CN114179720A - Carrier early warning system and carrier early warning method - Google Patents

Carrier early warning system and carrier early warning method Download PDF

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Publication number
CN114179720A
CN114179720A CN202111466842.2A CN202111466842A CN114179720A CN 114179720 A CN114179720 A CN 114179720A CN 202111466842 A CN202111466842 A CN 202111466842A CN 114179720 A CN114179720 A CN 114179720A
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China
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telescopic device
telescopic
axis
ground
distance
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CN202111466842.2A
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CN114179720B (en
Inventor
王丽威
王治伟
赵远
刘德宁
王娜
李文军
王建斌
韦建龙
郭进彬
薛喆
祁宏
张娜
贾秀华
潘成杰
肖洪彬
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Taiyuan Institute of China Coal Technology and Engineering Group
Shanxi Tiandi Coal Mining Machinery Co Ltd
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Taiyuan Institute of China Coal Technology and Engineering Group
Shanxi Tiandi Coal Mining Machinery Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07504—Accessories, e.g. for towing, charging, locking

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention provides a carrier early warning system, which relates to the technical field of transportation equipment and comprises a movable arm, a bearing device, a first telescopic device, a second telescopic device and a safety control device, wherein the movable arm and a front vehicle body, the bearing device and the movable arm, the bearing device and the first telescopic device, the first telescopic device and the movable arm, the second telescopic device and the movable arm, and the second telescopic device and the front vehicle body are all rotationally connected, the rotating shafts of the first telescopic device and the second telescopic device are parallel to each other, the safety control device is connected with the first telescopic device and the second telescopic device, a bearing surface for bearing goods is arranged at one end, far away from the movable arm, of the bearing device, the first telescopic device can drive the bearing device to rotate around a second axis, the second telescopic device can drive the movable arm to rotate around a first axis, the edge, close to the movable arm, of the bearing surface is a first edge, and the safety control device can obtain the weight of the goods and the vertical distance from the first edge to the action line of the gravity of the goods. The safety performance of the vehicle is improved, and the service life is prolonged.

Description

Carrier early warning system and carrier early warning method
Technical Field
The invention relates to the technical field of transportation equipment, in particular to a carrier early warning system and a carrier early warning method.
Background
The carrier is logistics carrying equipment which plays a role in carrying goods. The mining shovel-type carrier is necessary transportation equipment for carrying and installing electromechanical equipment in a coal mine. Because the shape and the weight of electromechanical equipment in the coal mine are different, when a shovel-type carrier is adopted for carrying materials, the overload phenomenon is caused because the gravity center of the transported materials is overhung too long. Overload phenomena generally take two forms: 1. overload during shoveling, and overload of tires due to overweight of goods during shoveling; 2. during transportation, the vehicle is overloaded when steered at a large angle, and the front frame and the rear frame are hinged to steer, so that the gravity center of the whole vehicle transversely moves to show that the adhesive force of the outer wheels is reduced or suspended when the vehicle is steered. The overload can not only damage the vehicle structure and the hydraulic system, but also cause the stability of the vehicle to be poor when the vehicle runs, the adhesive force of the tire to be reduced, the vehicle steering to be out of control and great potential safety hazards in running.
At present, most of the transport vehicles adopt a pressure sensor to detect transported materials so as to judge whether the materials are overloaded or not. For example, chinese patent CN201721205011.9 discloses an automatic system for rail transportation vehicles, which is provided with a pressure sensor under the transportation vehicle compartment, and when the transportation vehicle compartment is overweight, a pressure sensor sends an alarm signal, and then an alarm lamp gives an alarm. The prior carrier early warning system has the following problems: 1. the weight of the goods can only be identified, and the overhang distance of the gravity center of the goods cannot be identified, so that the overload phenomenon frequently occurs; 2. the alarm can be provided only after overload is generated, driving information such as the allowed maximum turning angle and the like cannot be judged and prompted, and the potential safety hazard of driving still exists.
Disclosure of Invention
The invention aims to provide a carrier early warning system and a carrier early warning method, which are used for solving the problems in the prior art, improving the safety performance of a carrier and being beneficial to prolonging the service life of the whole vehicle system.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a carrier early warning system which comprises a movable arm, a bearing device, a first telescopic device, a second telescopic device and a safety control device, wherein one end of the movable arm is used for forming rotary connection around a first axis with a front vehicle body, the bearing device is connected with the other end of the movable arm in a rotary way around a second axis, the bearing device is connected with one end of the first telescopic device in a rotary way around a third axis, the other end of the first telescopic device is connected with the movable arm in a rotary way around a fourth axis, the output end of the second telescopic device is connected with the movable arm in a rotary way around a fifth axis, the other end of the second telescopic device is used for forming rotary connection around a sixth axis with the front vehicle body, and the first axis, the second axis, the third axis, the fourth axis, the fifth axis and the sixth axis are parallel to each other, the safety control device is connected with the first telescopic device and the second telescopic device, one end of the bearing device, which is far away from the movable arm, is provided with a bearing surface, the carrying surface can carry goods, the first telescopic device can drive the carrying device to rotate around the second axis by being telescopic along the length direction of the first telescopic device, the second telescopic device can drive the movable arm to rotate around the first axis by being telescopic along the length direction of the second telescopic device, the edge of the bearing surface close to the movable arm is a first edge, and the safety control device can obtain the weight of the goods and the vertical distance from the first edge to the action line of the gravity of the goods by detecting the telescopic distance of the first telescopic device, the pressure of the first telescopic device before and after the first telescopic device is telescopic, the telescopic distance of the second telescopic device and the pressure of the second telescopic device before and after the second telescopic device is telescopic.
Preferably, the vehicle body structure further comprises a front vehicle body, a rear vehicle body, a third telescopic device and a fourth telescopic device, wherein the front vehicle body and the rear vehicle body are connected in a rotating manner around a seventh axis, an output end of the third telescopic device is connected with the front vehicle body in a rotating manner around an eighth axis, the other end of the third telescopic device is connected with the rear vehicle body in a rotating manner around a ninth axis, an output end of the fourth telescopic device is connected with the front vehicle body in a rotating manner around a tenth axis, the other end of the fourth telescopic device is connected with the rear vehicle body in a rotating manner around an eleventh axis, the seventh axis, the eighth axis, the ninth axis, the tenth axis and the eleventh axis are parallel to each other, the seventh axis is perpendicular to the first axis, and the third telescopic device and the fourth telescopic device are positioned on two sides of a vertical symmetrical plane of the front vehicle body, the third telescopic device and the fourth telescopic device can respectively stretch along the length directions of the third telescopic device and the fourth telescopic device, and the third telescopic device and the fourth telescopic device can drive the front vehicle body to rotate around the seventh axis to realize the change of the actual turning angle of the carrier.
