CN104085804A - All-terrain crane and center-of-gravity monitoring device and method thereof - Google Patents
All-terrain crane and center-of-gravity monitoring device and method thereof Download PDFInfo
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- CN104085804A CN104085804A CN201410342849.7A CN201410342849A CN104085804A CN 104085804 A CN104085804 A CN 104085804A CN 201410342849 A CN201410342849 A CN 201410342849A CN 104085804 A CN104085804 A CN 104085804A
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Abstract
The invention discloses a center-of-gravity monitoring device of an all-terrain crane. The center-of-gravity monitoring device comprises a sensor and a controller, wherein the sensor is used for obtaining pressure information of a suspension oil cylinder of a crane chassis; the controller is used for obtaining shaft load distribution information of shafts and weight information of the whole crane according to a relation between the pressure information and the stress of the suspension oil cylinder, obtaining coordinates of the actual center of gravity of the crane in X and Y directions according to the shaft load distribution information of all the shafts and further obtaining a coordinate of the actual center of gravity of the crane in a Z direction according to the weight information of the whole crane; the controller is used for judging whether the actual center of gravity of the crane deviates from a safe range by comparing the position of the actual center of gravity of the crane in a three-dimensional coordinate system with a theoretical position under corresponding working conditions. The device can be used for monitoring and controlling the center of gravity of the all-terrain crane, thereby improving the stability and the safety of the all-terrain crane under different working conditions. The invention further provides a center-of-gravity monitoring method and the all-terrain crane to which the center-of-gravity monitoring device is applied.
Description
Technical field
The present invention relates to technical field of engineering machinery, be specifically related to center of gravity control monitor unit and the method for full Terrain Cranes.The invention still further relates to the full Terrain Cranes that is provided with described center of gravity control monitor unit.
Background technology
Full Terrain Cranes, claims again all terrain crane, is a kind of premium quality product that has car hosit and rough-terrain crane feature concurrently.It can be as car hosit fast transfer, long distance travel, can meet again the requirement of operation on narrow and small and rugged and rough or muddy place, have that moving velocity is fast, the driving of many bridges, four-wheel steering, multiple steering mode, the ground Clearance is large, hill climbing ability is high, can, without functions such as supporting leg lift heavys, be a kind of extremely rising product.
At present, full Terrain Cranes is widely used in the Large-scale Hoisting constructions such as beach, mountain region, when equipment transition, because the parts such as the counterweight of carrying, supporting leg, arm, auxiliary are different, the ride quality of vehicle alters a great deal, and causes center of gravity very large in height (Z axis), left and right (Y-axis), front and back (X-axis) skew.
The center of gravity of full Terrain Cranes is different with common truck, the functional characteristic of hoisting crane has determined that with constructional feature its car load center of gravity is higher than other vehicles, under difference configuration, different ride quality, its center of gravity has safe range, only have when vehicle's center of gravity is in safe range, travelling, it is safe to be only.
While being converted into another kind of operating mode due to full Terrain Cranes by a kind of operating mode, need the parts of dismounting or assembling many and time-consuming.So, when vehicle transition operation, there are a large amount of situations about operating not according to the regulation of operating manual, while causing vehicle transition, in overload motoring condition, even center of gravity is seriously offset.
While there is skew in full Terrain Cranes center of gravity; axle load uneven distribution situation is serious; to the damage of driving system, framing member, traveling gear in a kind of unknowable state; owing to having corresponding safety method to control, do not damage generation; add the complexity on road surface, place, be easy to cause tumbling of hoisting crane.
In sum, full Terrain Cranes in use, do not monitor and alarm its center of gravity, more there is no relevant control measure by conventional art, easily cause vehicle's center of gravity skew that the Peril Incidents such as overturning even occur, cause great economic loss to user and manufacturer.
Therefore, how the center of gravity of full Terrain Cranes being monitored and to be controlled, to improve its stability and safety under different operating mode configurations, is those skilled in the art's technical issues that need to address.
Summary of the invention
For above-mentioned defect, the invention provides a kind of full Terrain Cranes center of gravity control monitor unit.This device can be monitored and control the center of gravity of full Terrain Cranes, thereby improves its stability and safety under different operating mode configurations.
