CN116675158A - Weighing device, high-altitude machine tipping monitoring system and engineering machine - Google Patents
Weighing device, high-altitude machine tipping monitoring system and engineering machine Download PDFInfo
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- CN116675158A CN116675158A CN202310449441.9A CN202310449441A CN116675158A CN 116675158 A CN116675158 A CN 116675158A CN 202310449441 A CN202310449441 A CN 202310449441A CN 116675158 A CN116675158 A CN 116675158A
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- 238000005303 weighing Methods 0.000 title claims abstract description 167
- 238000012544 monitoring process Methods 0.000 title claims abstract description 23
- 238000005452 bending Methods 0.000 claims abstract description 45
- 238000000034 method Methods 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 15
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 8
- 230000000087 stabilizing effect Effects 0.000 claims description 7
- 238000011897 real-time detection Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 12
- 238000013461 design Methods 0.000 description 7
- 230000005484 gravity Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000036544 posture Effects 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
- G01G19/083—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles lift truck scale
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- 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
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
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- 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
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
Abstract
The invention relates to engineering machinery monitoring equipment, and provides a weighing device which comprises a swinging cylinder base, a swinging cylinder, a weighing sensor and a load bracket used for connecting a working bucket, wherein the swinging cylinder base is connected with the swinging cylinder, the weighing sensor is arranged at the upper end of an output shaft of the swinging cylinder, the load bracket comprises a weighing loading structure at the upper end and a bending moment resisting structure at the lower end, the weighing loading structure is pressed on the weighing sensor so as to axially load the weighing sensor, and the bending moment resisting structure is arranged at the lower end of the output shaft so as to bear the bending moment of the load bracket. In addition, the invention also provides a high-altitude machine tipping monitoring system and engineering machinery. The weighing device can effectively eliminate the influence of unbalanced load of the working hopper on the measurement result, and improves the accuracy and reliability of the measurement result.
Description
Technical Field
The invention relates to engineering machinery monitoring equipment, in particular to a weighing device. In addition, the invention also relates to a high-altitude machine tipping monitoring system and engineering machinery.
Background
In high-altitude operation products, the tipping of equipment is one of the important reasons for causing safety accidents, and in order to improve the working performance of the products, the working range of the arm support is expected to be maximized, and meanwhile, the load weight of the working bucket is expected to be improved as much as possible. However, the working range of the arm support is inversely related to the load weight, i.e. the more the arm support extends, the smaller the corresponding loadable mass. In order to avoid equipment tipping, it is important to measure the weight of the working bucket load in different arm support postures in real time and stably.
However, when the aerial lift device is operated, the acting force of the working bucket and the load thereof on the swinging cylinder can be equivalent to a vertical downward force F and a bending moment M, as shown in figure 1. The measurement result of the sensor cannot accurately represent the mass of the load due to the action of the bending moment. Meanwhile, vibration and impact caused by uneven pavement or load can influence the precision and the service life of the sensor in the transportation and working processes of the overhead working truck.
Chinese patent publication (CN 201983846U) discloses a weighing device for an aerial working platform, where a working platform is connected to an upper portion of a supporting shaft, and receives all weight from the working platform, the supporting shaft penetrates through a platform bracket, a disc sensor and an inner ring of a rolling bearing, a pressure plate in the middle of the supporting shaft is pressed on the disc sensor through a thrust bearing, a lower end of the supporting shaft is installed in a shaft sleeve of the platform bracket, a pair of rolling ball bearings are disposed between the shaft and the shaft sleeve, and under the condition that the weight in the working platform causes unbalanced load, the pair of rolling ball bearings bear radial forces with equal magnitudes and opposite directions, and a couple formed by the pair of forces offsets bending moment caused by the offset load. And along the vertical direction, the bearing does not bear any axial force, so that all the forces along the vertical direction are borne by the weighing sensor, and the load in the working platform can be accurately detected.
However, the weighing device in the technical scheme is of an upper-lower integrated structure, the supporting shaft penetrates through the platform bracket, the disc type sensor and the rolling bearing, and the acting force of the working platform is transmitted from top to bottom, so that the deformation of the supporting shaft at the position close to one end of the working bucket is large, and the influence of unbalanced load on the sensor measurement can exist.