Preferably, the safety control device comprises a plurality of displacement detection devices and a plurality of pressure detection devices, the first telescopic device, the second telescopic device, the third telescopic device and the fourth telescopic device are all provided with at least one displacement transmission detection device, the first telescoping device with the second telescoping device all is equipped with at least one pressure measurement, and is a plurality of displacement detection device can detect respectively first telescoping device the second telescoping device the third telescoping device with the flexible distance of fourth telescoping device, and is a plurality of pressure measurement can detect respectively received edge around the first telescoping device is flexible the pressure of first telescoping device flexible direction reaches received edge around the second telescoping device is flexible the pressure of second telescoping device flexible direction.
Preferably, the safety control device further comprises an alarm, the controller is in communication connection with the alarm, each displacement detection device and each pressure detection device, the vertical distance from the first edge to the action line of the gravity of the cargo is the overhang distance of the gravity center of the cargo, the controller can obtain the weight of the cargo and the overhang distance by detecting the extension distance of the first telescopic device, the pressure of the first telescopic device before and after extension, the extension distance of the second telescopic device and the pressure of the second telescopic device before and after extension, the controller can obtain the maximum safe turning angle of the truck by the weight of the cargo and the overhang distance, and the controller can obtain the actual turning angle of the truck by the extension distances of the third telescopic device and the fourth telescopic device, the controller can give an overload alarm through the alarm when the weight of the goods is larger than a goods weight threshold value, and the controller can give an alarm when the actual turning angle of the carrier is larger than the maximum safe turning angle of the carrier, wherein the turning angle exceeds the threshold value through the alarm.
Preferably, the front vehicle body comprises a front axle, a front frame, a left front wheel and a right front wheel, the rear vehicle body comprises a rear axle, a rear frame, a swing frame, a left rear wheel and a right rear wheel, the front axle is fixedly connected with the front frame, the rear axle is fixedly connected with the rear frame, the swing frame is fixedly connected with the rear frame, the left rear wheel and the right rear wheel are both rotationally connected with the rear axle, the rear frame is rotationally connected with the swing frame, the front frame and the rear frame form a rotary connection around the seventh axis, the rear axle can rotate around the swinging frame along the central line of the rear frame in the length direction to enable the positive pressure of the left rear wheel and the positive pressure of the right rear wheel acting on the ground to be the same, the controller can obtain an actual turning angle of the truck corresponding to when a positive pressure of the left front wheel or the right front wheel on the ground is zero.
Preferably, the safety control device further includes a display, the display is in communication connection with the controller, the controller can display the maximum safe turning angle of the truck through the display, the first telescopic device, the second telescopic device, the third telescopic device and the fourth telescopic device are all hydraulic cylinders, each pressure detection device is a pressure sensor, and each displacement detection device is a displacement sensor.
The invention also provides a carrier early warning method based on the carrier early warning system, which comprises the following steps:
step S1: the safety control device detects the telescopic distance of the first telescopic device, the pressure of the first telescopic device before and after the first telescopic device is telescopic, the telescopic distance of the second telescopic device and the pressure of the second telescopic device before and after the second telescopic device is telescopic;
step S2: the safety control device obtains the weight of the goods and the overhang distance through the detected telescopic distance of the first telescopic device, the pressure of the first telescopic device before and after the telescopic motion, the telescopic distance of the second telescopic device and the pressure of the second telescopic device before and after the telescopic motion.
Preferably, the step S1 includes: respectively detecting the stretching distance of the first stretching device and the stretching distance of the second stretching device through a plurality of displacement detection devices, and respectively detecting the pressure along the stretching direction of the first stretching device, which is received by the first stretching device before and after stretching, and the pressure along the stretching direction of the second stretching device, which is received by the second stretching device before and after stretching;
the step S2 includes:
s21: the controller obtains the vertical distance from the first axis to the action line of the pressure detected by the pressure detection device on the first telescopic device and obtains the vertical distance from the second axis to the action line of the pressure detected by the pressure detection device on the second telescopic device through the telescopic distances of the first telescopic device and the second telescopic device;
s22: obtaining the weight of the cargo and the overhang distance by the formulas (1) to (4):
G(A+X+B)+M1＝F1×L1； (1)
M1＝F2×L2； (2)
G(X+B)+M2＝f1×l1； (3)
M2＝f2×l2； (4)
wherein the content of the first and second substances,
g is the weight of the cargo;
a is the vertical distance from the second axis to the vertical plane where the first axis is located;
x is the overhang distance;
b is the vertical distance from the first edge to a vertical surface where the second axis is located and parallel to the first edge;
M1the moment of the sum of the gravity of the bearing device, the movable arm, the first telescopic device and the second telescopic device to the connecting point of the movable arm and the front vehicle body is obtained;
F1the pressure detected by the pressure detection device on the second telescopic device when the carrier is loaded;
L1the vertical distance from the first axis to the action line of the pressure detected by the pressure detection device on the second telescopic device when the truck is loaded;
F2the pressure detected by the pressure detection device on the second telescopic device is the pressure detected by the pressure detection device on the second telescopic device when the vehicle is unloaded;
L2the vertical distance from the first axis to the action line of the pressure detected by the pressure detection device on the second telescopic device when the carrier is unloaded;
M2the moment of the sum of the gravity of the bearing device, the movable arm, the first telescopic device and the second telescopic device to the connecting point of the movable arm and the bearing device is obtained;
f1the pressure detected by the pressure detection device on the first telescopic device when the carrier is loaded;
l1the vertical distance from the second axis to the action line of the pressure detected by the pressure detection device on the first telescopic device when the carrier is loaded;
f2the pressure detected by the pressure detection device on the first telescopic device when the carrier is empty;
l2the vertical distance from the second axis to the action line of the pressure detected by the pressure detection device on the first telescopic device when the carrier is unloaded.
Preferably, the method further comprises the following steps:
step S3:
the controller obtains a maximum safe turning angle of the truck according to the weight of the cargo of the truck and the overhang distance;
detecting the telescopic distance between the third telescopic device and the fourth telescopic device through a displacement detection device;
and the controller obtains the actual turning angle of the carrier through the telescopic distance of the third telescopic device and the fourth telescopic device.
