CN107572433B - 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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- CN107572433B CN107572433B CN201710941850.5A CN201710941850A CN107572433B CN 107572433 B CN107572433 B CN 107572433B CN 201710941850 A CN201710941850 A CN 201710941850A CN 107572433 B CN107572433 B CN 107572433B
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Abstract
The invention belongs to engineering machinery fields, more particularly 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 characterized by: 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 preceding bridge location displacement sensor and rear axle displacement sensor detect passes to vehicle bridge condition monitoring system, supporting leg condition monitoring system, pressure information and displacement information are passed to anti-tipping controller respectively by vehicle bridge condition monitoring system, data processing is carried out by anti-tipping controller and drives landing leg hydraulic cylinder extension and contraction control valve, and then drive the corresponding cylinder action of different vertical supporting leg, to adjust different vertical supporting leg stress and vehicle Figure state.The present invention can automatically, safely realize that lorry-mounted crane is actively anti-tipping.
Description
Technical field
The invention belongs to engineering machinery fields, and in particular to a kind of lorry-mounted crane active rollover prevention system and method.
Background technique
Lorry-mounted crane is that hoisting operation mechanism is installed on heavy-duty freight car as one of special vehicle, due to its tool
Standby lifting, loading, maneuverability particular advantages, be widely used in communications and transportation, civil construction, electric power, telecommunication, field work,
The fields 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 labour, and the bigger market demand is brought to lorry-mounted crane.
Country requires construction safety more and more tighter, correlation also higher and higher to the security performance requirement of lorry-mounted crane
8 tons of clear stipulaties and the above equipment must mounting torque limiter systems for law.In addition different with the automobile chassis of vehicle lifting
It in the full Terrain Cranes, generallys use body with frame and restructures, do special change almost without for crane
Into, 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, and the stress for mostly using monitoring hoisting process to get on the bus is prejudged and controlled and gets on the bus
Boom stopping movement or adjustment direction of action, speed etc. reach anti-tipping purpose, rarely have proposition by supporting leg stress and under
The comprehensive global scope assessment of vehicle axle positioning state and anticipation vehicle lifting operation status, if monitor value is more than that threshold of tumbling is arranged
, there is precarious position in value, and stopping is got on the bus, and actively individually four vertical telescopic amounts changes of control are got on the bus posture simultaneously for movement, eliminates danger
Dangerous state.
It is mostly at present by detection hydraulic leg oil cylinder working-pressure, vertically for the anti-tipping measure taken of lorry-mounted crane
Interaction force determines whether in a safe condition between supporting leg and ground, 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, sound an alarm reply with
The precarious position of vehicle crane, and rarely have propose further actively anti-tipping measure promoted lorry-mounted crane using safe
Property.Control get on the bus Lift-on/Lift-off System stop motion, precarious position the degree of automation, the safety of reply lorry-mounted crane such as sound an alarm
Property it is low, there are the risk of maloperation, belong to passive anti-tipping.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of lorry-mounted crane active rollover prevention system and methods, can
Automatically, safely realize that lorry-mounted crane is actively anti-tipping.
In order to achieve the above-mentioned object of the invention, the invention adopts the 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 by: 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 preceding bridge location displacement sensor and rear axle displacement sensor 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 carries out data processing by anti-tipping controller and drives landing leg hydraulic cylinder extension and contraction control valve, and then drives not
The corresponding cylinder action with vertical leg, to adjust different vertical supporting leg stress and body gesture.
Preceding bridge location displacement sensor and rear axle displacement sensor 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, third 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 device, second displacement detection device are preceding bridge location displacement sensor, third displacement detector, the 4th displacement detecting dress
It sets, the 5th displacement detector, the 6th displacement detector are rear axle displacement sensor.
Lifting pedestal is mounted on automobile chassis vehicle frame, and horizontal support legs are mounted on lifting base interior, and horizontal support legs are in liquid
Can be to overhanging so that vertical leg extends to the outside under cylinder pressure driving, vertical leg is connect with horizontal support legs.