Disclosure of Invention
The invention aims to solve the technical problem of providing a weighing device which can effectively eliminate the influence of unbalanced load of a working bucket on a measurement result and improve the accuracy and reliability of the measurement result.
The invention also solves the technical problem of providing a high-altitude machine tipping monitoring system, which has accurate weighing result on the working bucket load, thereby accurately judging the tipping risk of the high-altitude machine in real time and improving the working safety of the high-altitude machine.
Further, the invention provides the engineering machinery, which can accurately measure the load of the working hopper, so that the tipping risk of the high-altitude machinery can be accurately judged in real time, and the working safety of the high-altitude machinery is improved.
In order to solve the technical problems, the invention provides a weighing device which comprises a swinging cylinder base, a swinging cylinder, a weighing sensor and a load bracket used for connecting a working bucket, wherein the swinging cylinder base is connected with the swinging cylinder, the weighing sensor is arranged at the upper end of an output shaft of the swinging cylinder, the load bracket comprises a weighing loading structure at the upper end and a bending moment resisting structure at the lower end, the weighing loading structure is pressed on the weighing sensor so as to axially load the weighing sensor, and the bending moment resisting structure is arranged at the lower end of the output shaft so as to bear the bending moment of the load bracket.
Preferably, the weighing surface of the weighing sensor is sequentially connected with a hard gasket, an elastic element and a fixing flange from bottom to top, and the weighing loading structure is pressed on the fixing flange.
Specifically, the fixed flange, the elastic element, the hard gasket and the through hole on the weighing sensor are in threaded connection with the upper end of the output shaft through bolts penetrating through the fixed flange, the elastic element, the hard gasket and the through hole on the weighing sensor from top to bottom, and the tops of the bolts are lower than the upper end face of the fixed flange.
Specifically, the weighing loading structure comprises a loading flange plate connected with the upper end of the loading support, and the lower end face of the loading flange plate is pressed on the upper end face of the fixing flange.
Specifically, set up on the load support and be used for the transmission shaft of output shaft moment of torsion, the transmission shaft with loading ring flange is connected, just the lower extreme of transmission shaft top-down passes in proper order fixed flange, elastic component, the stereoplasm gasket with weighing sensor is at the through-hole in center respectively with the output shaft transmission is connected.
Preferably, the transmission shaft is not contacted with the fixed flange, the elastic element, the hard gasket and the weighing sensor, and the bottom of the transmission shaft is not contacted with the output shaft.
Specifically, the bending moment resistant structure comprises an annular sleeve connected with the bottom of the load support, and the annular sleeve is sleeved on a rotating shaft at the lower end of the output shaft through a bearing.
Further, the present invention provides an overhead mechanical rollover monitoring system comprising: the weighing unit comprises the weighing device according to any one of the technical schemes, so that the load information of the working hopper can be detected in real time; the position sensing unit can detect the dip angle information of the chassis, the dip angle information and the length information of the arm support; the power unit can drive the mechanical structure to perform operation; the main control unit is electrically connected with the weighing unit, the position sensing unit and the power unit, and the main control unit performs the following control in the working process: and acquiring load information of the working bucket, inclination angle information of the chassis, inclination angle information and length information of the arm support in real time, judging the risk of high-altitude mechanical tipping according to the information, and controlling the power unit according to a judging result.
Specifically, the step of judging the high-altitude mechanical tipping risk comprises the following steps: s1, calculating a stabilizing moment generated by the high-altitude mechanical counterweight according to the inclination angle information of the chassis; s2, calculating an actual tipping moment according to the inclination angle information of the chassis, the inclination angle information and the length information of the arm support and the load information of the working bucket, and further obtaining an allowable tipping moment; s3, judging the magnitudes of the stable moment and the allowable tipping moment, if the stable moment is not larger than the allowable tipping moment, the main control unit controls the power unit to stop working and sends out a tipping alarm; and if the stable moment is larger than the allowable tipping moment, the main control unit controls the power unit to perform according to the set action.
