CN101457589B - Construction machine - Google Patents
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- CN101457589B CN101457589B CN2008101888062A CN200810188806A CN101457589B CN 101457589 B CN101457589 B CN 101457589B CN 2008101888062 A CN2008101888062 A CN 2008101888062A CN 200810188806 A CN200810188806 A CN 200810188806A CN 101457589 B CN101457589 B CN 101457589B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
- B66C23/78—Supports, e.g. outriggers, for mobile cranes
- B66C23/80—Supports, e.g. outriggers, for mobile cranes hydraulically actuated
Abstract
The invention discloses construction machinery, which comprises a chassis, a plurality of supporting legs and a stable monitoring system. The stable monitoring system comprises a plurality of sensors and controllers, wherein, the sensors can detect the forces on all the supporting legs and output signals to the controller according to different forces on the supporting legs, the controller can judge the force state of the construction mechanism based on signals sent by the sensor. If the construction machinery is in danger, corresponding measures can be taken by an actuator to ensure the safety of the construction machinery; the sensor can be a strain sensor, or a combination of the strain sensor and a displacement sensor, or a combination of the strain sensor and a proximity switch; the strain sensor is arranged on the outer surface of a cantilever of a bracket and outputs signals based on deformation of the cantilever of the bracket; the displacement sensor can output signals based on the fit clearance between the bottom side of a telescopic boom and a corresponding slideway of the bracket; the proximity switch can output signals based on the fit clearance between the bottom side of the telescopic boom and the corresponding slideway of the bracket.
Description
Technical field
The present invention relates to a kind of safety monitoring technology of construction machinery and equipment, particularly a kind of construction machinery and equipment that has the stability monitoring system.
Background technology
Current, along with the attention rate to engineering construction safety improves, use modern control technology and the state of construction machinery and equipment is monitored down the important component part that becomes various construction machine machineries in real time.
In various surveillance and control measures, it is the pith of monitoring technique that the stability of construction machinery and equipment is monitored.With the concrete pump truck is example, and it has a chassis, and the top, chassis is provided with the construction arm, and described construction arm can be rotated around a vertical pivot that is fixed on the chassis, and transmission and concrete transmission can be arrived eminence or distant place around the chassis; In the delivering concrete process, there is corresponding distance between construction arm center of gravity and the vertical pivot, the gravity of construction arm can produce a moment that makes its upset to the chassis; In order to keep the stable of chassis, also in order to make tire unloading, to eliminate the elasticity of tire, the chassis is forward and backward respectively to be provided with two supporting legs, supporting leg can be protruding and supporting on the ground, for the chassis provides supporting power, increase the bearing stride of the vertical and horizontal on chassis simultaneously; According to mechanics principle, four supporting leg supporting-point form a quadrangle, during the rotation of construction arm, can remain in the quadrangle if its center of gravity forms circle, just can guarantee the stable of concrete pump truck.
Owing to be subjected to the restriction of workyard, four supporting legs of concrete pump truck often can not fully launch, thereby, can not provide enough big for concrete pump truck vertically or/and horizontal span, limited the revolution range of construction arm, the construction arm can only be rotated in corresponding scope.When guaranteeing construction operation, concrete pump truck is unlikely to topple, and just needs corresponding system that the stability of concrete pump truck is monitored.
Current, in concrete pump truck, adopted corresponding stability monitoring system that the stability of concrete pump truck is monitored.The basic functional principle of stability monitoring system is: determine at the stressed of four supporting legs whether concrete pump truck is in stabilized conditions by monitoring, if have three supporting legs stressed in four supporting legs, another supporting leg stressed less even unsettled, concrete pump truck can not tumbled; Diminish to unsettled when the supporting leg of two the same sides is stressed, just there is the danger of toppling in concrete pump truck, then should output alarm signal or stop the to pave motion of bar and the work of concrete pump truck.
Wherein, Chinese patent literature CN 1246557C discloses a kind of self-propelled construction machinery and equipment, and the method for supervising of this construction machinery and equipment is: establish corresponding force gauge at each supporting-point place; Record the stressed of each supporting-point by force gauge; The stressed of each supporting-point that will measure is input in the electronics evaluation unit then, compares with the stressed and predetermined threshold value of electronics evaluation unit with each supporting-point; If the stressed less than predetermined threshold value of two supporting-point arranged, judge that then construction machinery and equipment is in dangerous state, send corresponding alarm or stop construction.The shortcoming of this method for supervising is: need the special leg structure of structure so that the installing force sensor, make corresponding component processing, more complicated is installed.In addition,, need accurately measure, therefore, need to increase corresponding circuit,, cause its metering circuit very complicated to improve stressed survey precision hour to stressed hour stressed in when stability monitoring.