A kind of anti-tipping method of lorry-mounted crane active, includes the following steps:
(1) movement of each vertical leg corresponding cross cylinder and Vertical Cylinders is controlled by operation handle, until hanging down
Locking vertical leg hydraulic circuit after supporting relation is established on allotment leg and ground；
(2) controller is passed according to the wheelbase of current state, wheelspan, the crane chassis parameter of supporting leg span and axle positioning
Sensor, support leg pressure sensor Real-time Feedback parameter calculate lifting operation process carload bias of inclining and account for maximum allowable bias of inclining
Ratio, while comprehensive anticipation is tumbled direction.
(3) carload calculated in real time bias of inclining is less than the anti-tipping threshold value of default, active rollover prevention system
It does not work, crane works on, and controller continues analytical calculation.
(4) carload calculated in real time incline bias be more than default anti-tipping threshold value, system starts to alarm at this time,
Stopping is got on the bus all movements, inclines folk prescription to each vertical leg of active independent control according to the vehicle that anti-tipping controller is fed back
Perpendicular drive oil cylinder expanding-contracting action, inclined side cylinder elongation of inclining, inclined side of inclining shortens 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, and current anti-
Tipple is different, mainly passes through detection supporting leg stress and body gesture, completes detected value in a control unit and prevents
Four vertical legs of control after designing threshold values comparison of tumbling complete corresponding expanding-contracting action response and stop all movements of getting on the bus, 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.
Detailed description of the invention
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 that the present invention relates to supporting leg number schematic diagrames；
Fig. 4 is control system schematic diagram；
Number definition is as follows in attached drawing: 1 lifting pedestal；2 second pressure detection units；2-1 first pressure detection unit,
2-2 third pressure sensing cell；The 4th pressure sensing cell of 2-3；6 ' horizontal support legs；Vertical leg before 4 right sides；5 left front vertical branch
Leg；Vertical leg 6 behind the right side；Left back vertical leg 7；The first displacement detector of 8-1；8-2 second displacement detection device；8-3
Triple motion detection device；The 4th displacement detector of 8-4；The 5th displacement detector of 8-5；The 6th displacement detector of 8-6.
Specific embodiment
The present invention is further described in detail in the following with reference to the drawings and specific embodiments.
According to Fig. 1-3, the present invention designs a kind of lorry-mounted crane active rollover prevention system, which is related to hydraulic leg pressure
Power detection unit, axle positioning detection unit, anti-rollover control system, hydraulic leg independent control unit, alarm 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 component, can be realized with vehicle
The active of lifting crane is anti-tipping.
In a kind of lorry-mounted crane active rollover prevention system, lifting pedestal is mounted on automobile chassis vehicle frame, horizontal support legs
6 ' are mounted on lifting base interior, and horizontal support legs 6 ' can be to overhanging so that vertical leg is to extending out under Driven by Hydraulic Cylinder
Exhibition, vertical leg (such as 4 and 5) are connect with horizontal support legs, as shown in Figure 3.
First pressure detection unit 2-1, second pressure detection unit 2, third 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 device 8-2 are preceding bridge (vehicle bridge front end) displacement sensor, the
Triple motion detection device 8-3, the 4th displacement detector 8-4, the 5th displacement detector 8-5, the 6th displacement detector 8-6
It is rear axle (vehicle bridge rear end) displacement sensor.
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 by operation handle and Vertical Cylinders act, until vertical leg
Locking vertical leg hydraulic circuit after supporting relation is established with ground.
(2) crane chassis parameter and the vehicle bridge such as wheelbase, wheelspan, the supporting leg span of anti-tipping controller according to current state
The Real-time Feedbacks parameter such as position sensor, support leg pressure sensor 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) load calculated in real time bias of inclining is less than the anti-tipping threshold value of default, and active rollover prevention system does not rise
Effect, crane work on, and controller continues analytical calculation.