Specifically, the position sensing unit comprises a first inclination angle sensor, a second inclination angle sensor and a displacement sensor, wherein the first inclination angle sensor is arranged on the chassis so as to be capable of detecting inclination angle information of the chassis, the second inclination angle sensor is arranged on the arm support so as to be capable of detecting inclination angle information of the arm support, and the displacement sensor is arranged on the arm support so as to be capable of detecting length information of the arm support.
Typically, the arm support comprises a plurality of stages of telescopic arms, and each stage of telescopic arm is provided with the displacement sensor.
Still further, the invention also provides engineering machinery, which comprises the weighing device or the high-altitude mechanical tipping monitoring system.
Through the scheme, the beneficial effects of the invention are as follows:
the weighing device adopts a split design, the upper end of the split design is provided with the weighing loading structure, the split design is pressed on the weighing sensor through the weighing loading structure, so that axial loading is performed, the lower end of the load support is provided with the bending moment resisting structure, the bending moment resisting structure is arranged at the lower end of the output shaft, the reaction force of the lower end of the output shaft against the bending moment structure is utilized in the weighing process, so that the bending moment on the load support is born, the influence of the bending moment symmetrical weighing sensor can be counteracted, the load support can load all axial force on the weighing sensor through the weighing loading structure, and because the split arrangement is realized between the weighing loading structure and the bending moment resisting structure, an integral supporting shaft structure does not exist between the weighing loading structure and the bending moment resisting structure, the condition that the deflection load is caused to influence the measuring result of the weighing sensor is avoided, the influence of the deflection load on the measuring result is solved under the cooperation of the weighing loading structure and the bending moment resisting structure, and the accuracy and reliability of the measuring result are improved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention. In the drawings:
FIG. 1 is a schematic diagram of a force analysis of a high-altitude mechanical swing cylinder;
FIG. 2 is a schematic overall construction of one embodiment of a weighing apparatus of the present invention;
FIG. 3 is an exploded view of one embodiment of a weighing apparatus of the present invention;
FIG. 4 is a schematic top view of one embodiment of a weighing apparatus of the present invention;
FIG. 5 is a schematic structural view of a drive shaft;
FIG. 6 is a schematic view of the lower structure of an embodiment of the weighing apparatus of the present invention;
FIG. 7 is a schematic view of the construction of an embodiment of the weighing apparatus of the present invention as applied to an overhead working truck;
FIG. 8 is a force analysis chart of an embodiment of the weighing apparatus of the present invention in a vertical position;
FIG. 9 is a force analysis chart of an embodiment of the weighing apparatus of the present invention in an inclined condition;
FIG. 10 is a functional block diagram of one embodiment of the high-altitude mechanical rollover monitoring system of the present invention;
FIG. 11 is a schematic diagram of a sensor arrangement of a location awareness unit;
FIG. 12 is a force analysis diagram of an overhead working truck;
FIG. 13 is a control logic diagram of one embodiment of the high-altitude mechanical rollover monitoring system of the present invention.
Description of the reference numerals
1 swinging cylinder base 2 oilless bushing
3-rotating shaft 4-swinging cylinder
5 weighing sensor 6 hard gasket
7 elastic element 8 fixing flange
9 drive shaft 10 load support
11 annular sleeve 12 load flange
13 working bucket 14 arm support
15 first inclination sensor of chassis 16
17 second inclination sensor 18 displacement sensor
19 contact surface 20 output shaft
Detailed Description
The following detailed description of the embodiments of the invention is provided in connection with the accompanying drawings, it being understood that the embodiments described herein are for purposes of illustration and explanation only, and the scope of the invention is not limited to the following embodiments.
In the description of the present invention, unless explicitly stated or limited otherwise, the terms "forming," "providing," "arranging," "connecting," etc. are to be construed broadly, and for example, the connection may be a direct connection, an indirect connection via an intermediary, a fixed connection, a removable connection, or an integral connection; either directly or indirectly via intermediate connectors, or by communication between or interaction between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless otherwise indicated, the azimuth or positional relationships indicated by the azimuth words "upper", "lower", "left", "right", etc., are based on the azimuth or positional relationships shown in the drawings, and are merely contacted to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the device or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention; the directional terms of the present invention should be construed in connection with its actual installation state.