In addition, Chinese patent literature CN 1871153A discloses another kind of monitoring scheme, and this scheme is: establish hinge in supporting leg, the resistance sensing chip is installed on the hinge, by the stress deformation of resistance sensing chip measurement hinge, determine the stressed of each supporting-point.The shortcoming of this monitoring scheme is: also essential structure connects the hinge of supporting leg, otherwise can't detect the stressed of supporting leg; Supporting leg for no hinge pin can not be suitable for; Problems such as simultaneously, the resistance sense becomes sheet is installed in needs complexity on the bearing pin technology, and is dustproof in addition, as to prevent drawing have also reduced resistance sensing chip reliability of applying.
In a word, the stability monitoring system complex manufacturing technology of current construction machinery and equipment, installation difficulty is bigger; Increased the assembling of construction machinery and equipment, the difficulty of maintenance, therefore, further improved needs have been arranged for construction machinery and equipment stability monitoring system.
Summary of the invention
At above-mentioned technical matters, the objective of the invention is to, a kind of construction machinery and equipment is provided, to keep the simple of supporting leg structure, be convenient to making, the I﹠M of stability monitoring system simultaneously.
Construction machinery and equipment provided by the invention comprises chassis, four supporting legs, and described supporting leg comprises the supporting leg cantilever respectively, and described supporting leg cantilever and chassis are hinged; Also comprise the stability monitoring system, described stability monitoring system comprises controller, actuating unit and several strain sensores; Described strain sensor is installed in the outside face of supporting leg supporting leg cantilever respectively, and it is stressed and import stressed induced signal to controller to be used to detect each supporting leg; Described controller can be determined the stressed of supporting leg according to stressed induced signal, and according to the relation of the stressed of supporting leg and predetermined stressed threshold value to the actuating unit output command; Described actuating unit can be carried out the instruction that receives.
Preferably, described strain sensor is installed in the bottom surface of supporting leg cantilever.
Preferably, described actuating unit comprises annunciator; Described predetermined stressed threshold value includes the first stressed threshold value; During less than the first stressed threshold value, described controller can send alarm command to annunciator as two supporting legs stressed.
Preferably, described actuating unit also comprises hydraulic valve, and described hydraulic valve is connected on the oil feeding line of construction machinery and equipment; Described predetermined stressed threshold value also comprises the second stressed threshold value, and the described second stressed threshold value is less than the first stressed threshold value; During less than the second stressed threshold value, described controller can send the instruction of cutting off fuel feeding to hydraulic valve as two supporting legs stressed.
Preferably, described stability monitoring system also comprises horizon sensor, and described horizon sensor can detect the angle of inclination, chassis, and to controller output angle of inclination; Described controller can be according to the relation of the angle of inclination that obtains and predetermined range of tilt angles to the actuating unit output command.
The another kind of construction machinery and equipment that provides comprises chassis, four supporting legs, described four supporting legs comprise two preceding supporting legs and two rear support legs, described two preceding supporting legs comprise telescopic boom respectively, and described telescopic boom matches with two supporting leg slideways on the chassis respectively; Described two rear support legs comprise the supporting leg cantilever respectively, and described supporting leg cantilever and chassis are hinged; Also comprise the stability monitoring system, described stability monitoring system comprises controller and actuating unit, and described stability monitoring system also comprises two strain sensores and two displacement pickups; Described two strain sensores are installed in the outside face of the supporting leg cantilever of two rear support legs respectively, and it is stressed and export stressed induced signal to controller to be used to detect two rear support legs; Described two displacement pickups can detect the tolerance clearance between two telescopic booms and the respective leg slideway respectively, and can import stressed induced signal to controller according to tolerance clearance, and described stressed induced signal is stressed relevant with preceding supporting leg; Described controller can be determined the stressed of each supporting leg according to stressed induced signal, and according to the relation of the stressed of supporting leg and predetermined stressed threshold value to the actuating unit output command; Described actuating unit can be carried out the instruction that receives.
Preferably, described strain sensor is installed in the bottom surface of supporting leg cantilever; Described tolerance clearance is the tolerance clearance between telescopic boom bottom surface and the supporting leg slideway.
Preferably, described actuating unit comprises annunciator; Described predetermined stressed threshold value comprises the first stressed threshold value; During less than the first stressed threshold value, described controller can send alarm command to annunciator as two supporting legs stressed.