(4) load calculated in real time incline bias be more than default anti-tipping threshold value, system starts to alarm at this time, stop
Getting on the bus, all are acted, and incline folk prescription to the flexible of oil cylinder is vertically driven in active independent control supporting leg according to the vehicle that controller is fed back
Side cylinder is shortened in movement, inclined side cylinder elongation of inclining, inclined side of inclining, and actively adjusts four supporting leg stresses and body gesture, directly
Meet anti-tipping threshold requirements to it, reaches lorry-mounted crane actively anti-tipping purpose.
The present invention provides a kind of lorry-mounted crane active anti-tipping scheme, is based on chassis wheelspan, wheelbase, supporting leg horizontal extension
The parameters 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 individually controls four vertical hydraulics after comparing with the anti-tipping threshold values of control system setting
Landing leg stretching movement, eliminates lorry-mounted crane precarious position, reaches lorry-mounted crane actively anti-tipping purpose, promotes it and use peace
Quan Xing.
It should be noted that the above description is only an embodiment of the present invention, it is not intended to limit the scope of the invention,
All equivalent structure or equivalent flow shifts done using present specification, are applied directly or indirectly 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 preceding bridge location displacement sensor and rear 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 drive branch
Leg hydraulic cylinder extension control valve, and then the corresponding cylinder action of different vertical supporting leg is driven, to adjust different vertical supporting leg stress
State and body gesture.
2. a kind of lorry-mounted crane active rollover prevention system according to claim 1, it is characterised in that: preceding bridge displacement sensing
Device and rear axle displacement sensor 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.
3. a kind of lorry-mounted crane active rollover prevention system according to claim 1, it is characterised in that: first pressure detection
Unit, second pressure detection unit, third 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 be before bridge location displacement sensor, third displacement detector, the 4th displacement detector, the 5th displacement detector, the
Six displacement detectors are rear axle displacement sensor.
4. a kind of lorry-mounted crane active rollover prevention system according to claim 1, it is characterised in that: lifting pedestal installation
On crane chassis vehicle frame, horizontal support legs are mounted on lifting base interior, and horizontal support legs can be outside under Driven by Hydraulic Cylinder
It stretches so that vertical leg extends to the outside, vertical leg is connect with horizontal support legs.
5. a kind of 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.
6. a kind of 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 bias of inclining is less than the anti-tipping threshold value of active rollover prevention system setting, and active rollover prevention system do not work, lifting
Machine works on, and anti-tipping controller continues analytical calculation.
7. a kind of lorry-mounted crane active rollover prevention system according to claim 5, it is characterised in that: what is calculated in real time is whole
The load of vehicle inclines bias more than the anti-tipping threshold value that active rollover prevention system is set, and alarm system starts to alarm at this time, in stopping
All movements of vehicle incline folk prescription to the vertical of, each vertical leg of active independent control according to the vehicle that anti-tipping controller is fed back
The expanding-contracting action of drive cylinder, inclined side perpendicular drive oil cylinder elongation of inclining, the inclined side opposite side perpendicular drive oil cylinder that inclines shorten, actively adjust
Four vertical leg stresses and body gesture, until four vertical leg stresses and body gesture meet anti-tipping threshold
Value requires.