Preferably, it is characterized in that:
the step S3 includes:
enabling the rear axle to rotate along a center line of the rear axle in the length direction;
the acting force of the ground acting on the left front wheel and vertical to the ground and the acting force of the ground acting on the right front wheel and vertical to the ground are obtained through formulas (5) to (15):
2×F3+F4+F5＝G+G1+G2 (5)
F4×S4+F5×S5＝G×S+G1×S1 (6)
F4×K4+F5×K5＝G×K+G1×K1-G2×K2 (7)
S＝Y1sinθ (8)
S1＝Y2sinθ (9)
S4＝Y3cos(π-θ-β) (10)
S5＝Y4sin(θ-δ) (11)
K＝K0+Y1cosθ (12)
K1＝K0+Y2cosθ (13)
K4＝K0+Y3sin(π-θ-β) (14)
K5＝K0+Y4cos(θ-δ) (15)
Y1＝A+B+X+Y5 (16)
wherein the content of the first and second substances,
F3the acting force of the ground on the left rear wheel and the right rear wheel and vertical to the ground,
F4the acting force of the ground on the left front wheel and vertical to the ground,
F5for the force of the ground acting on the right front wheel and perpendicular to the ground,
G1is the weight of the front vehicle body,
G2is the weight of the rear vehicle body,
s is the vertical distance from the action line of the gravity of the cargo to the vertical plane of the center line of the length direction of the rear vehicle body,
S1is the vertical distance from the action line of the gravity of the front vehicle body to the vertical plane of the central line of the rear vehicle body in the length direction,
S4the vertical distance from the action line of the action force of the ground acting on the left front wheel and vertical to the ground to the vertical plane of the central line of the rear vehicle body in the length direction,
S5the vertical distance from the action line of the action force of the ground acting on the right front wheel and vertical to the ground to the vertical plane of the central line of the rear vehicle body in the length direction,
k is the vertical distance from the action line of the gravity of the cargo to the vertical plane of the axis of the rear axle,
K1is the vertical distance from the action line of the gravity of the front vehicle body to the vertical plane of the axis of the rear axle,
K2is the vertical distance from the action line of the gravity of the rear vehicle body to the vertical plane of the axis of the rear axle,
K4the vertical distance from the action line of the action force of the ground acting on the left front wheel and vertical to the ground to the vertical plane of the axis of the rear axle,
K5the vertical distance from the action line of the action force of the ground acting on the right front wheel and vertical to the ground to the vertical plane of the axis of the rear axle;
theta is the maximum safe turning angle of the truck,
Y1is the vertical distance between the line of action of the gravity of the load and the seventh axis,
Y2is the vertical distance between the action line of the gravity of the front frame and the seventh axis,
Y3the vertical distance between the action line of the action of the ground on the left front wheel and the action line perpendicular to the ground and the seventh axis,
beta is Y3The included angle between the straight line and the vertical plane of the central line of the front frame in the length direction,
Y4a vertical distance between a line of action of the ground on the right front wheel and a line of action perpendicular to the ground to the seventh axis,
delta is Y4The included angle between the straight line and the vertical plane of the central line of the rear frame in the length direction,
K0the vertical distance between the seventh axis and a vertical plane where the axis of the rear axle is located;
Y5the vertical distance from the seventh axis to a vertical plane where the first axis is located and parallel to the first edge is set;
through the ground acts on the left front wheel or the right front wheel and is perpendicular to the acting force on the ground, the maximum safe turning angle of the carrier is obtained, and the method specifically comprises the following steps: when the carrier vehicle turns to the left side, the actual turning angle of the carrier vehicle corresponding to the situation that the ground acts on the right front wheel and the acting force vertical to the ground is zero is the maximum safe turning angle of the carrier vehicle; when the truck turns to the right side, the actual turning angle of the truck corresponding to the situation that the ground acts on the left front wheel and the acting force vertical to the ground is zero is the maximum safe turning angle of the truck;
further comprising:
the display displays the maximum safe turning angle of the transport vehicle obtained by the controller;
the controller compares the weight of the goods of the carrier and the actual turning angle of the carrier with the goods threshold of the carrier and the maximum safe turning angle of the carrier respectively, the controller gives an overload alarm through the alarm when the weight of the goods is larger than the goods weight threshold, and the controller gives an alarm when the actual turning angle of the carrier is larger than the maximum safe turning angle of the carrier and the turning angle exceeds the threshold through the alarm.
Compared with the prior art, the invention has the following technical effects:
according to the carrier early warning system and the carrier early warning method, the weight of the goods and the vertical distance (the overhang distance of the gravity center of the goods) from the first edge to the action line of the gravity of the goods are obtained through the safety control device, and a driver can adjust the turning angle of the carrier according to the weight of the goods and the overhang distance of the gravity center of the goods, namely the larger the weight is, the larger the overhang distance is, the smaller the actual turning angle of the carrier is, and the phenomenon that the adhesive force of a turning outer side wheel is reduced or suspended due to overload of the carrier is avoided. The safety performance of the carrier is improved, and the service life of the whole vehicle system is prolonged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a truck warning system in this embodiment 1;
fig. 2 is a schematic structural diagram of a boom, a carrier, a first telescopic device and a second telescopic device in the embodiment 1;
fig. 3 is a top view (straight state) of the cart warning system of embodiment 1;
FIG. 4 is a schematic view of the installation of the pressure sensing device;
FIG. 5 is a schematic structural diagram of a safety control device;
fig. 6 is a top view (turning state) of the cart warning system of embodiment 1;
FIG. 7 is a schematic diagram of E in FIG. 6;
in the figure: 100-truck early warning system, 1-movable arm, 2-bearing device, 3-first telescopic device, 4-second telescopic device, 5-safety control device, 6-front vehicle body, 7-first axis, 8-second axis, 9-third axis, 10-fourth axis, 11-fifth axis, 12-sixth axis, 13-bearing surface, 14-first edge, 15-rear vehicle body, 16-third telescopic device, 17-fourth telescopic device, 18-seventh axis, 19-eighth axis, 20-ninth axis, 21-tenth axis, 22-eleventh axis, 23-displacement detection device, X-overhang distance, 24-pressure detection device, 25-controller, 26-display, 27-alarm, 28-swing frame, 29-front axle, 30-front frame, 31-left front wheel, 32-right front wheel, 33-rear axle, 34-rear frame, 35-left rear wheel, 36-right rear wheel, theta-maximum safe turning angle of truck, beta-Y3The included angle between the straight line and the central line of the front frame in the length direction, delta-Y4And the included angle between the straight line and the central line of the rear frame in the length direction.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a carrier early warning system and a carrier early warning method, which are used for solving the problems in the prior art, improving the safety performance of a carrier and being beneficial to prolonging the service life of the whole vehicle system.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1