Preferably, described actuating unit also comprises hydraulic valve, and described hydraulic valve is connected on the oil feeding line of construction machinery and equipment; Described predetermined stressed threshold value also comprises the second stressed threshold value, and the described second stressed threshold value is less than the first stressed threshold value; During less than the second stressed threshold value, described controller can send the instruction of cutting off fuel feeding to hydraulic valve as two supporting legs stressed.
Preferably, described stability monitoring system also comprises horizon sensor, and described horizon sensor can detect the angle of inclination on chassis, and to controller output angle of inclination; Described controller can be according to the relation of the angle of inclination that obtains and predetermined range of tilt angles to the actuating unit output command.
The another kind of construction machinery and equipment that provides, comprise chassis, four supporting legs, described four supporting legs comprise two preceding supporting legs and two rear support legs, and described two preceding supporting legs comprise telescopic boom respectively, and described telescopic boom matches with supporting leg slideway on the chassis; Described two rear support legs comprise the supporting leg cantilever respectively, and described supporting leg cantilever and chassis are hinged; Also comprise the stability monitoring system, described stability monitoring system comprises that controller, actuating unit, two are near switch and two strain sensores; Described two near switch can be respectively according to the tolerance clearance between two telescopic booms and the respective leg slideway to controller input state signal, described status signal is stressed relevant with preceding supporting leg; Described two strain sensores are installed in the outside face of two rear support leg supporting leg cantilevers respectively, can export stressed induced signal to controller, and described stressed induced signal is stressed relevant with rear support leg; Described controller can execute instruction to actuating unit output according to stressed induced signal and status signal; Described actuating unit can implementation controller the execution command of output.
Preferably, described strain sensor is installed on the bottom surface of supporting leg cantilever; Described tolerance clearance is the tolerance clearance between telescopic boom bottom surface and the supporting leg slideway.
Preferably, described actuating unit comprises annunciator; Preset the first stressed threshold value in the described controller, and can determine the stressed of corresponding supporting leg according to stressed induced signal and status signal, during less than the first stressed threshold value, described controller can send alarm command to annunciator as two supporting legs stressed.
Preferably, described stability monitoring system also comprises horizon sensor, and described horizon sensor can detect the angle of inclination on chassis, and to controller output angle of inclination; Described controller can be according to the relation of the angle of inclination that obtains and predetermined range of tilt angles to the actuating unit output command.
Compared with prior art, in the construction machinery and equipment provided by the invention, the stability monitoring system comprises strain sensor, and described strain sensor is installed in the outside face of supporting leg supporting extension arms.Because the stressed difference of supporting leg, the deflection of supporting extension arms also can be different; Strain sensor can be corresponding according to the output of the deflection of supporting extension arms, with the stressed relevant stressed induced signal of supporting leg, thereby can obtain the stressed of corresponding supporting leg reliably, realization is to the monitoring of construction machinery and equipment stability.Because strain sensor is installed on the side of supporting extension arms, mounting process is simple, convenient, needn't construct other structure, thereby can simplify construction machinery and equipment stability monitoring system, is convenient to the I﹠M of stability monitoring system; Can also keep simultaneously the simple of supporting leg structure.
In further technical scheme, strain sensor is installed in the bottom surface of supporting leg cantilever, when the supporting leg cantilever force is identical, the stress deformation maximum of its bottom surface, what the stressed induced signal of strain sensor output can the corresponding supporting leg of more accurate measurement is stressed.
In further technical scheme, in controller, establish the first stressed threshold value and the second stressed threshold values, the first stressed threshold value is greater than the second stressed threshold values; Stressed during what two supporting legs were arranged less than the first stressed threshold value, illustrate that construction machinery and equipment is in dangerous state, the processing of reporting to the police, handle accordingly to remind operating personal, avoid because system stops the impact to corresponding component suddenly, reduce the impact damage of construction machinery and equipment, improve the traveling comfort of operation.There are being two supporting legs stressed during less than the second stressed threshold value, because the second stressed threshold value is less than the first stressed threshold value, illustrate that construction machinery and equipment is in more dangerous state, pressure stops the construction machinery and equipment operation, can be when the first stressed threshold decision inefficacy, operating personal maloperation or carelessness, avoid the raising of construction machinery and equipment hazard level, avoid serious accident to take place.
In further technical scheme, the stability monitoring system also comprises the horizon sensor that links to each other with controller, if construction machinery and equipment chassis degree of dip is excessive, surpasses predetermined angle of inclination, the stability monitoring system can carry out respective handling, stops operation such as reporting to the police or forcing.Increase the reliability that horizon sensor can further improve the stability monitoring system, improve the safety and reliability of construction machinery and equipment.