8. a kind of anti-tipping method of lorry-mounted crane active, which comprises the steps of:
(1) the corresponding cross cylinder of each vertical leg is controlled by operation handle and the movement of oil cylinder is vertically driven, until hanging down
Locking vertical leg hydraulic circuit after supporting relation is established on allotment leg and ground；
(2) wheelbase, wheelspan, the crane chassis parameter of supporting leg span and axle positioning of the anti-tipping controller according to current state
Sensor, support leg pressure sensor Real-time Feedback parameter calculate lifting operation process carload incline bias account for it is maximum allowable incline partially
Value ratio, while comprehensive anticipation is tumbled direction；
(3) carload calculated in real time incline bias be less than active rollover prevention system setting anti-tipping threshold value, active anti-dumping
The system of turning over does not work, and crane works on, and anti-tipping controller continues analytical calculation；
(4) carload calculated in real time inclines bias more than the anti-tipping threshold value that active rollover prevention system is set, this alarm system
System starts to alarm, and stopping is got on the bus, and all are acted, and inclines folk prescription to active independent control is each according to the vehicle that anti-tipping controller is fed back
The expanding-contracting action of the perpendicular drive oil cylinder of a vertical leg, inclined side perpendicular drive oil cylinder elongation of inclining, inclined side opposite side perpendicular drive of inclining
Oil cylinder shortens, and actively adjusts four vertical leg stresses and body gesture, until four vertical leg stresses and vehicle
Figure state meets anti-tipping threshold requirement.
9. a kind of anti-tipping method of lorry-mounted crane active according to claim 8, which is characterized in that preceding bridge displacement sensing
Device and rear axle displacement sensor 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.
10. a kind of anti-tipping method of lorry-mounted crane active according to claim 8, which is characterized 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 preceding bridge location displacement sensor and rear axle displacement sensor detect passes to vehicle bridge condition monitoring system, supporting leg state
Pressure information and displacement information are passed to anti-tipping controller respectively by monitoring system, vehicle bridge condition monitoring system, by anti-tipping
Controller carries out data processing and drives landing leg hydraulic cylinder extension and contraction control valve, and then drives the corresponding oil cylinder of different vertical supporting leg dynamic
Make, to adjust different vertical supporting leg stress and body gesture.
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| CN201710941850.5A CN107572433B (en) | 2017-10-11 | 2017-10-11 | A kind of lorry-mounted crane rollover prevention system and method |
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| CN201710941850.5A CN107572433B (en) | 2017-10-11 | 2017-10-11 | A kind of lorry-mounted crane rollover prevention system and method |
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| CN110707623B (en) * | 2019-10-08 | 2020-11-17 | 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 |
| 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 |
| CN112896018B (en) * | 2021-02-08 | 2022-12-27 | 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 |
| CN112799341B (en) * | 2021-04-14 | 2022-07-12 | 南京易砼科技有限公司 | Engineering vehicle intelligent backing plate and early warning system based on Internet of things |
| 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 | Priority date | Publication date | Assignee | Title |
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| JPH0524789A (en) * | 1991-07-19 | 1993-02-02 | Hitachi Plant Eng & Constr Co Ltd | Crane outrigger floating detecting device |
| DE102005047745A1 (en) * | 2005-09-28 | 2007-03-29 | Terex-Demag Gmbh & Co. Kg | Movable crane e.g. crawler crane, for lifting load, has four supports, in which two supports are aligned longitudinal to driving direction within track of truck and other supports are aligned transverse to driving direction outside track |
| CN201647861U (en) * | 2009-09-14 | 2010-11-24 | 徐州工程学院 | Anti-overturning device for lorry-mounted crane |
| CN102390779B (en) * | 2011-11-04 | 2014-01-29 | 三一重工股份有限公司 | Detection method and detection device for tipping state of crane |
| CN105883622B (en) * | 2015-01-26 | 2017-09-08 | 徐工集团工程机械股份有限公司 | Control method of tumbling and system and lorry-mounted crane |
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Effective date of registration: 20220715 Address after: No.26 tuolanshan Road, Xuzhou Economic and Technological Development Zone, Xuzhou City, Jiangsu Province Patentee after: Jiangsu Xugong Construction Machinery Research Institute Co.,Ltd. Address before: 221004 26 Jinshan Road, Jinshan Bridge Economic Development Zone, Xuzhou, Jiangsu Patentee before: XCMG CONSTRUCTION MACHINERY Co.,Ltd. |