CN104847118A - Concrete pump truck rollover-prevention control system and method - Google Patents
Concrete pump truck rollover-prevention control system and method Download PDFInfo
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- CN104847118A CN104847118A CN201410677890.XA CN201410677890A CN104847118A CN 104847118 A CN104847118 A CN 104847118A CN 201410677890 A CN201410677890 A CN 201410677890A CN 104847118 A CN104847118 A CN 104847118A
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Abstract
The invention discloses a concrete pump truck rollover-prevention control system and method. The concrete pump truck rollover-prevention control system comprises a supporting leg gravity center acquisition device, a boom gravity center acquisition device and a controller, wherein the supporting leg gravity center acquisition device is arranged on a supporting leg and used for obtaining supporting leg gravity center position information; the boom gravity center acquisition device is arranged on a boom and used for obtaining boom gravity center position information; and the controller is connected with the supporting leg gravity center acquisition device and the boom gravity center acquisition device, and used for receiving the supporting leg gravity center position information and the boom gravity center position information, obtaining the whole truck gravity center position information of a concrete pump truck and controlling the working posture of the boom according to the whole truck gravity center position information. Through the system and the method provided by the invention, safe operation of the concrete pump truck under various working conditions can be ensured.
Description
Technical field
The present invention relates to engineering machinery field, particularly relate to a kind of concrete mixer anti-rollover control system and method.
Background technology
Shown in Fig. 1 is the complete vehicle structure schematic diagram of concrete mixer in prior art, and each supporting leg 1 ' on it and jib 2 ' are all in contraction state.As shown in Figure 1, the concrete mixer jib that needs when carrying out operation to hoist is constructed to certain altitude.How to ensure that jib is in range of safety operation in vehicle use procedure very important, otherwise there will be car and turn over people and to die accident." range of safety operation " herein refers to and keeps stable scope corresponding to the car load center of gravity under supporting leg and jib deployed condition.
Along with increasing large-scale construction project, as the needs of power station, speedway, bridge and wind-powered electricity generation etc., the volume of concrete mixer self is designed to be increasingly huge, the place of job site may be not enough to the supporting leg of concrete mixer to launch completely, so under the incomplete deployed condition of supporting leg, the comprehensive operation of jib may exceed range of safety operation, causes operation dangerous.
Therefore wish a kind of technical scheme to overcome or to alleviate in the above-mentioned defect of prior art one or more.
Summary of the invention
The object of the present invention is to provide and a kind ofly avoid the shortcoming of prior art and the concrete mixer anti-rollover control system of the improvement of developing in an advantageous manner and method, which solve the problem that cannot ensure operational security in prior art.
For achieving the above object, the invention provides a kind of concrete mixer anti-rollover control system, it comprises: supporting leg center of gravity acquisition device, jib center of gravity acquisition device and controller, wherein: described supporting leg center of gravity acquisition device is arranged on supporting leg, for obtaining supporting leg position of centre of gravity information; Described jib center of gravity acquisition device is arranged on jib, for obtaining jib position of centre of gravity information; Described controller is connected with described supporting leg center of gravity acquisition device and described jib center of gravity acquisition device, for receiving described supporting leg position of centre of gravity information and described jib position of centre of gravity information, obtain the car load position of centre of gravity information of concrete mixer, control the operation attitude of described jib according to this car load position of centre of gravity information.
Further, described supporting leg center of gravity acquisition device comprises displacement transducer, for gathering the supporting leg displacement signal relative to initial operating mode under described supporting leg current working.
Further, described in each of described concrete mixer, the supporting leg Vertical Cylinders of supporting leg installs described supporting leg displacement transducer separately.
Further, described jib center of gravity acquisition device comprises displacement transducer, for gathering the jib displacement signal relative to initial operating mode under described jib current working.
Further, described in each of described concrete mixer, the arm support oil cylinder of jib installs described jib displacement transducer separately.
Further, described controller comprises receiving element, computing unit, recognition unit and signal output unit, wherein: described receiving element is for receiving the described supporting leg displacement signal and described jib displacement signal that collect; Described computing unit is used for calculating described car load position of centre of gravity according to described supporting leg displacement signal and described jib displacement signal; Described recognition unit is used for comparing described car load position of centre of gravity and safe operation range and judging; Described signal output unit is used for the judged result according to described recognition unit, if described car load position of centre of gravity exceeds described safe operation range, then sends the instruction changing jib operation attitude, until described car load position of centre of gravity is in described safe operation range.