On this basis, the full Terrain Cranes that the present invention also provides a kind of full Terrain Cranes center of gravity method for supervising and is provided with described center of gravity control monitor unit.
The invention provides a kind of full Terrain Cranes center of gravity control monitor unit, comprising:
Sensor, for obtaining the pressure information of described crane chassis suspension oil cylinder;
Controller, according to described pressure information and suspension cylinder force relation, obtains each axle axle load distributed intelligence and complete vehicle weight information;
And according to described each axle axle load distributed intelligence, obtain the coordinate of described hoisting crane actual center gravity in X and Y-direction, and further according to described complete vehicle weight information, obtain the coordinate of described hoisting crane actual center gravity in Z direction;
Described controller is also by comparing the actual center gravity position of hoisting crane described in three-dimensional system of coordinate and the theoretical position under corresponding operating mode; judge whether described hoisting crane actual center gravity is offset out safe range; if the determination result is YES; export control information and control safety guard execution safety precautions, output alarm information to warning device is reported to the police simultaneously.
Preferably, described safety guard comprises hydro pneumatic suspension;
Described controller is according to centre-of gravity shift direction, and output control information is controlled described hydro pneumatic suspension and raise separately or reduced and oppositely adjust by left side, right side, the place ahead or rear, makes described hoisting crane actual center gravity enter safe range.
Preferably, described safety guard comprises electric-hydraulic proportion steering swivel system;
Described controller is according to centre-of gravity shift direction, output control information control described electric-hydraulic proportion steering swivel system by each axle steer angle to secure side to adjustment, make described hoisting crane actual center gravity enter safe range.
Preferably, described warning device comprises telltale;
Described controller is exported the speed of a motor vehicle, total axle load, actual center gravity position, each axle axle load information and centre-of gravity shift direction information to described telltale simultaneously.
Full Terrain Cranes center of gravity method for supervising provided by the invention, comprises the following steps:
Obtain the pressure information of described crane chassis suspension oil cylinder;
According to described pressure information and suspension cylinder force relation, obtain each axle axle load distributed intelligence and complete vehicle weight information;
And according to described each axle axle load distributed intelligence, obtain the coordinate of described hoisting crane actual center gravity in X and Y-direction, and further according to described complete vehicle weight information, obtain the coordinate of described hoisting crane actual center gravity in Z direction;
By comparing the actual center gravity position of hoisting crane described in three-dimensional system of coordinate and the theoretical position under corresponding operating mode; judge whether described hoisting crane actual center gravity is offset out safe range; if the determination result is YES, carry out safety precautions, output alarm information is reported to the police simultaneously.
Further; carry out in the following manner safety precautions: according to centre-of gravity shift direction; output control information is controlled hydro pneumatic suspension and is raise separately or reduced and oppositely adjust by left side, right side, the place ahead or rear, makes described hoisting crane actual center gravity enter safe range.
Further, carry out in the following manner safety precautions: according to centre-of gravity shift direction, output control information control electric-hydraulic proportion steering swivel system to secure side to adjustment, makes described hoisting crane actual center gravity enter safe range each axle steer angle.
Further, carry out in the following manner safety precautions: described hoisting crane actual center gravity is offset out safe range if judge, and while exceeding safety precautions correcting range, output control information is controlled hoisting crane and is stopped.
Further, report to the police in the following manner: output alarm information, to telltale, is exported the speed of a motor vehicle, total axle load, actual center gravity position, each axle axle load information and centre-of gravity shift direction information to described telltale simultaneously.
Full Terrain Cranes provided by the invention, comprises hoisting crane body and control system, and described control system is provided with the full Terrain Cranes center of gravity control monitor unit described in above-mentioned any one.
Full Terrain Cranes center of gravity control monitor unit provided by the invention be take Vehicle Controller as core, by sensor, obtain axle load data, calculate complete vehicle weight, controller is first according to the size distribution of each axle axle load, draw the X of vehicle actual center gravity, the coordinate of Y both direction, according to complete vehicle weight, calculate the coordinate of actual center gravity Z direction again.Then, by comparing actual position and the theoretical position of center of gravity in three-dimensional system of coordinate, judge whether center of gravity is offset, vehicle is carried out to safety control, and reported to the police by telltale if there is skew, the timely maneuver vehicle of prompting operator enters safe condition.