In another aspect of this invention, when having the floating support leg in the construction machinery and equipment, it is a kind of with the stressed technical scheme of displacement sensor supporting leg that the present invention also provides.The stressed difference of supporting leg, the telescopic boom of floating support leg also can be different with tolerance clearance between the supporting leg slideway, and the size of tolerance clearance is relevant with stressed size, by the displacement sensor tolerance clearance, just can determine the stressed of corresponding floating support leg according to tolerance clearance and stressed relation again.With the stressed technical scheme of displacement sensor supporting leg can guarantee on the one hand supporting leg stressed accurately, simultaneously, also be convenient to the installation of survey sensor, further provide convenience for the installation and maintenance of stability monitoring system, can significantly reduce the cost of stability monitoring system, and then reduce the cost of construction machinery and equipment.
Of the present invention aspect another, also provide a kind of using to measure the stressed technical scheme of supporting leg near switch, export different status signal according to floating support leg telescopic boom with the tolerance clearance between the supporting leg slideway near switch, difference according to status signal, can determine the stressed of supporting leg qualitatively, according to the stressed stabilized conditions that can judge construction machinery and equipment of supporting leg; Simultaneously, near the installation of switch, safeguard also convenient.Because just can adjust predetermined stressed threshold value by regulating near the distance of reaction of switch, it is convenient that sensor parameters is adjusted.
Description of drawings
Fig. 1 is among the embodiment one, and concrete pump chassis and each supporting leg position concern scheme drawing;
Fig. 2 is among the embodiment one, displacement pickup installation site scheme drawing;
Fig. 3 is among the embodiment one, strain sensor installation site scheme drawing;
Fig. 4 is embodiment one a stability monitoring system architecture diagram;
Fig. 5 is embodiment two stability monitoring system architecture diagrams;
Fig. 6 is embodiment three stability monitoring system architecture diagrams.
The specific embodiment
Describe the present invention below in conjunction with accompanying drawing, the description of this part only is exemplary and explanatory, should any restriction not arranged to protection scope of the present invention.
The present invention is based on such understanding monitors the stability of construction machinery and equipment: in four supporting legs of construction machinery and equipment, there are at least three supporting legs stressed, when providing supporting power for construction machinery and equipment, according to 3 stable principles, construction machinery and equipment still can guarantee stability, keeps construction machinery and equipment not topple; Two supporting legs are stressed having only, and during other two stressed not stressing of supporting leg, construction machinery and equipment is in the precarious position that will topple, just need take appropriate measures, and adjust the state of construction machinery and equipment.In concrete enforcement, consider the dynamic stress factor, and reliability and safety in order to guarantee construction machinery and equipment, stressed when smaller at two supporting legs, just should take the warning measure; Stressed littler or when equalling zero, construction machinery and equipment just is in more dangerous state, just should force construction machinery and equipment is quit work at two supporting legs; After waiting for that operating personal resets, carry out corresponding actions again.
Embodiment one provides a kind of concrete pump truck, as shown in Figure 1, this concrete pump truck comprises chassis 100, four supporting legs, and wherein two preceding supporting legs 200 and two rear support legs 300 also comprise the construction arm and the hydraulic efficiency pressure system (not shown) of power is provided for the rotation of construction arm and luffing.Two preceding supporting legs 200 are the floating support leg, as shown in Figure 2, supporting leg 200 comprises telescopic boom 23 and supporting oil cylinder 24 respectively before each, telescopic boom 23 matches with the supporting leg slideway 12 of chassis 100 leading portions, can stretch out and withdraw in the supporting leg slideway 12, when stretching out, can provide bigger lateral support span for concrete pump truck.Two rear support legs 300 are the non-yielding prop leg, and as shown in Figure 3, each rear support leg 300 comprises supporting oil cylinder 22 and supporting leg cantilever 21, and supporting leg cantilever 21 is inner hinged by a vertical axes 11 and 100 back segment both sides, chassis, and the outer end is equipped with supporting oil cylinder 22; After the non-yielding prop leg outwards swings to the desired location, can provide bigger vertical and horizontal bearing stride for concrete pump truck.In addition, concrete pump truck also comprises the stability monitoring system, as shown in Figure 4, this stability monitoring system comprises two strain sensores 3, two displacement pickups 4, controller 5 and actuating units 6, strain sensor 3 links to each other with controller 5 respectively with displacement pickup 4, and controller 5 links with actuating unit 6.