As shown in fig. 1 to 3, the present embodiment provides a truck pre-warning system 100, which includes a boom 1, a carrier 2, a first telescopic device 3, a second telescopic device 4 and a safety control device 5, wherein one end of the boom 1 is configured to form a rotational connection with a front truck body 6 around a first axis 7, the carrier 2 is configured to form a rotational connection with the other end of the boom 1 around a second axis 8, the carrier 2 is configured to form a rotational connection with one end of the first telescopic device 3 around a third axis 9, the other end of the first telescopic device 3 is configured to form a rotational connection with the boom 1 around a fourth axis 10, an output end of the second telescopic device 4 is configured to form a rotational connection with the boom 1 around a fifth axis 11, the other end of the second telescopic device 4 is configured to form a rotational connection with the front truck body 6 around a sixth axis 12, the first axis 7, the second axis 8, the third axis 9, the fourth axis 10, The fifth axis 11 and the sixth axis 12 are parallel to each other, the safety control device 5 is connected with the first telescopic device 3 and the second telescopic device 4, one end of the bearing device 2, which is far away from the movable arm 1, is provided with a bearing surface 13, the bearing surface 13 can bear goods, the first telescopic device 3 can drive the bearing device 2 to rotate around the second axis 8 by stretching along the length direction of the first telescopic device 3, the second telescopic device 4 can drive the movable arm 1 to rotate around the first axis 7 by stretching along the length direction of the second telescopic device 4, the edge of the bearing surface 13, which is close to the movable arm 1, is a first edge 14, the safety control device 5 can obtain the weight of the goods and the vertical distance from the first edge 14 to the action line of the weight of the goods by detecting the stretching distance of the first telescopic device 3, the pressure before and after stretching of the first telescopic device 3, the stretching distance of the second telescopic device 4 and the pressure before and after stretching of the second telescopic device 4, the pressure of the first telescopic device 3 before stretching and retracting detected by the safety control device 5 is the pressure of the first telescopic device 3 without carrying cargos detected by the safety control device 5, and the pressure of the first telescopic device 3 after stretching and retracting detected by the safety control device 5 is the pressure of the first telescopic device 3 with carrying cargos detected by the safety control device 5; the pressure of the second telescopic device 4 detected by the safety control device 5 before stretching is the pressure of the second telescopic device 4 detected by the safety control device 5 when the second telescopic device 4 does not bear the goods, and the pressure of the second telescopic device 4 detected by the safety control device 5 after stretching is the pressure of the second telescopic device 4 detected by the safety control device 5 when the goods are borne. The vertical distance (the overhang distance X of the gravity center of the goods) from the weight of the goods and the first edge 14 to the action line of the gravity of the goods is obtained through the safety control device 5, a driver can adjust the actual turning angle of the carrier according to the weight of the goods and the overhang distance X of the gravity center of the goods, namely the larger the weight is, the larger the overhang distance X is, the smaller the actual turning angle of the carrier is, and the phenomenon that the adhesive force of a turning outer side wheel is reduced or suspended due to overload of the carrier is avoided. The safety performance of the carrier is improved, and the service life of the whole vehicle system is prolonged. Preferably, the bearing device 2 comprises a connecting block and a shovel plate, one end of the connecting block is fixedly connected with the shovel plate, the upper end of the other end of the connecting block is rotatably connected with the first telescopic device 3 around a third axis 9, the lower end of the other end of the connecting block is rotatably connected with the movable arm 1 around a second axis 8, and the upper surface of the shovel plate is a bearing surface 13.
The carrier early warning system 100 provided by this embodiment further includes a front vehicle body 6, a rear vehicle body 15, a third telescopic device 16 and a fourth telescopic device 17, the front vehicle body 6 and the rear vehicle body 15 form a rotational connection around a seventh axis 18, an output end of the third telescopic device 16 forms a rotational connection around an eighth axis 19 with the front vehicle body 6, the other end of the third telescopic device 16 forms a rotational connection around a ninth axis 20 with the rear vehicle body 15, an output end of the fourth telescopic device 17 forms a rotational connection around a tenth axis 21 with the front vehicle body 6, the other end of the fourth telescopic device 17 forms a rotational connection around an eleventh axis 22 with the rear vehicle body 15, the seventh axis 18, the eighth axis 19, the ninth axis 20, the tenth axis 21 and the eleventh axis 22 are parallel to each other, the seventh axis 18 is perpendicular to the first axis 7, the third telescopic device 16 and the fourth telescopic device 17 are located on two sides of a vertical symmetry plane of the front vehicle body 6, the vertical symmetry plane is parallel to the length direction of the front truck body 6, the third telescopic device 16 and the fourth telescopic device 17 can respectively extend and retract along the length direction of the third telescopic device 16 and the fourth telescopic device 17, and the third telescopic device 16 and the fourth telescopic device 17 can form the change of the actual turning angle of the truck by driving the front truck body 6 to rotate around the seventh axis 18.
The safety control device 5 comprises a displacement detection device 23 and a pressure detection device 24, the displacement detection device 23 and the pressure detection device 24 are multiple, the first expansion device 3, the second expansion device 4, the third expansion device 16 and the fourth expansion device 17 are provided with at least one displacement transmission detection device, the optimization is carried out, the first expansion device 3, the second expansion device 4, the third expansion device 16 and the fourth expansion device 17 are provided with one displacement transmission detection device, the first expansion device 3 and the second expansion device 4 are provided with at least one pressure detection device 24, the optimization is carried out, the first expansion device 3 and the second expansion device 4 are provided with one pressure detection device 24, the multiple displacement detection devices 23 can detect the expansion distance of the first expansion device 3, the second expansion device 4, the expansion distance of the third expansion device 16 and the fourth expansion device 17 respectively, and the multiple pressure detection devices 24 can detect the expansion distance of the first expansion device 3 along the first expansion device before and after the expansion and the expansion of the first expansion device 3 respectively The pressure in the extension and contraction direction of the device 3 and the pressure along the extension and contraction direction of the second extension and contraction device 4 received before and after the extension and contraction of the second extension and contraction device 4.
The carrier vehicle early warning system 100 provided by this embodiment further includes an alarm 27, the safety control device 5 further includes a controller 25, the controller 25 is in communication connection with the alarm 27, each displacement detection device 23 and each pressure detection device 24, a vertical distance from the first edge 14 to a gravity action line of the cargo is an overhang distance X of a gravity center of the cargo, the controller 25 can obtain a weight of the cargo and the overhang distance X by detecting a telescopic distance of the first telescopic device 3, a pressure before and after the first telescopic device 3 is telescopic, a telescopic distance of the second telescopic device 4 and a pressure before and after the second telescopic device 4 is telescopic, the controller 25 can obtain a maximum safe turning angle θ of the carrier vehicle by the weight of the cargo and the overhang distance X, the controller 25 can obtain an actual turning angle of the carrier vehicle by the telescopic distances of the third telescopic device 16 and the fourth telescopic device 17, the controller 25 can give an overload alarm through the alarm 27 when the weight of the goods is larger than the weight threshold value of the goods, and the controller 25 can give an alarm when the actual turning angle of the carrier is larger than the maximum safe turning angle theta of the carrier, and the turning angle exceeds the threshold value through the alarm 27. Preferably, the controller 25 stores a comparison table of the weight of the cargo, the overhang distance X of the center of gravity of the cargo, and the maximum safe turning angle θ, the controller 25 compares the obtained actual turning angle with the comparison table of the maximum safe turning angle θ stored in the controller 25, and the alarm 27 gives an alarm that the turning angle exceeds a threshold value when the actual turning angle of the truck is greater than the maximum safe turning angle θ of the truck. Can effectively avoid when the shovel dress because the goods is overweight or actual turn angle is too big etc. and lead to turning to the outside wheel unsettledly, promote the security performance of carrier, help extension and whole vehicle system's life.
