leg that device detects passes to supporting leg condition monitoring system, and propons displacement transducer and back axle displacement pass
The displacement information that sensor detects passes to vehicle bridge condition monitoring system, supporting leg condition monitoring system, vehicle bridge condition monitoring system
Pressure information and displacement information are passed into anti-tipping controller respectively, data processing is carried out by anti-tipping controller and drives branch
Leg hydraulic cylinder extension control valve, and then cylinder action corresponding to different vertical supporting leg is driven, to adjust different vertical supporting leg stress
State and body gesture.
A kind of 2. lorry-mounted crane active rollover prevention system according to claim 1, it is characterised in that：Propons displacement sensing
Device and back axle displacement transducer are collectively referred to as axle positioning sensor；Front side support leg pressure sensor and rear side support leg pressure sensor
It is collectively referred to as support leg pressure sensor.
A kind of 3. lorry-mounted crane active rollover prevention system according to claim 1, it is characterised in that：First pressure detects
Unit, second pressure detection unit, the 3rd pressure sensing cell, the 4th pressure sensing cell are respectively used to vertically prop up before detection is right
Vertical leg, the pressure of left back vertical leg behind leg, left front vertical leg, the right side；First displacement detector, second displacement detection
Device is propons displacement transducer, triple motion detection means, the 4th displacement detector, the 5th displacement detector,
Six displacement detectors are back axle displacement transducer.
A kind of 4. lorry-mounted crane active rollover prevention system according to claim 1, it is characterised in that：Lift pedestal installation
On automobile chassis vehicle frame, horizontal support legs are arranged on lifting base interior, and horizontal support legs can be to overhanging under Driven by Hydraulic Cylinder
To cause vertical leg to be connected to external expansion, vertical leg with horizontal support legs.
A kind of 5. lorry-mounted crane active rollover prevention system according to claim 2, it is characterised in that：Anti-tipping controller
Wheelbase, wheelspan, the crane chassis parameter of supporting leg span and axle positioning sensor, pressure of support leg sensing according to current state
Device Real-time Feedback parameter calculates lifting operation process carload bias of inclining and accounts for maximum allowable bias ratio of inclining, while comprehensive pre-
Sentence direction of tumbling.
A kind of 6. lorry-mounted crane active rollover prevention system according to claim 5, it is characterised in that：What is calculated in real time is whole
Vehicle-mounted lotus inclines anti-tipping threshold value of the bias not less than default, and active rollover prevention system does not work, and crane works on,
Anti-tipping controller continues analysis and calculated.
A kind of 7. lorry-mounted crane active rollover prevention system according to claim 5, it is characterised in that：Vehicle is calculated in real time
Load bias of inclining exceed the anti-tipping threshold value of default, now system starts to alarm, and stopping is got on the bus all actions, according to anti-
The vehicle of controller of tumbling feedback inclines folk prescription to the flexible of the vertical drive oil cylinder of each vertical leg of active independent control moves
To make, inclined side cylinder elongation of inclining, inclined side of inclining is shortened to side cylinder, actively adjusts four vertical leg stresses and body gesture,
Until it meets anti-tipping threshold requirements.
8. a kind of anti-tipping method of lorry-mounted crane active, it is characterised in that comprise the following steps：
（1）The action of cross cylinder and Vertical Cylinders corresponding to each vertical leg is controlled by operation handle, until vertical branch
Leg establishes locking vertical leg hydraulic circuit after supporting relation with ground；
（2）Controller is according to the wheelbase of current state, wheelspan, the crane chassis parameter of supporting leg span and axle positioning sensing
Device, support leg pressure sensor Real-time Feedback parameter calculate lifting operation process carload bias of inclining and account for the maximum allowable bias ratio that inclines
Example, while comprehensive anticipation is tumbled direction；
（3）The carload calculated in real time is inclined anti-tipping threshold value of the bias not less than default, and active rollover prevention system does not rise
Effect, crane work on, and controller continues analysis and calculated；
（4）The carload calculated in real time incline bias exceed default anti-tipping threshold value, now system start to alarm, stop
Getting on the bus, all are acted, and the vehicle fed back according to anti-tipping controller inclines folk prescription to each vertical leg of active independent control is hung down
The expanding-contracting action of straight drive cylinder, inclined side cylinder elongation of inclining, inclined side of inclining are shortened to side cylinder, actively adjust four supporting leg stress shapes
State and body gesture, until it meets anti-tipping threshold requirements.