With reference to figure 2, displacement pickup 4 is installed in the supporting leg slideway 12 bottom surface downsides on chassis 100, and displacement pickup 4 can detect the tolerance clearance between telescopic boom 23 bottom surfaces and the supporting leg slideway 12; Current supporting leg 200 is stressed, and tolerance clearance Δ L between telescopic boom 23 bottom surfaces and the supporting leg slideway 12 can produce corresponding variation not simultaneously, the size of tolerance clearance Δ L and preceding supporting leg 200 stressed proportional relations; The stressed induced signal of displacement pickup 4 outputs also changes with Δ L.Therefore, displacement pickup 4 becomes corresponding proportionate relationship to the stressed induced signal of controller 5 output and preceding supporting leg 200 stressed.Controller 5 can be determined the stressed of supporting leg 200 before each according to predetermined proportionate relationship behind the stressed induced signal that receives, realize preceding supporting leg 200 is subjected to force measurement; It will be understood by those skilled in the art that the stressed concrete mode of determining corresponding supporting leg can be different, also can be according to the stressed difference of preceding supporting leg 200, predetermined different stressed induced signal; Determine the actual loading of corresponding preceding supporting leg 200 by contrast displacement pickup 4 stressed induced signal of importing and the stressed induced signal of being scheduled to.
According to enlightenment of the present invention, those skilled in the art are further appreciated that the tolerance clearance that can also detect other fitting surface between telescopic boom 23 and the supporting leg slideway 12 with displacement pickup 4, equally also can determine the stressed of corresponding preceding supporting leg 200.Because telescopic boom 23 by gravitys, what always keep down takes advantage of a favourable situation, and in this example, detects the bottom surface of telescopic boom 23 and the gap between the supporting leg slideway 12, can guarantee the stability of the stressed induced signal that obtains, guarantees stressed measuring reliability.
With reference to figure 3, strain sensor 3 is fixed on the bottom surface of the supporting leg cantilever 21 of rear support leg 300, outwards swing at rear support leg 300, and when supporting on the ground by supporting oil cylinder 24, supporting oil cylinder 24 stressed differences, supporting leg cantilever 21 deflection deformations also can be different; Supporting leg cantilever 21 deflection deformation amount differences, strain sensor 3 parameters can produce corresponding variation, the stressed induced signal that can vary in size to controller output, this stressed induced signal and preceding supporting leg 200 stressed linear; Controller 5 can obtain the stressed of supporting leg 200 before each according to predetermined ratio relation, thereby realize preceding supporting leg 200 is subjected to force measurement after receiving stressed induced signal.It will be understood by those skilled in the art that strain sensor 3 is not limited to be installed in the bottom surface of supporting leg cantilever 21, can also be installed in supporting leg cantilever 21 above; This example is an optimized technical scheme, and can avoid being collided and be impaired in the bottom surface that strain sensor 3 is fixed on supporting leg cantilever 21, increase stressed measuring reliability; Simultaneously, when identical, the deflection of the bottom surface of supporting leg cantilever 21 is big, can improve survey precision and sensitivity stressed; In addition, it will be understood by those skilled in the art that,, give unnecessary details in this difference to alleviate or to eliminate the influence of ambient temperature to survey precision for fear of because the influence of ambient temperature pair of strain sensors survey precision can also be established the compensating resistance strain-gauge.
In this example, actuating unit 6 comprises annunciator 61 and hydraulic valve 62, and described annunciator 61 links to each other with controller 5, and can send alerting signal according to the output command of controller 5; Described hydraulic pressure fuel tap 62 is connected on the oil feeding line of hydraulic efficiency pressure system, and its control circuit links to each other with controller 5, can cut off or connect oil feeding line according to the execution command that controller 5 sends.
Be provided with the first stressed threshold value S1 and the second stressed threshold value S2 in the controller 5, S1 is greater than S2.Controller is provided with corresponding program, can be according to the predetermined cycle, each supporting leg of determining according to stressed induced signal stressed, and the stressed and S1 of each supporting leg compared, if what two supporting legs were wherein arranged is stressed during less than S1, controller 5 just sends execution command to annunciator 61, makes annunciator 61 send news and rings and report to the police, the prompting operating personal notices that concrete pump truck has the danger of toppling.In addition, each supporting leg that controller 5 also will obtain by predetermined period is stressed to be compared with S2, if wherein two supporting legs are stressed less than S2,5 control circuits to hydraulic valve 62 of controller send corresponding instruction, hydraulic valve 62 can cut off oil feeding line, the construction arm can not continue action, in order to avoid cause toppling of concrete pump truck.