Further, described controller also comprises for storing default reference point location and described safe operation range, each described supporting leg, each described jib and the quality of car load and the memory cell of original center of gravity positional information, described memory cell and described computing unit and described recognition unit carry out information interaction.
Because the present invention can be used for supporting leg being provided with the supporting leg center of gravity acquisition device obtaining supporting leg position of centre of gravity information, the jib center of gravity acquisition device obtaining jib position of centre of gravity information is can be used for jib being provided with, also be provided with the controller be connected with supporting leg center of gravity acquisition device and jib center of gravity acquisition device, supporting leg position of centre of gravity information and jib position of centre of gravity information can be received by controller, obtain the car load position of centre of gravity of concrete mixer, and judge whether this car load position of centre of gravity is in safe operation range, to control the operation attitude of jib, set of the present invention supporting leg position of centre of gravity information and jib position of centre of gravity information are as Rule of judgment, when exceeding safe operation range then by the operation of electrical control jib, its implementation is simple, control efficiency is high, favourable condition is provided for avoiding dangerous operation.
A kind of concrete mixer anti-rollover control method, is characterized in that, comprise the following steps:
Supporting leg position of centre of gravity information and jib position of centre of gravity information under the current working of collection concrete mixer;
According to the car load position of centre of gravity information of described supporting leg position of centre of gravity information and described jib position of centre of gravity information acquisition concrete mixer;
The job state of jib is controlled according to this car load position of centre of gravity information.
Further, the acquisition methods of described supporting leg position of centre of gravity information is specially: first, defines the positional information (x of center of gravity relative to the reference point preset of the supporting leg of initial operating mode
supporting leg is initial, y
supporting leg is initial), utilize supporting leg displacement transducer to gather displacement information (the △ x of supporting leg current working relative to initial operating mode
supporting leg, △ y
supporting leg); Then, according to x
supporting leg is initial-x
supporting leg is current=△ x
supporting leg,y
supporting leg is initial-y
supporting leg is current=△ y
supporting leg, obtain the positional information (x of center of gravity relative to described reference point of the supporting leg of current working
supporting leg is current, y
supporting leg is current).
Further, the acquisition methods of described jib position of centre of gravity information is specially: first, defines the positional information (x of center of gravity relative to described reference point of the jib of initial operating mode
jib is initial, y
jib is initial), utilize jib displacement transducer to gather displacement information (the △ x of jib current working relative to initial operating mode
jib, △ y
jib); Then, according to x
jib is initial-x
jib is current=△ x
jib,y
jib is initial-y
jib is current=△ y
jib, obtain the positional information (x of center of gravity relative to described reference point of the jib of current working
jib is current, y
jib is current).
Further, the design formulas of car load position of centre of gravity information is: m
supporting leg 1(x
supporting leg 1 is current, y
supporting leg 1 is current)+... + m
supporting leg n(x
supporting leg n is current, y
supporting leg n is current)+m
joint arm 1(x
joint arm 1 is current, y
joint arm 1 is current)+... + m
joint arm n(x
joint arm n is current, y
n is current for joint arm)=m
car load(x
car load is current, y
car load is current); In formula, m
supporting leg ithe quality of i-th supporting leg, m
joint arm ithe quality of the i-th joint joint arm in jib, (x
supporting leg i is current, y
supporting leg i is current) be the positional information of center of gravity relative to described reference point of current working i-th supporting leg, (x
i is current for joint arm, y
i is current for joint arm) be the positional information of center of gravity relative to described reference point that i-th in current working jib saves arm, m
car loadthe complete vehicle quality of concrete mixer, (x
car load is current, y
car load is current) be the positional information of car load center of gravity relative to described reference point of current working concrete mixer, i is more than or equal to 1 and is less than or equal to n.
Further, described reference point is arranged on the rotation of rotary table center of described concrete mixer.