In the carrier early warning system 100 provided in this embodiment, the front vehicle body includes a front axle 29, a front vehicle frame 30, a left front wheel 31 and a right front wheel 32, the rear vehicle body includes a rear axle 33, a rear vehicle frame 34, a swing frame, a left rear wheel 35 and a right rear wheel 36, the front axle 29 is fixedly connected to the front vehicle frame 30, the left front wheel 31 and the right front wheel 32 are both rotatably connected to the front axle 29, the rear axle 33 is fixedly connected to the rear vehicle frame 34, the left rear wheel 35 and the right rear wheel 36 are both rotatably connected to the rear axle 33, the rear vehicle frame 34 is rotatably connected to the swing frame, the front vehicle frame 30 and the rear vehicle frame 34 form a rotational connection around a seventh axis, and the rear axle 33 can rotate around the swing frame along a center line in a length direction of the rear vehicle frame 34 to enable positive pressures of the left rear wheel 35 and the right rear wheel 36 to act on the ground to be the same. Preferably, the rear axle 33 is a swing type rear axle 33, and the swing type rear axle 33 can swing around a swing frame, so that four wheels can be tightly attached to the ground in a working environment with uneven ground. The controller 25 can obtain the actual turning angle of the truck corresponding to when the positive pressure applied to the ground by the left front wheel 31 or the right front wheel 32 is zero, and the actual turning angle of the truck at this time is the maximum safe turning angle θ of the truck. The safety control device 5 further comprises a display 26, the display 26 is in communication with the controller 25, and the controller 25 can display the maximum safe turning angle θ of the truck through the display 26. The operator can adjust the actual turning angle according to the maximum safe turning angle theta of the carrier, and the overload phenomenon is avoided.
The first telescoping device 3, the second telescoping device 4, the third telescoping device 16, and the fourth telescoping device 17 are all hydraulic cylinders, each pressure detection device 24 is a pressure sensor, and each displacement detection device 23 is a displacement sensor.
Example 2
As shown in fig. 1 to 3, the present embodiment 2 provides a truck early warning method based on the truck early warning system 100 of embodiment 1, including:
step S1: the safety control device 5 detects the telescopic distance of the first telescopic device 3, the pressure of the first telescopic device 3 before and after telescopic movement, the telescopic distance of the second telescopic device 4 and the pressure of the second telescopic device 4 before and after telescopic movement;
step S2: the safety control device 5 obtains the weight of the goods and the overhang distance X through the detected telescopic distance of the first telescopic device 3, the pressure of the first telescopic device 3 before and after the telescopic motion, the telescopic distance of the second telescopic device 4 and the pressure of the second telescopic device 4 before and after the telescopic motion.
Step S1 includes: the expansion and contraction distances of the first expansion and contraction device 3 and the second expansion and contraction device 4 are respectively detected through a plurality of displacement detection devices 23, and the pressure along the expansion and contraction direction of the first expansion and contraction device 3 received before and after the expansion and contraction of the first expansion and contraction device 3 and the pressure along the expansion and contraction direction of the second expansion and contraction device 4 received before and after the expansion and contraction of the second expansion and contraction device 4 are respectively detected through a plurality of pressure detection devices 24;
step S2 includes:
s21 the controller 25 obtains the vertical distance from the first axis 7 to the action line of the pressure detected by the pressure detecting device 24 on the first telescoping device 3 and obtains the vertical distance from the second axis 8 to the action line of the pressure detected by the pressure detecting device 24 on the second telescoping device 4 through the telescoping distances of the first telescoping device 3 and the second telescoping device 4;
s22, obtaining the weight of the cargo and the overhang distance X through formulas (1) to (4):
(1)G1(A+X+B)+M1＝F1×L1； (1)
(2)M1＝F2×L2； (2)
(3)G1(X+B)+M2＝f1×l1； (3)
(4)M2＝f2×l2； (4)
wherein the content of the first and second substances,
G1is the weight of the cargo;
a is the vertical distance from the second axis 8 to the vertical plane on which the first axis 7 is located;
x is the overhang distance;
b is the vertical distance of the first edge 14 to the vertical plane parallel to the first edge 14 on which the second axis 8 lies;
M1the moment of the sum of the gravity of the bearing device 2, the movable arm 1, the first telescopic device 3 and the second telescopic device 4 to the connecting point of the movable arm 1 and the front vehicle body 6; wherein, the connecting point of the movable arm 1 and the front vehicle body 6 is positioned on a first axis 7;
F1the pressure detected by the pressure detection device 24 on the second expansion device 4 when the carrier is loaded;
L1the vertical distance from the first axis 7 to the action line of the pressure detected by the pressure detection device 24 on the second telescopic device 4 when the truck is loaded;
F2the pressure detected by the pressure detection device 24 on the second expansion device 4 when the vehicle is unloaded;
L2the vertical distance from the first axis 7 to the action line of the pressure detected by the pressure detection device 24 on the second telescopic device 4 when the truck is unloaded;
M2the moment of the sum of the gravity of the bearing device 2, the movable arm 1, the first telescopic device 3 and the second telescopic device 4 to the connecting point of the movable arm 1 and the bearing device 2; wherein, the connecting point of the movable arm 1 and the bearing device 2 is positioned on the second axis 8;
f1the pressure detected by the pressure detection device 24 on the first expansion device 3 when the carrier is loaded;
l1the vertical distance from the second axis 8 to the action line of the pressure detected by the pressure detection device 24 on the first telescopic device 3 when the carrier is loaded;
f2the pressure detected by the pressure detection device 24 on the first telescopic device 3 when the transport vehicle is empty;
l2the vertical distance from the second axis 8 to the action line of the pressure detected by the pressure detection device 24 on the first telescopic device 3 when the carrier is unloaded;
preferably, the connecting point of the boom 1 and the front vehicle body 6 at the first axis 7 is point O, and the vertical distance from the first axis 7 to the action line of the pressure detected by the pressure detecting device 24 on the first telescopic device 3 is F1Moment arm relative to point O; the connecting point of the boom 1 and the loading device at the second axis 8 is a point Y, and the vertical distance from the second axis 8 to the action line of the pressure detected by the pressure detecting device 24 on the second telescopic device 4 is F2Moment arm relative to point Y. Wherein the distance between the second axis 8 and the third axis 9 and the distance between the third axis 9 and the fourth axis 10 are fixed, the real-time lengths of the first telescopic device 3 and the second telescopic device 4 are obtained by means of the values detected by the displacement detection device 23, and the controller 25 is able to obtain F by calculation using trigonometric functional relations1Moment arm relative to point O and F2A moment arm relative to point Y; or the controller 25 stores the expansion displacement and F of the first expansion device 31Comparison of the moment arm with respect to point O and the telescoping displacement of the second telescoping device 4 with F2Comparison of moment arms relative to Y PointThe table is used for comparing the telescopic displacement measured by the first telescopic device 3 and the telescopic displacement measured by the second telescopic device 4 with the comparison table to obtain F1Moment arm relative to point O and F2Moment arm relative to point Y.