The stability monitoring system of above-mentioned concrete pump truck comprises strain sensor 3 and displacement pickup 4, strain sensor 3 is installed in the side of supporting extension arms 21, displacement pickup 4 is installed in the bottom surface of the supporting leg slideway 12 on chassis 100, avoided special structure corresponding structure sensor installation, for the installation and maintenance of sensor provides convenience.According to foregoing description, it will be understood by those skilled in the art that in concrete pump truck, if each supporting leg all is the floating support leg, can detect the tolerance clearance of each supporting leg telescopic boom and respective leg slideway with displacement pickup, determine the stressed of each supporting leg according to tolerance clearance again; When each supporting leg all is the non-yielding prop leg, can detect the stressed of each supporting leg with strain sensor, can realize above-mentioned purpose equally, for the installation of stability monitoring system, safeguard and facilitate.
In this example, establish two stressed threshold values in the controller 5,, carry out two level wiper according to the stressed difference of supporting leg.The one-level actuation of an alarm can the alert supporting leg is stressed diminishes the danger of tumbling; The secondary action of forcing to stop operation can be avoided the generation of serious accident, improves the safety and the reliability of concrete pump truck.It will be understood by those skilled in the art that the present invention also can comprise carries out the technical scheme that one-level is handled, or the processing of only reporting to the police, or only forces the processing that stops operation; In order to tackle more complex work environment requirement, can also carry out three grades or multistep treatment more, difference according to the stressed size of supporting leg, appropriate section to concrete pump truck is carried out corresponding action, such as, only limit the action that concrete pump truck construction arm angle of inclination reduces, the center of gravity of construction arm is remained in the areal of support of supporting leg, when guaranteeing concrete pump truck stability, the little construction operation of vibration is proceeded.
According to different requirements or operating environment, the first stressed threshold value S1 in the controller 5 can be defined as different values with the second stressed threshold value S2, higher in security requirement, when operating environment is unstable, what S1 and S2 can be provided with is bigger, the stability monitoring system is given a warning in advance and pressure stops operation; Under opposite working environment, what S1 and S2 can be provided with is smaller, to guarantee the conformability of concrete pump truck.In addition,, can establish different annunciator 61 according to the difference of operating environment, satisfying multiple requirement, such as, under more noisy environment, can establish blinker unit, under more quiet environment, can establish voice guard or the like.
According to the principle of above-mentioned displacement sensor tolerance clearance, the stability monitoring system of the concrete pump truck that embodiment two provides can also comprise near switch.As shown in Figure 5, in the present embodiment, the stability monitoring system comprises that 3, two of two strain sensores are near switch 7, controller 5 and annunciator 61.Strain sensor 3 installation sites are identical with last example with principle of measurement, and are identical with the installation site of last routine displacement pickup 4 near switch 7 installation sites, the tolerance clearance Δ L before being used to detect between supporting leg 200 telescopic booms, 23 bottom surfaces and the supporting leg slideway 12.According to the description to embodiment one, Δ L is stressed relevant with preceding supporting leg 200, when flexible supporting leg does not stress, and Δ L minimum; Preceding supporting leg 200 is stressed big more, and Δ L is big more.Not stressed or stressed very little at preceding supporting leg 200, Δ L hour, telescopic boom 23 is positioned at the distance of reaction near switch 7, produces induced signals near switch 7, supporting leg 200 is in a kind of state before the expression; Stressed when enough big at the floating support leg, Δ L can be bigger, and telescopic boom 23 is positioned at outside the distance of reaction near switch 7, near switch 7 non-inductive signals, characterizes the preceding supporting leg 200 that floats and is in another kind of state.According to status signal near switch 7 inputs, the strained condition of supporting leg 200 before controller 5 can be judged quantitatively, and, judge the safe condition of concrete pump truck according to strained condition.In order to simplify the control policy of controller 5, in this example, controller 5 just executes instruction to annunciator 61 transmissions determining that two supporting legs (combination of supporting leg 200 and rear support leg 300 comprising before) are stressed during less than predetermined stressed threshold value, makes annunciator 61 send alerting signal.It will be understood by those skilled in the art that the stability monitoring system control strategy can also be divided into different situations and determine different control policies.
When adopting near switch 7 and displacement pickup 4 as detecting element, stretch out in the process at the floating support leg, before the supporting oil cylinder 24 of telescopic boom 23 outer ends does not land, Δ L also can be for zero or less than predetermined value, for fear of before preceding supporting leg 200 lands, controller 5 output execution commands can be controlled by other detection signals, do not start the stability monitoring system before supporting leg 200 lands before making; After supporting leg lands, restart the stability monitoring system.
In the foregoing description, be whether in the hole by analysis and judgement concrete pump truck to the force-bearing situation of supporting leg, it will be appreciated by those skilled in the art that, the state of the concrete pump truck also state with chassis 100 itself is relevant, if 100 angles of inclination, chassis are excessive, even the very little concrete pump truck that also can cause of tilting moment that the construction arm produces is tumbled, therefore, also be necessary to determine the heeling condition on chassis 100, on the basis of determining chassis 100 heeling conditions, according to the supporting leg force-bearing situation stability of concrete pump truck is monitored again.