Accompanying drawing explanation
Fig. 1 is the complete vehicle structure schematic diagram of concrete mixer in prior art;
Fig. 2 is the structural principle schematic diagram of concrete mixer anti-rollover control system one embodiment provided by the present invention;
Fig. 3 is a kind of installment state schematic diagram of supporting leg displacement transducer on supporting leg in the present invention;
Fig. 4 is a kind of installment state schematic diagram of jib displacement transducer on jib in the present invention;
Fig. 5 is the structural principle schematic diagram of controller one embodiment in the present invention;
Fig. 6 is the structural principle schematic diagram of another embodiment of controller in the present invention;
Fig. 7 is the flow chart of concrete mixer anti-rollover control method one embodiment provided by the present invention.
Reference numeral:
| 1 | Supporting leg center of gravity acquisition device | 2 | Jib center of gravity acquisition device |
| 3 | Controller | 4 | Supporting leg |
| 5 | Jib | 6 | Supporting leg Vertical Cylinders |
| 7 | Arm support oil cylinder | 31 | Receiving element |
| 32 | Computing unit | 33 | Recognition unit |
| 34 | Signal output unit | 35 | Memory cell |
| 51 | First segment arm | 52 | Second section arm |
| 53 | Section three, arm | 54 | Section four, arm |
| 55 | Section five, arm | 56 | Section six, arm |
Detailed description of the invention
For making object of the invention process, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is further described in more detail.In the accompanying drawings, same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Described embodiment is the present invention's part embodiment, instead of whole embodiments.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.Below in conjunction with accompanying drawing, embodiments of the invention are described in detail.
In describing the invention; it will be appreciated that; term " " center ", " longitudinal direction ", " transverse direction ", "front", "rear", "left", "right", " vertically ", " level ", " top ", " end " " interior ", " outward " etc. instruction orientation or position relationship be based on orientation shown in the drawings or position relationship; be only the present invention for convenience of description and simplified characterization; instead of instruction or imply indication device or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as limiting the scope of the invention.
Shown in Fig. 2 is the structural principle schematic diagram of concrete mixer anti-rollover control system one embodiment provided by the present invention.As shown in Figure 2, the present embodiment comprises supporting leg center of gravity acquisition device 1, jib center of gravity acquisition device 2 and controller 3, wherein: supporting leg center of gravity acquisition device 1 is arranged on supporting leg 4, for obtaining supporting leg position of centre of gravity information; Jib center of gravity acquisition device 2 is arranged on jib 5, for obtaining jib position of centre of gravity information; Controller 3 is connected with supporting leg center of gravity acquisition device 1 and jib center of gravity acquisition device 2, for receiving described supporting leg position of centre of gravity information and described jib position of centre of gravity information, obtain the car load position of centre of gravity information of concrete mixer, control the operation attitude of jib 5 according to this car load position of centre of gravity information.
In the present embodiment, position of centre of gravity information normally using preset reference point as the origin of coordinates, the component (hereafter all referred to as level amount) of this center of gravity relative to the horizontal direction of described reference point and the component (hereafter all referred to as vertical amount) of vertical direction.Such as: each supporting leg has the position of centre of gravity under corresponding operating mode respectively, this position of centre of gravity comprises level amount and vertically measures.Under normal circumstances, expansion degree due to supporting leg 4 is subject to the restriction at construction operation scene, therefore, jib 5 expansion attitude is in the horizontal direction the key factor affecting concrete mixer rollover, so after obtaining car load position of centre of gravity, control the operation attitude (such as limit the operation of jib 5 or change the operation attitude of jib 5) of jib 5, just can effectively prevent concrete mixer from turning on one's side.Said reference point can be arranged on the rotation of rotary table center of concrete mixer, but is not limited thereto.
The present invention obtains supporting leg position of centre of gravity information and jib position of centre of gravity information by set, as Rule of judgment, when exceeding safe operation range then by the operation of electrical control jib, its implementation is simple, control efficiency is high, provides favourable condition for avoiding dangerous operation." safe operation range " refers to the safety work of jib 5 attitude, ensures the scope that concrete mixer is not tumbled.