The present invention monitors the axle load of vehicle and center of gravity in real time by controller, and the axle load distribution of vehicle in driving process, centre-of gravity shift, alarm message etc. are fed back to operator.When operator finds that the vehicle serious skewness of each axle axle load or centre-of gravity shift go out design safety scope, controller sends safety protection control instruction, impels operator to allow vehicle return safe condition.The invention solves the abnormal tyre wearing and tearing that full Terrain Cranes causes because of axle load abnormal distribution, driving system that centre-of gravity shift causes load excessive and damage, the problem such as framing member distortion, vehicle abnormality shake, can significantly improve vehicle and parts service life thereof, reduce maintenance expense.
Because above-mentioned center of gravity control monitor unit has above-mentioned technique effect, the center of gravity method for supervising based on same principle and comprise that the full Terrain Cranes of this center of gravity control monitor unit also has identical technique effect.
Accompanying drawing explanation
Fig. 1 is the control principle drawing of full Terrain Cranes center of gravity control monitor unit provided by the present invention;
Fig. 2 is the control flow chart of full Terrain Cranes center of gravity method for supervising provided by the present invention.
The specific embodiment
Core of the present invention is to provide a kind of full Terrain Cranes center of gravity control monitor unit, so that the center of gravity of full Terrain Cranes is monitored and to be controlled, thereby improves its stability and safety under different operating mode configurations.
Below in conjunction with Figure of description, illustrate present embodiment.
Without loss of generality, present embodiment is usingd the full Terrain Cranes that has car hosit and rough-terrain crane feature concurrently and is described in detail as main body.
Please refer to Fig. 1, Fig. 1 is the control principle drawing of full Terrain Cranes center of gravity control monitor unit provided by the present invention.
As shown in the figure, in a kind of specific embodiment, full Terrain Cranes center of gravity control monitor unit provided by the invention, is mainly comprised of sensor, controller, safety guard and warning device etc.
Sensor is pressure sensor, is located at crane chassis suspension oil circuit, for detection of the pressure data of crane chassis suspension oil cylinder.
Controller is Vehicle Controller, PLC controller for example, and it can receive, send data, carries out program download, logic operation, and supports CAN bus communication.
Full Terrain Cranes has different theoretical axle loads and the position of theoretical center of gravity under different operating mode configurations (as shown in Table 1), and actual center-of-gravity position is definite with complete vehicle weight by the size distribution of each axle axle load of reality, when actual center gravity position and theoretical center-of-gravity position deviation are when larger, think that centre-of gravity shift goes out safe range.
Table one hoisting crane operating mode allocation list
Full Terrain Cranes center of gravity in real time monitoring be take Vehicle Controller as core; suspension oil cylinder working-pressure sensor signals etc. are as the input of controller; analyze suspension cylinder force situation; through programmed algorithm, calculating vehicle axle load distributes and lade weight of a vehicle; controller judges whether actual center gravity position is offset out the safe range of design gravity position, if be offset out safe range, controller is taked corresponding protection strategy; and reported to the police by telltale, the timely maneuver vehicle of prompting operator enters safe condition.
Full Terrain Cranes center of gravity monitoring comprises that center of gravity monitors control program part and display alarm program two parts in real time, is described below respectively:
(1) center of gravity monitoring is controlled
As previously mentioned, full Terrain Cranes is when under different operating modes, (being under Different Weight) transition is travelled, and its each axle axle load and center of gravity have corresponding design safety scope.When it is when transition is travelled, if its deviation of gravity center goes out safe range, vehicle has the possibility of tumbling at any time, Vehicle Controller detect this abnormal after, take immediately measure of control even to force to stop, guarantee the safety of vehicle, its control policy diagram of circuit as shown in Figure 2.
Sensor exports the suspension oil cylinder working-pressure data that detect to controller, controller is according to the stress balance formula of pressure data and suspension oil cylinder, calculate each axle axle load distributed intelligence and complete vehicle weight information, be weight and the lade weight of a vehicle bearing on every axletree, and data are sent to telltale by vehicle body network show.