The controller 25 obtains the maximum safe turning angle theta of the truck according to the weight of the goods of the truck and the overhang distance X;
the telescopic distance of the third telescopic device 16 and the fourth telescopic device 17 is detected through a displacement detection device 23;
the controller 25 obtains an actual turning angle of the truck from the telescopic distances of the third and fourth telescopic devices 16 and 17. Preferably, the controller 25 obtains the real-time lengths of the third telescopic device 16 and the fourth telescopic device 17 through the telescopic distance between the third telescopic device 16 and the fourth telescopic device 17, and calculates the actual turning angle of the truck by using a trigonometric function relationship according to the installation position relationship between the third telescopic device 16 and the fourth telescopic device 17. Alternatively, the controller 25 stores a comparison table between the extension/retraction distance of the third and fourth extension/ retraction devices 16, 17 and the actual turning angle, and the controller 25 can obtain the actual turning angle of the carrier from the comparison table.
The rear axle 33 is rotatable along the center line of the rear axle 33 in the longitudinal direction; preferably, the rear axle 33 is a swing-type rear axle 33. At this time, the force of the rear axle 33 is analyzed according to the lever principle, and the positive pressures of the left rear wheel 35 and the right rear wheel 36 acting on the ground are the same;
the force of the ground acting on the left front wheel 31 and perpendicular to the ground and the force of the ground acting on the right front wheel 32 and perpendicular to the ground are obtained by equations (5) to (15):
2×F3+F4+F5＝G+G1+G2； (5)
F4×S4+F5×S5＝G×S+G1×S1； (6)
F4×K4+F5×K5＝G×K+G1×K1-G2×K2； (7)
S＝Y1sinθ (8)
S1＝Y2sinθ (9)
S4＝Y3cos(π-θ-β) (10)
S5＝Y4sin(θ-δ) (11)
K＝K0+Y1cosθ (12)
K1＝K0+Y2cosθ (13)
K4＝K0+Y3sin(π-θ-β) (14)
K5＝K0+Y4cos(θ-δ) (15)
Y1＝A+B+X+Y5 (16)
wherein the content of the first and second substances,
F3for the ground force acting on the left and right rear wheels 35 and 36 and perpendicular to the ground,
F4for the ground force acting on the left front wheel 31 and perpendicular to the ground,
F5for the ground-oriented forces acting on the right front wheel 32 and perpendicular to the ground,
G1which is the weight of the front vehicle body 6,
G2in order to the weight of the rear vehicle body 15,
s is a vertical distance from the action line of the gravity of the cargo to a vertical plane on which the center line of the rear vehicle body 15 in the length direction is located,
S1the vertical distance from the action line of the gravity of the front vehicle body 6 to the vertical plane on which the center line of the rear vehicle body 15 in the length direction is located,
S4the vertical distance from the action line of the ground acting on the left front wheel 31 and perpendicular to the ground to the vertical plane of the center line of the rear vehicle body 15 in the length direction,
S5the vertical distance from the line of action of the ground force acting on the right front wheel 32 and perpendicular to the ground surface to the vertical plane on which the center line of the rear vehicle body 15 in the longitudinal direction is located,
k is the vertical distance of the line of action of the gravity of the load to the vertical plane in which the axis of the rear axle 33 lies,
K1the perpendicular distance from the line of action of the gravity of the front vehicle body 6 to the vertical plane in which the axis of the rear axle 33 lies,
K2is the perpendicular distance from the line of action of the gravity of the rear vehicle body 15 to the vertical plane in which the axis of the rear axle 33 lies,
K4the vertical distance from the action line of the action of the ground on the left front wheel 31 and perpendicular to the ground to the vertical plane of the axis of the rear axle 33,
K5the vertical distance from the action line of the action of the ground on the right front wheel 32 and perpendicular to the ground to the vertical plane of the axis of the rear axle 33;
theta is the maximum safe turning angle of the carrier,
Y1the vertical distance between the line of action of the gravity of the load and the seventh axis 18,
Y2the vertical distance between the line of action of the gravity of the front frame 30 and the seventh axis 18,
Y3the vertical distance between the line of action of the ground force on the left front wheel 31 and perpendicular to the ground surface and the seventh axis 18,
beta is Y3The included angle between the straight line and the vertical plane of the central line of the length direction of the front frame 30,
Y4the vertical distance between the line of action of the ground force on the right front wheel 32 and perpendicular to the ground surface and the seventh axis 18,
delta is Y4The included angle between the straight line and the vertical plane of the central line of the length direction of the rear frame 34,
K0is the vertical distance between the seventh axis 18 and the vertical plane on which the axis of the rear axle 33 lies;
Y5is the perpendicular distance of the seventh axis 18 to the vertical plane parallel to the first edge 14 in which the first axis 7 lies;
formulae (5) to (15) above, except for F3、F4、F5And other parameters except theta can be obtained according to the size relation and the weight information of the transport vehicle.
The maximum safe turning angle theta of the truck is obtained by the acting force of the ground acting on the left front wheel 31 and vertical to the ground or the acting force of the ground acting on the right front wheel 32 and vertical to the ground, specifically: when the carrier vehicle turns to the left side, the actual turning angle of the carrier vehicle corresponding to the situation that the ground acts on the right front wheel 32 and the acting force vertical to the ground is zero is the maximum safe turning angle theta of the carrier vehicle; when the truck turns to the right side, the actual turning angle of the truck corresponding to the condition that the ground acts on the left front wheel 31 and the acting force vertical to the ground is zero is the maximum safe turning angle theta of the truck; the reason is that when the carrier is turning, the load of the turning inner front wheel is gradually increased, the load of the turning outer front wheel is gradually decreased, and the load of the turning outer front wheel is decreased to 0, namely F4Or F5When the tire adhesion force is equal to 0, the tire on the corresponding side completely loses the adhesion force, at the moment, the vehicle traction performance and the steering control performance are reduced, and the vehicle driving safety risk is increased. The actual turning angle of the truck should be less than the maximum safe turning angle θ of the truck.
The method for calculating the maximum safe turning angle θ of the truck when the truck is traveling on a horizontal road surface is described above, and the calculated value should be further corrected when the road surface has a longitudinal (parallel to the longitudinal direction of the truck) inclination angle and a lateral (perpendicular to the longitudinal direction of the truck) inclination angle. The optional longitudinal correction mode is as follows: when the truck runs on a road surface with a longitudinal inclination angle, the actually loaded weight of the axle (wheel) above the ramp is transferred to the axle (wheel) below the ramp, and correspondingly, the positive pressure of the wheel above the ramp on the ground is reduced by a certain amount and the positive pressure of the wheel below the ramp on the ground is increased by a certain amount relative to the running of the truck on a horizontal road surface, wherein the variation of the positive pressure corresponding to the wheel is positively correlated with the longitudinal inclination angle of the ramp. Optional lateral correction: when the vehicle is on a road with a transverse inclination angle, the weight actually carried by the front wheel on one side above the ramp is transferred to the wheel below the ramp, and correspondingly, compared with the transportation vehicle running on a horizontal road, the positive pressure of the wheel above the ramp on the ground is reduced by a certain amount, and the positive pressure of the wheel below the ramp on the ground is increased by a certain amount, wherein the variation of the positive pressure corresponding to the wheel is positively correlated with the transverse inclination angle of the ramp. Preferably, the corresponding relationship between the variation of the positive pressure corresponding to the wheel and the longitudinal inclination of the ramp can be obtained in an experimental calibration manner, so that the maximum safe turning angle θ of the truck when the road surface has the longitudinal inclination and the lateral inclination is obtained. The method is not limited to obtaining the maximum safe turning angle theta of the carrier when the road surface has the longitudinal inclination angle and the transverse inclination angle in an experimental calibration mode, and can also obtain the maximum safe turning angle theta of the carrier when the road surface has the longitudinal inclination angle and the transverse inclination angle in other analysis modes such as dynamic simulation analysis and the like.