As a kind of preferred embodiment of supporting leg center of gravity acquisition device 1, it comprises supporting leg displacement transducer, for gathering the supporting leg displacement signal relative to initial operating mode under supporting leg 4 current working.Can be specific as follows relative to the method for the supporting leg displacement signal acquisition supporting leg position of centre of gravity information of initial operating mode by gathering supporting leg 4 current working:
Define the positional information (x of center of gravity relative to described reference point of the supporting leg 4 of initial operating mode
supporting leg is initial, y
supporting leg is initial), the center of gravity of the supporting leg 4 of current working is relative to the positional information (x of described reference point
supporting leg is current, y
? leg is current), x
supporting leg is initial-x
supporting leg is current=△ x
supporting leg,y
supporting leg is initial-y
supporting leg is current=△ y
supporting leg, then (△ x
supporting leg, △ y
supporting leg) be the displacement that supporting leg displacement transducer collects.
In above-described embodiment, each supporting leg 4 of concrete mixer installs supporting leg displacement transducer described in, separately for gathering displacement (the △ x of each supporting leg 4 current working relative to initial operating mode
supporting leg, △ y
supporting leg), and be all transported to controller 3.Certainly, as shown in Figure 3, the supporting leg 4 in Fig. 3 is in extended configuration, supporting leg displacement transducer described in each correspondingly can be arranged on the end of supporting leg Vertical Cylinders 6.Also supporting leg displacement transducer can be set directly at the sidewall of supporting leg 4 to be measured, even can also be arranged on other position, not be restricted herein, as long as displacement (the △ x of each supporting leg 4 current working of accurate acquisition relative to initial operating mode can be ensured
supporting leg, △ y
supporting leg).
As a kind of preferred embodiment of jib center of gravity acquisition device 2, it comprises jib displacement transducer, for gathering the jib displacement signal relative to initial operating mode under jib 5 current working.Can be specific as follows relative to the method for the jib displacement signal acquisition jib position of centre of gravity information of initial operating mode by gathering jib 5 current working:
Define the positional information (x of center of gravity relative to described reference point of the jib of initial operating mode
jib is initial, y
jib initially), the center of gravity of the jib of current working is relative to the positional information (x of described reference point
jib is current, y
jib is current), x
jib is initial-x
jib is current=△ x
jib,y
jib is initial-y
jib is current=△ y
jib, then (△ x
jib, △ y
jib) be the displacement that jib displacement transducer collects.
In above-described embodiment, each the joint arm in the jib 5 of concrete mixer installs jib displacement transducer described in separately, for gathering displacement (the △ x of each the joint arm current working in jib 5 relative to initial operating mode
jib, △ y
jib), and be all transported to controller 3.Certainly, as shown in Figure 4, in Fig. 4, jib 5 comprises six joint joint arms, is first segment arm 51, second section arm 52, Section of three arm 53, Section of four arm 54, Section of five arm 55 and Section of six arm 56 respectively, often joint joint arm is provided with arm support oil cylinder 7.Can jib displacement transducer described in each be arranged in arm support oil cylinder 7, reflect the displacement information of corresponding joint arm according to the stroke of arm support oil cylinder 7.Also jib displacement transducer can be set directly at the sidewall of jib 5 to be measured, even can also be arranged on other position, be not restricted, as long as displacement (the △ x of each the joint arm current working in accurate acquisition jib 5 relative to initial operating mode can be ensured herein
jib, △ y
jib).
By gathering the supporting leg on concrete mixer
iwith joint arm
icurrent working relative to displacement (the △ x of initial operating mode
supporting leg, △ y
supporting leg) and (△ x
joint arm, △ y
joint arm), the computational methods of car load position of centre of gravity can be adopted and be realized with the following method:
Such as: according to design formulas m
supporting leg 1(x
supporting leg 1 is current, y
supporting leg 1 is current)+... + m
supporting leg n(x
supporting leg n is current, y
supporting leg n is current)+m
joint arm 1(x
joint arm 1 is current, y
joint arm 1 is current)+... + m
joint arm n(x
n is current for joint arm, y
n is current for joint arm)=m
car load(x
car load is current, y
car load is current).
In formula, m
supporting leg ithe quality of i-th supporting leg, m
joint arm ithe quality of the i-th joint joint arm, (x
supporting leg i is current, y
supporting leg i is current) be center of gravity (relative to the described reference point) position of the current working of i-th supporting leg, (x
joint arm i is current, y
i is current for joint arm) be center of gravity (relative to the described reference point) position that the i-th joint saves the current working of arm, m
car loadthe complete vehicle quality of concrete mixer, (x
car load is current, y
car load is current) be car load center of gravity (relative to the described reference point) position of the current working of concrete mixer, i is more than or equal to 1 and is less than or equal to n.