Controller is according to each axle axle load distributed intelligence, can calculate the coordinate of hoisting crane actual center gravity in X (front and back) and Y (left and right) direction, and according to complete vehicle weight information, can further calculate the coordinate of hoisting crane actual center gravity in Z (highly) direction.
Judge whether hoisting crane actual center gravity is offset out safe range and is carried out by controller, controller is by comparing the actual center gravity position of hoisting crane in three-dimensional system of coordinate and the theoretical position under corresponding operating mode, judge whether hoisting crane actual center gravity is offset out safe range, safe range is an interval centered by theoretical center-of-gravity position, actual center gravity is in this interval, illustrate that hoisting crane actual center gravity is in safe range, otherwise, excessive or too smallly all illustrate that hoisting crane actual center gravity is not in safe range.
Once controller is judged actual center gravity and is offset out safe range, just export control information and control safety guard execution safety precautions, output alarm information to warning device is reported to the police simultaneously.
Particularly; safety guard comprises hydro pneumatic suspension; controller is when carrying out safety precautions; according to centre-of gravity shift direction; output control information is controlled hydro pneumatic suspension and is raise separately or reduced and oppositely adjust by left side, right side, the place ahead or rear, makes hoisting crane actual center gravity enter safe range.
For example, if the front side of hoisting crane actual center gravity on directions X is offset out safe range, controller output control information, the rear of controlling hydro pneumatic suspension reduces separately, oppositely adjusts, until hoisting crane actual center gravity enters safe range; If it is minimum that hydro pneumatic suspension rear has been down to, or be down to minimum after, still in above-mentioned direction, be offset out safe range, controller output control information, the place ahead of controlling hydro pneumatic suspension raises separately, oppositely adjusts, until hoisting crane actual center gravity enters safe range.
If the rear side of hoisting crane actual center gravity on directions X is offset out safe range, or left side in the Y direction or right side be offset out safe range, and its adjustment mode is similar with it, just no longer repeats.
If hoisting crane actual center gravity is offset out safe range in Z direction, be generally that height of gravitational center is too high, the exportable control information of controller, controls the whole reduction of hydro pneumatic suspension, thereby makes actual center gravity be reduced to safe range.
If hoisting crane actual center gravity, at any two or be simultaneously offset out safe range in three directions of X, Y, Z, can regulate according to the order of setting successively, finally make center of gravity in all directions, all be reduced to safe range.
If the adjustment by hydro pneumatic suspension still can not make hoisting crane actual center gravity enter safe range, controller output control information, controls hoisting crane and stops.
Safety guard can also comprise electric-hydraulic proportion steering swivel system; controller is when carrying out safety precautions; according to centre-of gravity shift direction; output control information control electric-hydraulic proportion steering swivel system by each axle steer angle to secure side to adjustment; make hoisting crane actual center gravity enter safe range; the adjustment mode of its concrete adjustment mode and hydro pneumatic suspension is similar, specifically can be with reference to above.
In addition, if operator finds hoisting crane actual center gravity, position offset is excessive, can first stop and alleviate configuration.Because the configuration that carry vehicle top is more, the center of gravity of vehicle is higher, therefore stops and alleviates the method that configuration is safe and feasible.
(2) center of gravity monitoring display
Warning device is selected telltale, it is arranged on operator's compartment, be provided with peripheral operation, input equipment, there is the functions such as control command input, selection and information of vehicles demonstration, it is the mutual medium of operator and information of vehicles, operator can assign part control command to vehicle by telltale, and same telltale also can feed back to operator in the mode of picture and text by information of vehicles.
The real-time monitoring vehicle center of gravity of Vehicle Controller, if actual center gravity exceeds the safe range of design, controller sends safety control instruction, and the information exchanges such as alarm message, the speed of a motor vehicle, total axle load, center-of-gravity position coordinate, each axle axle load are crossed to vehicle body CAN network send in telltale, telltale is reported to the police, and reminds operator to adjust in time vehicle-state or configures vehicle by operating manual.