As shown in Figure 6, on the basis of embodiment one, the stability monitoring system of the concrete pump truck that embodiment three provides also comprises two horizon sensors 8, also comprise tilt alarm 63 in the actuating unit 6, described two horizon sensors 8 link to each other with controller 5, can detect chassis 100 fore-and-aft tilt angles and lateral inclination angle respectively; Be scheduled to have fore-and-aft tilt scope and lateral inclination scope in the described controller 5, and 100 angles of inclination, chassis that detection is obtained compare with predetermined slant range, if chassis 100 laterally or the fore-and-aft tilt angle surpass predetermined slant range, then controller is not carried out the stressed judgement of supporting leg, and 5 of controllers are to corresponding tilt alarm 63 output alarms instruction; If the stressed judgement of supporting leg is then carried out in 100 angles of inclination, chassis within predetermined slant range.In addition, installing horizon sensor additional can also go wrong or when inaccurate, can take the actv. prevention to the danger of toppling in that the sensor supporting leg is stressed, has improved the reliability of stability monitoring system.It will be appreciated by those skilled in the art that, because the danger of concrete pump truck lateral inclination is greater than the danger of fore-and-aft tilt, under specific circumstances, also the sensor of installation and measuring chassis 100 lateral inclination angles is only realized the monitoring to 100 angles of inclination, chassis.
More than be to be the description that example is carried out, it will be understood by those skilled in the art that above-mentioned stability monitoring system can also use, and can produce the corresponding techniques effect equally in other construction machinery and equipment with the concrete pump truck.
The above only is a preferred implementation of the present invention; should be understood that; for those skilled in the art; under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications; also above-mentioned technical characterictic can be carried out other and be combined to form other concrete technical scheme; such as; can make the stability monitoring system comprise strain sensor, displacement pickup simultaneously and near switch or the like, these technical schemes of improving, retouching and being combined to form also should be considered as protection scope of the present invention.
Claims (14)
1. a construction machinery and equipment comprises chassis, four supporting legs, and described supporting leg comprises the supporting leg cantilever respectively, and described supporting leg cantilever and chassis are hinged; Also comprise the stability monitoring system, described stability monitoring system comprises controller, actuating unit and several strain sensores, it is characterized in that, described strain sensor is installed in the outside face of supporting leg supporting leg cantilever respectively, and it is stressed and import stressed induced signal to controller to be used to detect each supporting leg; Described controller can be determined the stressed of supporting leg according to stressed induced signal, and according to the relation of the stressed of supporting leg and predetermined stressed threshold value to the actuating unit output command; Described actuating unit can be carried out the instruction that receives.
2. construction machinery and equipment according to claim 1 is characterized in that described strain sensor is installed in the bottom surface of supporting leg cantilever.
3. construction machinery and equipment according to claim 2 is characterized in that described actuating unit comprises annunciator; Described predetermined stressed threshold value includes the first stressed threshold value; During less than the first stressed threshold value, described controller can send alarm command to annunciator as two supporting legs stressed.
4. construction machinery and equipment according to claim 3 is characterized in that described actuating unit also comprises hydraulic valve, and described hydraulic valve is connected on the oil feeding line of construction machinery and equipment; Described predetermined stressed threshold value also comprises the second stressed threshold value, and the described second stressed threshold value is less than the first stressed threshold value; During less than the second stressed threshold value, described controller can send the instruction of cutting off fuel feeding to hydraulic valve as two supporting legs stressed.
5. according to each described construction machinery and equipment of claim 1-4, it is characterized in that described stability monitoring system also comprises horizon sensor, described horizon sensor can detect the angle of inclination, chassis, and to controller output angle of inclination; Described controller can be according to the relation of the angle of inclination that obtains and predetermined range of tilt angles to the actuating unit output command.
6. construction machinery and equipment, comprise chassis, four supporting legs, described four supporting legs comprise two preceding supporting legs and two rear support legs, and described two preceding supporting legs comprise telescopic boom respectively, and described telescopic boom matches with two supporting leg slideways on the chassis respectively; Described two rear support legs comprise the supporting leg cantilever respectively, and described supporting leg cantilever and chassis are hinged; Also comprise the stability monitoring system, described stability monitoring system comprises controller and actuating unit, it is characterized in that, described stability monitoring system also comprises two strain sensores and two displacement pickups; Described two strain sensores are installed in the outside face of the supporting leg cantilever of two rear support legs respectively, and it is stressed and export stressed induced signal to controller to be used to detect two rear support legs; Described two displacement pickups can detect the tolerance clearance between two telescopic booms and the respective leg slideway respectively, and can import stressed induced signal to controller according to tolerance clearance, and described stressed induced signal is stressed relevant with preceding supporting leg; Described controller can be determined the stressed of each supporting leg according to stressed induced signal, and according to the relation of the stressed of supporting leg and predetermined stressed threshold value to the actuating unit output command; Described actuating unit can be carried out the instruction that receives.