Wherein, m
supporting leg i, m
joint arm iand m
car loadall determine according to used vehicle model.(x
supporting leg i is current, y
? leg i is current) by (x
supporting leg i is initial, y
supporting leg i is initial) and (the △ x that collects of displacement transducer
supporting leg i, △ y
supporting leg i) determine, (x
i is current for joint arm, y
i is current for joint arm) by (x
i is initial for joint arm, y
i is initial for joint arm) and (the △ x that collects of displacement transducer
joint arm i, △ y
joint arm i) determine, and (x
supporting leg i is initial, y
supporting leg i is initial) and (x
i is initial for joint arm, y
i is initial for joint arm) be also to pre-set and to be determined, therefore (x
car load is current, y
car load is current) just can be obtained by above-mentioned formulae discovery.
Fig. 5 display be the structure principle chart of controller first embodiment.As shown in Figure 5, the controller 3 in the present embodiment comprises receiving element 31, computing unit 32, recognition unit 33 and signal output unit 34, wherein:
Receiving element 31 is for receiving the described supporting leg displacement signal and described jib displacement signal that collect.
Computing unit 32 is for calculating described car load position of centre of gravity according to described supporting leg displacement signal and described jib displacement signal.
Recognition unit 33 is for comparing described car load position of centre of gravity and safe operation range and judge.
Signal output unit 34 is for the judged result according to recognition unit 33, if described car load position of centre of gravity exceeds described safe operation range, then sends the instruction changing jib 5 operation attitude, until described car load position of centre of gravity is in described safe operation range.
Under the current state that set of the present invention supporting leg displacement transducer and jib displacement transducer collect, supporting leg displacement and jib displacement are as Rule of judgment, when satisfying condition then by electrical control, implementation of the present invention is not only simple, and debug fast more convenient, efficiency is higher, and controls precisely.
Fig. 6 display be the structure principle chart of controller second embodiment.As shown in Figure 6, controller 3 also comprises memory cell 35, for storing default reference point location and described safe operation range, the information such as the quality of each supporting leg 4, each jib 5 and car load and original center of gravity positional information, memory cell 35 carries out information interaction with computing unit 32 and recognition unit 33.
Controller 3 can be improved by the electrical control system of self on concrete mixer to obtain, and also can be realized by the mode of Long-distance Control.When the position of centre of gravity of car load does not exceed described safe operation range, do not limit the operation attitude of jib 5; But when the position of centre of gravity of car load is close to described safe operation range, give warning in advance, carry out deceleration to control, when the position of centre of gravity of car load exceeds described safe operation range, jib 5 can not stretch out, and can only retract, to ensure in safe operation range, the early warning that the present invention increases and deceleration logic, avoid jib 5 reach capacity position time the impact that causes of unexpected stopping and the rocking of vehicle.
Fig. 7 is the flow chart of concrete mixer anti-rollover control method one embodiment provided by the present invention.As shown in Figure 7, the concrete mixer anti-rollover control method in the present embodiment comprises the following steps:
Supporting leg position of centre of gravity information and jib position of centre of gravity information under the current working of collection concrete mixer;
According to the car load position of centre of gravity information of described supporting leg position of centre of gravity information and described jib position of centre of gravity information acquisition concrete mixer;
The job state of jib is controlled according to this car load position of centre of gravity information.
The present invention obtains supporting leg position of centre of gravity information and jib position of centre of gravity information by set, as Rule of judgment, when exceeding safe operation range then by the operation of electrical control jib, its implementation is simple, control efficiency is high, provides favourable condition for avoiding dangerous operation.
In said method, described supporting leg position of centre of gravity information utilizes displacement transducer to gather supporting leg current working to obtain relative to the supporting leg displacement signal of initial operating mode, and this supporting leg position of centre of gravity information obtaining method can be specific as follows:
Define the positional information (x of center of gravity relative to described reference point of the supporting leg 4 of initial operating mode
supporting leg is initial, y
supporting leg is initial), the center of gravity of the supporting leg 4 of current working is relative to the positional information (x of described reference point
supporting leg is current, y
? leg is current), x
supporting leg is initial-x
supporting leg is current=△ x
supporting leg,y
supporting leg is initial-y
supporting leg is current=△ y
supporting leg, then (△ x
supporting leg, △ y
supporting leg) be the displacement that supporting leg displacement transducer collects.