The display 26 displays the maximum safe turning angle theta of the truck obtained by the controller 25;
the controller 25 compares the weight of the goods of the carrier and the actual turning angle of the carrier with a goods threshold of the carrier and a maximum safe turning angle theta of the carrier, the controller 25 gives an overload alarm through the alarm 27 when the weight of the goods is greater than the goods weight threshold, and the controller 25 gives an alarm when the actual turning angle of the carrier is greater than the maximum safe turning angle theta of the carrier and the turning angle exceeds the threshold through the alarm 27. Preferably, the alarm 27 may alarm either the overload or turning angle exceeding a threshold value, or both of them. Preferably an audible alarm.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (10)

1. The utility model provides a carrier early warning system which characterized in that: the safety control device is connected with the first telescopic device and the second telescopic device respectively, the bearing device is kept away from the one end of swing arm has the loading surface, the loading surface can bear the goods, first telescoping device can be through following the length direction of first telescoping device is flexible to drive the bearing device winds the second axis rotates, the second telescoping device can be through following the length direction of second telescoping device is flexible to drive the swing arm winds the first axis rotates, the loading surface is close to the border of swing arm is first border, safety control device can obtain through the detection the flexible distance of first telescoping device, the pressure around the flexible of first telescoping device, the flexible distance of second telescoping device and the pressure around the flexible of second telescoping device the weight of goods with first border reaches the vertical distance of the line of action of the weight of goods.
2. The cart early warning system of claim 1, wherein: the automobile body is rotatably connected with the rear automobile body around a seventh axis, the output end of the third telescopic device is rotatably connected with the front automobile body around an eighth axis, the other end of the third telescopic device is rotatably connected with the rear automobile body around a ninth axis, the output end of the fourth telescopic device is rotatably connected with the front automobile body around a tenth axis, the other end of the fourth telescopic device is rotatably connected with the rear automobile body around an eleventh axis, the seventh axis, the eighth axis, the ninth axis, the tenth axis and the eleventh axis are parallel to each other, the seventh axis is perpendicular to the first axis, and the third telescopic device and the fourth telescopic device are positioned on two sides of a vertical symmetrical plane of the front automobile body, the third telescopic device and the fourth telescopic device can respectively stretch along the length directions of the third telescopic device and the fourth telescopic device, and the third telescopic device and the fourth telescopic device can drive the front vehicle body to rotate around the seventh axis to realize the change of the actual turning angle of the carrier.
3. The cart early warning system of claim 2, wherein: the safety control device comprises a plurality of displacement detection devices and a plurality of pressure detection devices, the first telescopic device, the second telescopic device, the third telescopic device and the fourth telescopic device are all provided with at least one displacement transmission detection device, the first telescoping device with the second telescoping device all is equipped with at least one pressure measurement, and is a plurality of displacement detection device can detect respectively first telescoping device the second telescoping device the third telescoping device with the flexible distance of fourth telescoping device, and is a plurality of pressure measurement can detect respectively received edge around the first telescoping device is flexible the pressure of first telescoping device flexible direction reaches received edge around the second telescoping device is flexible the pressure of second telescoping device flexible direction.
4. The cart early warning system of claim 3, wherein: the safety control device comprises a controller, the controller is in communication connection with the alarm, the displacement detection devices and the pressure detection devices, the vertical distance from the first edge to the action line of the gravity of the goods is the overhang distance of the gravity center of the goods, the controller can obtain the weight and the overhang distance of the goods by detecting the telescopic distance of the first telescopic device, the pressure of the first telescopic device before and after the first telescopic device is telescopic, the telescopic distance of the second telescopic device and the pressure of the second telescopic device before and after the second telescopic device is telescopic, the controller can obtain the maximum safe turning angle of the carrier through the weight and the overhang distance of the goods, and the controller can obtain the actual turning angle of the carrier through the telescopic distances of the third telescopic device and the fourth telescopic device, the controller can give an overload alarm through the alarm when the weight of the goods is larger than a goods weight threshold value, and the controller can give an alarm when the actual turning angle of the carrier is larger than the maximum safe turning angle of the carrier, wherein the turning angle exceeds the threshold value through the alarm.
5. The cart early warning system of claim 4, wherein: the front vehicle body comprises a front axle, a front frame, a left front wheel and a right front wheel, the rear vehicle body comprises a rear axle, a rear frame, a swing frame, a left rear wheel and a right rear wheel, the front axle is fixedly connected with the front frame, the rear axle is fixedly connected with the rear frame, the swing frame is fixedly connected with the rear frame, the left rear wheel and the right rear wheel are both rotationally connected with the rear axle, the rear frame is rotationally connected with the swing frame, the front frame and the rear frame form a rotary connection around the seventh axis, the rear axle can rotate around the swinging frame along the central line of the rear frame in the length direction to enable the positive pressure of the left rear wheel and the positive pressure of the right rear wheel acting on the ground to be the same, the controller can obtain an actual turning angle of the truck corresponding to when a positive pressure of the left front wheel or the right front wheel on the ground is zero.
6. The cart early warning system of claim 4, wherein: the safety control device further comprises a display, the display is in communication connection with the controller, the controller can display the maximum safe turning angle of the carrier through the display, the first telescopic device, the second telescopic device, the third telescopic device and the fourth telescopic device are all hydraulic cylinders, each pressure detection device is a pressure sensor, and each displacement detection device is a displacement sensor.
7. A cart warning method based on the cart warning system according to any one of claims 1 to 6, comprising: the method comprises the following steps:
step S1: the safety control device detects the telescopic distance of the first telescopic device, the pressure of the first telescopic device before and after the first telescopic device is telescopic, the telescopic distance of the second telescopic device and the pressure of the second telescopic device before and after the second telescopic device is telescopic;
step S2: the safety control device obtains the weight of the goods and the overhang distance through the detected telescopic distance of the first telescopic device, the pressure of the first telescopic device before and after the telescopic motion, the telescopic distance of the second telescopic device and the pressure of the second telescopic device before and after the telescopic motion.