7. construction machinery and equipment according to claim 6 is characterized in that described strain sensor is installed in the bottom surface of supporting leg cantilever; Described tolerance clearance is the tolerance clearance between telescopic boom bottom surface and the supporting leg slideway.
8. construction machinery and equipment according to claim 7 is characterized in that described actuating unit comprises annunciator; Described predetermined stressed threshold value comprises the first stressed threshold value; During less than the first stressed threshold value, described controller can send alarm command to annunciator as two supporting legs stressed.
9. construction machinery and equipment according to claim 8 is characterized in that described actuating unit also comprises hydraulic valve, and described hydraulic valve is connected on the oil feeding line of construction machinery and equipment; Described predetermined stressed threshold value also comprises the second stressed threshold value, and the described second stressed threshold value is less than the first stressed threshold value; During less than the second stressed threshold value, described controller can send the instruction of cutting off fuel feeding to hydraulic valve as two supporting legs stressed.
10. according to each described construction machinery and equipment of claim 6-9, it is characterized in that described stability monitoring system also comprises horizon sensor, described horizon sensor can detect the angle of inclination on chassis, and to controller output angle of inclination; Described controller can be according to the relation of the angle of inclination that obtains and predetermined range of tilt angles to the actuating unit output command.
11. a construction machinery and equipment comprises chassis, four supporting legs, described four supporting legs comprise two preceding supporting legs and two rear support legs, and described two preceding supporting legs comprise telescopic boom respectively, and described telescopic boom matches with supporting leg slideway on the chassis; Described two rear support legs comprise the supporting leg cantilever respectively, and described supporting leg cantilever and chassis are hinged; Also comprise the stability monitoring system, described stability monitoring system comprises controller and actuating unit, it is characterized in that, described stability monitoring system also comprises two near switch and two strain sensores; Described two near switch can be respectively according to the tolerance clearance between two telescopic booms and the respective leg slideway to controller input state signal, described status signal is stressed relevant with preceding supporting leg; Described two strain sensores are installed in the outside face of two rear support leg supporting leg cantilevers respectively, can export stressed induced signal to controller, and described stressed induced signal is stressed relevant with rear support leg; Described controller can execute instruction to actuating unit output according to stressed induced signal and status signal; Described actuating unit can implementation controller the execution command of output.
12. construction machinery and equipment according to claim 11 is characterized in that, described strain sensor is installed on the bottom surface of supporting leg cantilever; Described tolerance clearance is the tolerance clearance between telescopic boom bottom surface and the supporting leg slideway.
13., it is characterized in that described actuating unit comprises annunciator according to claim 11 or 12 described construction machinery and equipment; Preset the first stressed threshold value in the described controller, and can determine the stressed of corresponding supporting leg according to stressed induced signal and status signal, during less than the first stressed threshold value, described controller can send alarm command to annunciator as two supporting legs stressed.
14., it is characterized in that described stability monitoring system also comprises horizon sensor according to claim 11 or 12 described construction machinery and equipment, described horizon sensor can detect the angle of inclination on chassis, and to controller output angle of inclination; Described controller can be according to the relation of the angle of inclination that obtains and predetermined range of tilt angles to the actuating unit output command.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008101888062A CN101457589B (en) | 2008-12-26 | 2008-12-26 | Construction machine |
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| CN2008101888062A CN101457589B (en) | 2008-12-26 | 2008-12-26 | Construction machine |
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| CN101457589A CN101457589A (en) | 2009-06-17 |
| CN101457589B true CN101457589B (en) | 2011-04-13 |
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| CN102009919B (en) * | 2010-12-06 | 2012-09-26 | 徐州重型机械有限公司 | Crane and frame thereof |
| DE102011075310A1 (en) * | 2011-05-05 | 2012-11-08 | Putzmeister Engineering Gmbh | Mobile working machine with supporting device |
| CN102277891B (en) * | 2011-05-19 | 2013-06-05 | 徐工集团工程机械股份有限公司科技分公司 | Walking engineering machinery and leveling device thereof |
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| CN103612621A (en) * | 2013-11-25 | 2014-03-05 | 中联重科股份有限公司 | Engineering vehicle and supporting leg device thereof |
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