In said method, described jib position of centre of gravity information obtains relative to the jib displacement signal of initial operating mode under utilizing displacement transducer to gather jib current working, and this jib position of centre of gravity information obtaining method can be specific as follows:
Define the positional information (x of center of gravity relative to described reference point of the jib 5 of initial operating mode
jib is initial, y
jib is initial), the center of gravity of the jib of current working is relative to the positional information (x of described reference point
jib is current, y
jib is worked as before), x
jib is initial-x
jib is current=△ x
jib, y
jib is initial-y
jib is current=△ y
jib, then (△ x
jib, △ y
jib) be the displacement that jib displacement transducer collects.
In said method, the acquisition methods of car load position of centre of gravity information is specific as follows:
Gather displacement (the △ x of each supporting leg 4 current working relative to initial operating mode
supporting leg i, △ y
supporting leg i), in collection jib 5, each joint arm current working is relative to displacement (the △ x of initial operating mode
joint arm i, △ y
joint arm i), the computational methods of car load position of centre of gravity are:
According to design formulas m
supporting leg 1(x
supporting leg 1 is current, y
supporting leg 1 is current)+... + m
supporting leg n(x
supporting leg n is current, y
supporting leg n is current)+m
joint arm 1(x
joint arm 1 is current, y
joint arm 1 is current)+... + m
joint arm n(x
n is current for joint arm, y
n is current for joint arm)=m
car load(x
car load is current, y
car load is current).
In formula, m
supporting leg ithe quality of i-th supporting leg, m
joint arm ithe quality of the i-th joint joint arm in jib 5, (x
supporting leg i is current, y
supporting leg i is current) be the positional information of center of gravity relative to described reference point of current working i-th supporting leg, (x
i is current for joint arm, y
i is current for joint arm) be the positional information of center of gravity relative to described reference point that i-th in current working jib 5 saves arm, m
car loadthe complete vehicle quality of concrete mixer, (x
car load is current, y
car load is current) be the car load center of gravity of current working concrete mixer relative to described reference point location information, i is more than or equal to 1 and is less than or equal to n.
Wherein, m
supporting leg i, m
joint arm iand m
car loadall determine according to used vehicle model.(x
supporting leg i is current, y
? leg i is current) by (x
supporting leg i is initial, y
supporting leg i is initial) and (the △ x that collects of displacement transducer
supporting leg i, △ y
supporting leg i) determine, (x
i is current for joint arm, y
i is current for joint arm) by (x
i is initial for joint arm, y
i is initial for joint arm) and (the △ x that collects of displacement transducer
joint arm i, △ y
joint arm i) determine, and (x
supporting leg i is initial, y
supporting leg i is initial) and (x
i is initial for joint arm, y
i is initial for joint arm) be also to pre-set and to be determined, therefore (x
car load is current, y
car load is current) just can be obtained by above-mentioned formulae discovery.
In said method, described reference point can be arranged on the rotation of rotary table center of concrete mixer, but is not limited thereto.
Finally it is to be noted: above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit.Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a concrete mixer anti-rollover control system, it is characterized in that, comprise: supporting leg center of gravity acquisition device (1), jib center of gravity acquisition device (2) and controller (3), wherein: described supporting leg center of gravity acquisition device (1) is arranged on supporting leg (4), for obtaining supporting leg position of centre of gravity information; Described jib center of gravity acquisition device (2) is arranged on jib (5), for obtaining jib position of centre of gravity information; Described controller (3) is connected with described supporting leg center of gravity acquisition device (1) and described jib center of gravity acquisition device (2), for receiving described supporting leg position of centre of gravity information and described jib position of centre of gravity information, obtain the car load position of centre of gravity information of concrete mixer, control the operation attitude of described jib (5) according to this car load position of centre of gravity information.
2. concrete mixer anti-rollover control system as claimed in claim 1, it is characterized in that, described supporting leg center of gravity acquisition device (1) comprises displacement transducer, for gathering the supporting leg displacement signal relative to initial operating mode under described supporting leg (4) current working.
3. concrete mixer anti-rollover control system as claimed in claim 2, is characterized in that, the supporting leg Vertical Cylinders (6) of supporting leg (4) described in each of described concrete mixer installs described supporting leg displacement transducer separately.