In the following, "radial direction" is the radial direction of the output shaft 20 of the oscillating cylinder 4, and "axial direction" is the axial direction of the output shaft 20 of the oscillating cylinder 4, unless otherwise specified.
The invention provides a weighing device, referring to fig. 2 to 6, as a specific embodiment of the weighing device of the invention, the weighing device comprises a swinging cylinder base 1, a swinging cylinder 4, a weighing sensor 5 and a load bracket 10 for connecting a working bucket, wherein the swinging cylinder base 1 is connected with the swinging cylinder 4, in particular, the swinging cylinder base 1 is rigidly connected with a cylinder body part of the swinging cylinder 4, the load bracket 10 is connected with an output shaft 20 of the swinging cylinder 4, thereby realizing the rotation adjustment of the load bracket 10, the swinging cylinder base 1 can be carried on the arm frames of different overhead working machines, the weighing sensor 5 is arranged at the upper end of the output shaft 20 of the swinging cylinder 4, the load bracket 10 adopts a split design, the load bracket 10 comprises a weighing loading structure at the upper end and a bending moment resisting structure at the lower end, the weighing loading structure is pressed on the weighing sensor 5, so as to be capable of axially loading the symmetrical weighing sensor 5, the bending moment resisting structure is arranged at the lower end of the output shaft 20 so as to be capable of bearing the bending moment of the load bracket 10, in particular, the bending moment resisting structure can be sleeved on the rotating shaft 3 at the lower end of the output shaft 20 so as to enable the rotating shaft 3 to have the freedom degree of moving along the axial direction and rotating around the axial direction (rotating around the central axis of the output shaft 20), the rotating shaft 3 is coaxially arranged with the output shaft 20 of the swinging cylinder 4, namely, the load bracket 10 can move along the axial direction, the lower end of the load bracket 10 can not transmit the axial force to the rotating shaft 3, meanwhile, the load bracket 10 has the freedom degree of rotating around the central axis of the output shaft 20, the swinging cylinder 4 can drive the load bracket 10 to rotate, the reaction force of the rotating shaft 3 against the bending moment structure can counteract the influence of the bending moment symmetrical weight sensor 5 in the process of measuring the load bracket 10 and the load of the load sensor 5, and then make load carrier 10 can be with the whole load on weighing sensor 5 through weighing load structure along axial force, and weighing sensor 5 weigh the direction of atress axis and the axial of output shaft 20 unanimous, consequently can make weighing sensor 5's measuring result accurate reliable, and because for the components of a whole that can function independently setting between weighing load structure and the bending moment resistant structure, there is not integral type back shaft structure between the two, therefore do not have the back shaft structure to warp and cause the condition emergence of unbalanced load influence weighing sensor measuring result, under weighing load structure and bending moment resistant structure's cooperation, the influence of unbalanced load to measuring result has been eliminated.
As a specific implementation mode of the weighing device, referring to fig. 2 to 4, the weighing surface of the weighing sensor 5 is sequentially connected with a hard gasket 6, an elastic element 7 and a fixed flange 8 from bottom to top, and a weighing loading structure is pressed on the fixed flange 8, wherein the elastic element 7 is tightly attached to the hard gasket 6 at the lower part and the fixed flange 8 at the upper part, so that the weighing loading structure transmits load to the hard gasket 6 sequentially through the fixed flange 8 and the elastic element 7, and finally force is uniformly transmitted to the upper surface of the weighing sensor 5 through the hard gasket 6, so that the stress of the gravity sensor 5 is more uniform, and the influence of unbalanced load on a measurement result is reduced; the elastic element 7 is preferably a rubber cushion, and during weighing, the vibration and impact phenomenon inside the weighing device of the working bucket of the invention can be caused by the ground waviness and the groove ridge, and the elastic element 7 can reduce the vibration and impact so as to reduce the fluctuation of the measurement result. It should be noted that, the load cell 5 is preferably a disc-type load cell, and can be better mounted on the output shaft 20, the disc-type load cell and the output shaft 20 are coaxially arranged, and the hard pad 6, the elastic element 7 and the fixing flange 8 are preferably disc-type with the shape matched with the weighing surface of the disc-type load cell, so that the force transferred by the weighing loading structure along the axial direction can be more uniformly transferred to the weighing surface of the disc-type load cell, and the accuracy of the measurement result of the load cell 5 is ensured.