The sensor, controller, telltale, hydro pneumatic suspension and electric-hydraulic proportion steering swivel system all can make full use of hoisting crane existing device, namely do not increasing under the prerequisite of hardware, can on the original hardware foundation of hoisting crane, by computer program instructions related hardware, realize, the program code of realizing control function can compile in controller.
The present invention inputs by the pressure sensor signal on suspension oil cylinder, and the axle load that via controller routine processes obtains car load distributes, and determines the position of vehicle actual center gravity in three-dimensional system of coordinate according to the actual disposition of vehicle.
When vehicle axle load skewness, centre-of gravity shift; controller is carried out safety protection control; can automatically adjust hydro pneumatic suspension; make to the full extent vehicle axle load balance; can also automatically adjust electric-hydraulic proportion and turn to each axle steer angle; again reduce the risk that travels; even stop; impel operator to take measures to change the situation of the current danger of vehicle; simultaneously; telltale feeds back to operator by the direction of skew, axle load distribution situation, indicates the direction of correct fault handling or the situation of clearing to operator.
Except center of gravity control monitor unit, it is a kind of under the different operating mode configurations of full Terrain Cranes that the present embodiment also provides on this basis, calculate vehicle's center of gravity actual position, and judge whether center of gravity exceeds safe range, if exceed the center of gravity method for supervising that vehicle is carried out safety control.
Please refer to Fig. 2, Fig. 2 is the control flow chart of full Terrain Cranes center of gravity method for supervising provided by the present invention.
As shown in the figure, in a kind of specific embodiment, center of gravity method for supervising provided by the invention, for full Terrain Cranes, it carries out according to following steps:
S1. obtain the pressure information of crane chassis suspension oil cylinder;
S2. according to pressure information and suspension cylinder force relation, obtain each axle axle load distributed intelligence and complete vehicle weight information;
S3. according to each axle axle load distributed intelligence, obtain the coordinate of hoisting crane actual center gravity in X and Y-direction, and further according to complete vehicle weight information, obtain the coordinate of hoisting crane actual center gravity in Z direction;
S4. by comparing the actual center gravity position of hoisting crane in three-dimensional system of coordinate and the theoretical position under corresponding operating mode; judge whether hoisting crane actual center gravity is offset out safe range; if the determination result is YES, carry out safety precautions, output alarm information is reported to the police simultaneously.
In step S4; can carry out in the following manner safety precautions: according to centre-of gravity shift direction; output control information is controlled hydro pneumatic suspension and is raise separately or reduced and oppositely adjust by left side, right side, the place ahead or rear, makes described hoisting crane actual center gravity enter safe range.
In step S4, also can carry out in the following manner safety precautions: according to centre-of gravity shift direction, output control information control electric-hydraulic proportion steering swivel system to secure side to adjustment, makes described hoisting crane actual center gravity enter safe range each axle steer angle.
In step S4, can also carry out in the following manner safety precautions: described hoisting crane actual center gravity is offset out safe range if judge, and while exceeding safety precautions correcting range, output control information is controlled hoisting crane and is stopped.
In step S4, report to the police in the following manner: output alarm information, to telltale, is exported the speed of a motor vehicle, total axle load, actual center gravity position, each axle axle load information and centre-of gravity shift direction information to described telltale simultaneously.
Because center of gravity method for supervising provided by the present invention is corresponding to center of gravity control monitor unit mentioned above, the associated description that the specific implementation process of above each step can reference unit, repeats no more here.
Certainly, above-described embodiment is only preferred version of the present invention, is specifically not limited to this, can make according to actual needs pointed adjustment on this basis, thereby obtains different embodiments.For example, for improving warning effect, can set up Warning light or buzzer phone for warning device, or for improving Man machine interaction, telltale adopts touch display screen etc.Because mode in the cards is more, casehistory no longer one by one just here.
Except above-mentioned safety guard and method for security protection; the present invention also provides a kind of full Terrain Cranes; comprise hoisting crane body and control system; described control system is provided with the full Terrain Cranes center of gravity control monitor unit described in above-mentioned any one; all the other structures please refer to prior art, repeat no more herein.
Above full Terrain Cranes provided by the present invention and center of gravity control monitor unit thereof and method are described in detail.Applied specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment is just for helping to understand core concept of the present invention.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of the claims in the present invention.