A kind of 9. anti-tipping method of lorry-mounted crane active according to claim 8, it is characterised in that propons displacement sensing
Device and back axle displacement transducer are collectively referred to as axle positioning sensor；Front side support leg pressure sensor and rear side support leg pressure sensor
It is collectively referred to as support leg pressure sensor.
A kind of 10. anti-tipping method of lorry-mounted crane active according to claim 8, it is characterised in that front side supporting leg pressure
The pressure information for the vertical leg that force snesor and rear side support leg pressure sensor detect passes to supporting leg condition monitoring system,
The displacement information that propons displacement transducer and back axle displacement transducer detect passes to vehicle bridge condition monitoring system, supporting leg state
Pressure information and displacement information are passed to anti-tipping controller by monitoring system, vehicle bridge condition monitoring system respectively, by anti-tipping
Controller carries out data processing and drives landing leg hydraulic cylinder extension and contraction control valve, and then drives oil cylinder corresponding to different vertical supporting leg to move
Make, to adjust different vertical supporting leg stress and body gesture.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110707623A (en) * | 2019-10-08 | 2020-01-17 | 广东博智林机器人有限公司 | Cable erection equipment and mobile construction waste treatment system |
| CN111824082A (en) * | 2020-07-27 | 2020-10-27 | 广西民族大学 | Automatic control method and system for transfer of self-propelled sugarcane transfer vehicle |
| CN112799341A (en) * | 2021-04-14 | 2021-05-14 | 南京易砼科技有限公司 | Engineering vehicle intelligent backing plate and early warning system based on Internet of things |
| CN112896018A (en) * | 2021-02-08 | 2021-06-04 | 山东一马绿能环保设备有限公司 | Environment-friendly vehicle, method and device for adjusting tire wheel base of environment-friendly vehicle |
| CN112919339A (en) * | 2021-04-21 | 2021-06-08 | 三一汽车起重机械有限公司 | Anti-tipping control method of crane and crane |
| CN112938777A (en) * | 2021-02-03 | 2021-06-11 | 交通运输部公路科学研究所 | Repeated operation system and method for folding arm type lorry-mounted crane |
| CN113567097A (en) * | 2021-06-25 | 2021-10-29 | 广州建设工程质量安全检测中心有限公司 | T-beam static load anti-roll device and method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110707623A (en) * | 2019-10-08 | 2020-01-17 | 广东博智林机器人有限公司 | Cable erection equipment and mobile construction waste treatment system |
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| CN112938777B (en) * | 2021-02-03 | 2022-12-20 | 交通运输部公路科学研究所 | Repeated operation system and method for folding arm type lorry-mounted crane |
| CN112896018A (en) * | 2021-02-08 | 2021-06-04 | 山东一马绿能环保设备有限公司 | Environment-friendly vehicle, method and device for adjusting tire wheel base of environment-friendly vehicle |
| CN112799341A (en) * | 2021-04-14 | 2021-05-14 | 南京易砼科技有限公司 | Engineering vehicle intelligent backing plate and early warning system based on Internet of things |
| CN112919339A (en) * | 2021-04-21 | 2021-06-08 | 三一汽车起重机械有限公司 | Anti-tipping control method of crane and crane |
| CN112919339B (en) * | 2021-04-21 | 2023-11-03 | 三一汽车起重机械有限公司 | Anti-tipping control method of crane and crane |
| CN113567097A (en) * | 2021-06-25 | 2021-10-29 | 广州建设工程质量安全检测中心有限公司 | T-beam static load anti-roll device and method |
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| Publication number | Publication date |
|---|---|
| CN107572433B (en) | 2019-01-08 |
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