4. concrete mixer anti-rollover control system as claimed any one in claims 1 to 3, it is characterized in that, described jib center of gravity acquisition device (2) comprises displacement transducer, for gathering the jib displacement signal relative to initial operating mode under described jib (5) current working.
5. concrete mixer anti-rollover control system as claimed in claim 4, is characterized in that, the arm support oil cylinder (7) of jib (5) described in each of described concrete mixer installs described jib displacement transducer separately.
6. concrete mixer anti-rollover control system as claimed in claim 4, it is characterized in that, described controller (3) comprises receiving element (31), computing unit (32), recognition unit (33) and signal output unit (34), wherein: described receiving element (31) is for receiving the described supporting leg displacement signal and described jib displacement signal that collect; Described computing unit (32) is for calculating described car load position of centre of gravity according to described supporting leg displacement signal and described jib displacement signal; Described recognition unit (33) is for comparing described car load position of centre of gravity and safe operation range and judge; Described signal output unit (34) is for the judged result according to described recognition unit (33), if described car load position of centre of gravity exceeds described safe operation range, then send the instruction changing jib (5) operation attitude, until described car load position of centre of gravity is in described safe operation range.
7. concrete mixer anti-rollover control system as claimed in claim 4, it is characterized in that, described controller (3) also comprises for storing default reference point location and described safe operation range, each described supporting leg (4), each described jib (5) and the quality of car load and the memory cell (35) of original center of gravity positional information, described memory cell (35) carries out information interaction with described computing unit (32) and described recognition unit (33).
8. a concrete mixer anti-rollover control method, is characterized in that, comprises the following steps:
Supporting leg position of centre of gravity information and jib position of centre of gravity information under the current working of collection concrete mixer;
According to the car load position of centre of gravity information of described supporting leg position of centre of gravity information and described jib position of centre of gravity information acquisition concrete mixer;
The job state of jib is controlled according to this car load position of centre of gravity information.
9. concrete mixer anti-rollover control method as claimed in claim 8, it is characterized in that, the acquisition methods of described supporting leg position of centre of gravity information is specially:
First, the positional information (x of center of gravity relative to the reference point preset of the supporting leg of initial operating mode is defined
supporting leg initially, y
supporting leg is initial), utilize supporting leg displacement transducer to gather displacement information (the Δ x of supporting leg current working relative to initial operating mode
supporting leg, Δ y
supporting leg); Then, according to x
supporting leg is initial-x
supporting leg is current=Δ x
supporting leg, y
supporting leg is initial-y
supporting leg is current=Δ y
supporting leg, obtain the positional information (x of center of gravity relative to described reference point of the supporting leg of current working
supporting leg is current, y
supporting leg is current).
10. concrete mixer anti-rollover control method as claimed in claim 9, it is characterized in that, the acquisition methods of described jib position of centre of gravity information is specially:
First, the positional information (x of center of gravity relative to described reference point of the jib of initial operating mode is defined
jib is initial, y
jib is initial), utilize jib displacement transducer to gather displacement information (the Δ x of jib current working relative to initial operating mode
jib, Δ y
jib); Then, according to x
jib is initial-x
jib is current=Δ x
jib, y
jib is initial-y
jib is current=Δ y
arm frame, obtain the positional information (x of center of gravity relative to described reference point of the jib of current working
jib is current, y
jib is worked as before).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106629523A (en) * | 2016-10-25 | 2017-05-10 | 徐州海伦哲专用车辆股份有限公司 | Aerial work vehicle with self-stabilizing system and self-stabilizing control method thereof |
| WO2022105216A1 (en) * | 2020-11-17 | 2022-05-27 | 中联重科股份有限公司 | Engineering machine and support control method, apparatus and system therefor, and medium |
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2014
- 2014-11-21 CN CN201410677890.XA patent/CN104847118A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106629523A (en) * | 2016-10-25 | 2017-05-10 | 徐州海伦哲专用车辆股份有限公司 | Aerial work vehicle with self-stabilizing system and self-stabilizing control method thereof |
| WO2022105216A1 (en) * | 2020-11-17 | 2022-05-27 | 中联重科股份有限公司 | Engineering machine and support control method, apparatus and system therefor, and medium |
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Application publication date: 20150819 |