Claims (10)
1. a full Terrain Cranes center of gravity control monitor unit, is characterized in that, comprising:
Sensor, for obtaining the pressure information of described crane chassis suspension oil cylinder;
Controller, according to described pressure information and suspension cylinder force relation, obtains each axle axle load distributed intelligence and complete vehicle weight information;
And according to described each axle axle load distributed intelligence, obtain the coordinate of described hoisting crane actual center gravity in X and Y-direction, and further according to described complete vehicle weight information, obtain the coordinate of described hoisting crane actual center gravity in Z direction;
Described controller is also by comparing the actual center gravity position of hoisting crane described in three-dimensional system of coordinate and the theoretical position under corresponding operating mode; judge whether described hoisting crane actual center gravity is offset out safe range; if the determination result is YES; export control information and control safety guard execution safety precautions, output alarm information to warning device is reported to the police simultaneously.
2. full Terrain Cranes center of gravity control monitor unit according to claim 1, is characterized in that, described safety guard comprises hydro pneumatic suspension;
Described controller is according to centre-of gravity shift direction, and output control information is controlled described hydro pneumatic suspension and raise separately or reduced and oppositely adjust by left side, right side, the place ahead or rear, makes described hoisting crane actual center gravity enter safe range.
3. full Terrain Cranes center of gravity control monitor unit according to claim 1, is characterized in that, described safety guard comprises electric-hydraulic proportion steering swivel system;
Described controller is according to centre-of gravity shift direction, output control information control described electric-hydraulic proportion steering swivel system by each axle steer angle to secure side to adjustment, make described hoisting crane actual center gravity enter safe range.
4. according to the full Terrain Cranes center of gravity control monitor unit described in claim 1,2 or 3, it is characterized in that, described warning device comprises telltale;
Described controller is exported the speed of a motor vehicle, total axle load, actual center gravity position, each axle axle load information and centre-of gravity shift direction information to described telltale simultaneously.
5. a full Terrain Cranes center of gravity method for supervising, comprises the following steps:
Obtain the pressure information of described crane chassis suspension oil cylinder;
According to described pressure information and suspension cylinder force relation, obtain each axle axle load distributed intelligence and complete vehicle weight information;
And according to described each axle axle load distributed intelligence, obtain the coordinate of described hoisting crane actual center gravity in X and Y-direction, and further according to described complete vehicle weight information, obtain the coordinate of described hoisting crane actual center gravity in Z direction;
By comparing the actual center gravity position of hoisting crane described in three-dimensional system of coordinate and the theoretical position under corresponding operating mode; judge whether described hoisting crane actual center gravity is offset out safe range; if the determination result is YES, carry out safety precautions, output alarm information is reported to the police simultaneously.
6. full Terrain Cranes center of gravity method for supervising according to claim 5, is characterized in that, carries out in the following manner safety precautions:
According to centre-of gravity shift direction, output control information is controlled hydro pneumatic suspension and is raise separately or reduced and oppositely adjust by left side, right side, the place ahead or rear, makes described hoisting crane actual center gravity enter safe range.
7. full Terrain Cranes center of gravity method for supervising according to claim 5, is characterized in that, carries out in the following manner safety precautions:
According to centre-of gravity shift direction, output control information control electric-hydraulic proportion steering swivel system to secure side to adjustment, makes described hoisting crane actual center gravity enter safe range each axle steer angle.
8. full Terrain Cranes center of gravity method for supervising according to claim 5, is characterized in that, carries out in the following manner safety precautions:
If judge, described hoisting crane actual center gravity is offset out safe range, and while exceeding safety precautions correcting range, and output control information is controlled hoisting crane and stopped.
9. according to the full Terrain Cranes center of gravity method for supervising described in claim 5,6,7 or 8, it is characterized in that, report to the police in the following manner:
Output alarm information, to telltale, is exported the speed of a motor vehicle, total axle load, actual center gravity position, each axle axle load information and centre-of gravity shift direction information to described telltale simultaneously.
10. a full Terrain Cranes, comprises hoisting crane body and control system, and described control system is provided with the full Terrain Cranes center of gravity control monitor unit described in the claims 1 to 4 any one.
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