8. The cart warning method of claim 7, wherein:
the step S1 includes: respectively detecting the stretching distance of the first stretching device and the stretching distance of the second stretching device through a plurality of displacement detection devices, and respectively detecting the pressure along the stretching direction of the first stretching device, which is received by the first stretching device before and after stretching, and the pressure along the stretching direction of the second stretching device, which is received by the second stretching device before and after stretching;
the step S2 includes:
s21: the controller obtains the vertical distance from the first axis to the action line of the pressure detected by the pressure detection device on the first telescopic device and obtains the vertical distance from the second axis to the action line of the pressure detected by the pressure detection device on the second telescopic device through the telescopic distances of the first telescopic device and the second telescopic device;
s22: obtaining the weight of the cargo and the overhang distance by the formulas (1) to (4):
G(A+X+B)+M1＝F1×L1； (1)
M1＝F2×L2； (2)
G(X+B)+M2＝f1×l1； (3)
M2＝f2×l2； (4)
wherein the content of the first and second substances,
g is the weight of the cargo;
a is the vertical distance from the second axis to the vertical plane where the first axis is located;
x is the overhang distance;
b is the vertical distance from the first edge to a vertical surface where the second axis is located and parallel to the first edge;
M1the moment of the sum of the gravity of the bearing device, the movable arm, the first telescopic device and the second telescopic device to the connecting point of the movable arm and the front vehicle body is obtained;
F1the pressure detected by the pressure detection device on the second telescopic device when the carrier is loaded;
L1the vertical distance from the first axis to the action line of the pressure detected by the pressure detection device on the second telescopic device when the truck is loaded;
F2the pressure detected by the pressure detection device on the second telescopic device is the pressure detected by the pressure detection device on the second telescopic device when the vehicle is unloaded;
L2the vertical distance from the first axis to the action line of the pressure detected by the pressure detection device on the second telescopic device when the carrier is unloaded;
M2the moment of the sum of the gravity of the bearing device, the movable arm, the first telescopic device and the second telescopic device to the connecting point of the movable arm and the bearing device is obtained;
f1the pressure detected by the pressure detection device on the first telescopic device when the carrier is loaded;
l1the vertical distance from the second axis to the action line of the pressure detected by the pressure detection device on the first telescopic device when the carrier is loaded;
f2the pressure detected by the pressure detection device on the first telescopic device when the carrier is empty;
l2the vertical distance from the second axis to the action line of the pressure detected by the pressure detection device on the first telescopic device when the carrier is unloaded.
9. The cart warning method of claim 8, wherein: further comprising:
step S3:
the controller obtains a maximum safe turning angle of the truck according to the weight of the cargo of the truck and the overhang distance;
detecting the telescopic distance between the third telescopic device and the fourth telescopic device through a displacement detection device;
and the controller obtains the actual turning angle of the carrier through the telescopic distance of the third telescopic device and the fourth telescopic device.
10. The cart warning method of claim 9, wherein:
the step S3 includes:
enabling the rear axle to rotate along a center line of the rear axle in the length direction;
the acting force of the ground acting on the left front wheel and vertical to the ground and the acting force of the ground acting on the right front wheel and vertical to the ground are obtained through formulas (5) to (15):
2×F3+F4+F5＝G+G1+G2 (5)
F4×S4+F5×S5＝G×S+G1×S1 (6)
F4×K4+F5×K5＝G×K+G1×K1-G2×K2 (7)
S＝Y1sinθ (8)
S1＝Y2sinθ (9)
S4＝Y3cos(π-θ-β) (10)
S5＝Y4sin(θ-δ) (11)
K＝K0+Y1cosθ (12)
K1＝K0+Y2cosθ (13)
K4＝K0+Y3sin(π-θ-β) (14)
K5＝K0+Y4cos(θ-δ) (15)
Y1＝A+B+X+Y5 (16)
wherein the content of the first and second substances,
F3the acting force of the ground on the left rear wheel and the right rear wheel and vertical to the ground,
F4the acting force of the ground on the left front wheel and vertical to the ground,
F5for the force of the ground acting on the right front wheel and perpendicular to the ground,
G1is the weight of the front vehicle body,
G2is the weight of the rear vehicle body,
s is the vertical distance from the action line of the gravity of the cargo to the vertical plane of the center line of the length direction of the rear vehicle body,
S1is the vertical distance from the action line of the gravity of the front vehicle body to the vertical plane of the central line of the rear vehicle body in the length direction,
S4the vertical distance from the action line of the action force of the ground acting on the left front wheel and vertical to the ground to the vertical plane of the central line of the rear vehicle body in the length direction,
S5the vertical distance from the action line of the action force of the ground acting on the right front wheel and vertical to the ground to the vertical plane of the central line of the rear vehicle body in the length direction,
k is the vertical distance from the action line of the gravity of the cargo to the vertical plane of the axis of the rear axle,
K1is the vertical distance from the action line of the gravity of the front vehicle body to the vertical plane of the axis of the rear axle,
K2is the vertical distance from the action line of the gravity of the rear vehicle body to the vertical plane of the axis of the rear axle,
K4the vertical distance from the action line of the action force of the ground acting on the left front wheel and vertical to the ground to the vertical plane of the axis of the rear axle,
K5the vertical distance from the action line of the action force of the ground acting on the right front wheel and vertical to the ground to the vertical plane of the axis of the rear axle;
theta is the maximum safe turning angle of the truck,
Y1is the vertical distance between the line of action of the gravity of the load and the seventh axis,
Y2is the vertical distance between the action line of the gravity of the front frame and the seventh axis,
Y3the vertical distance between the action line of the action of the ground on the left front wheel and the action line perpendicular to the ground and the seventh axis,
beta is Y3The included angle between the straight line and the vertical plane of the central line of the front frame in the length direction,
Y4a vertical distance between a line of action of the ground on the right front wheel and a line of action perpendicular to the ground to the seventh axis,
delta is Y4The included angle between the straight line and the vertical plane of the central line of the rear frame in the length direction,
K0the vertical distance between the seventh axis and a vertical plane where the axis of the rear axle is located;
Y5the vertical distance from the seventh axis to a vertical plane where the first axis is located and parallel to the first edge is set;
through the ground act on the left front wheel and perpendicular to the effort of ground or the ground act on the right front wheel and perpendicular to the effort of ground, obtain the biggest safe turn angle of carrier, specifically be: when the carrier vehicle turns to the left side, the actual turning angle of the carrier vehicle corresponding to the situation that the acting force of the ground acting on the right front wheel and vertical to the ground is zero is the maximum safe turning angle of the carrier vehicle; when the truck turns to the right side, the actual turning angle of the truck corresponding to the situation that the ground acts on the left front wheel and the acting force vertical to the ground is zero is the maximum safe turning angle of the truck;
further comprising:
the display displays the maximum safe turning angle of the transport vehicle obtained by the controller;
the controller compares the weight of the goods of the carrier and the actual turning angle of the carrier with the goods threshold of the carrier and the maximum safe turning angle of the carrier respectively, the controller gives an overload alarm through the alarm when the weight of the goods is larger than the goods weight threshold, and the controller gives an alarm when the actual turning angle of the carrier is larger than the maximum safe turning angle of the carrier and the turning angle exceeds the threshold through the alarm.
CN202111466842.2A 2021-12-03 2021-12-03 Carrier early warning system and carrier early warning method Active CN114179720B (en)

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