In the weighing process, the fixing flange 8, the elastic element 7, the hard gasket 6 and the weighing sensor 5 need to be fixed at the upper end of the output shaft 20 of the swinging cylinder 4 and need to be pre-tightly combined together, so that the mutual jumping is avoided, the measurement result of the weighing sensor 5 is influenced, and referring to fig. 3 and 4, through holes for the bolts to pass through are respectively formed in the fixing flange 8, the elastic element 7, the hard gasket 6 and the weighing sensor 5, the bolts sequentially pass through the through holes of the components from top to bottom and are in threaded connection with the upper end of the output shaft 20, and the fixing flange 8, the elastic element 7, the hard gasket 6 and the weighing sensor 5 are fixed on the output shaft 20 through the bolts. In addition, the weighing loading structure is arranged on the fixed flange 8 through pressing so as to transmit axial force to the weighing surface of the weighing sensor 5, so that the top of the bolt is required to be lower than the upper end surface of the fixed flange 8, a gap is always reserved between the top of the bolt and the weighing loading structure, partial load of the load support 10 is prevented from being shared by the bolt to the output shaft 20, and the weighing loading structure is capable of transmitting the force loaded by the weighing loading structure to the weighing sensor 5 through the fixed flange 8, the elastic element 7 and the hard gasket 6 in sequence, so that the bolt cannot generate axial pressure on the bolt when sequentially passing through the through holes of the components from top to bottom, and the weighing result is prevented from being influenced.
As a specific embodiment of the weighing device of the invention, referring to fig. 3 and 4, the weighing loading structure comprises a loading flange 12 connected with the upper end of a loading bracket 10, the lower end face of the loading flange 12 is pressed on the upper end face of a fixing flange 8, in the weighing process, under the action of gravity, the end faces between the loading flange 12 and the upper end face of the fixing flange 8 are all in a bonding state all the time, and the lower end face of the loading flange 12 can completely cover the upper end face of the fixing flange 8, so that the stress of the fixing flange 8 is uniform.
In order to realize the rotation adjustment of the working bucket 13 during the working process, the load bracket 10 is arranged on the transmission shaft 9 for transmitting the torque of the output shaft 20, specifically, referring to fig. 3 and 4, the transmission shaft 9 is connected with the loading flange 12, and the lower end of the transmission shaft 9 sequentially passes through the fixing flange 8, the elastic element 7, the hard gasket 6 and the through hole in the center of each of the weighing sensor 5 from top to bottom to be in transmission connection with the output shaft 20. To facilitate torque transmission, the lower end of the drive shaft 9 is formed with two contact surfaces 19, which contact surfaces 19 are parallel to the central axis of the output shaft 20 of the oscillating cylinder 4, so that the drive shaft 9 transmits torque to the output shaft 20 without carrying axial forces. The structural shape of the driving shaft 9 may be varied, for example, the sectional shape of the driving shaft 9 may be square or regular hexagon, or the driving shaft 9 may be a spline shaft.
In order to be able to further ensure that the load of the load carrier 10 is not transmitted to the output shaft 20 via the drive shaft 9, preferably that the drive shaft 9 is not in contact with the mounting flange 8, the elastic element 7, the hard pad 6 and the load cell 5, and that the bottom of the drive shaft 9 is not in contact with the output shaft 20, during the weighing process, the load of the load carrier 10 does not directly apply an axial force to the output shaft 20 via the drive shaft 9, nor does the load carrier 10 indirectly apply an axial force to the output shaft 20 via the mounting flange 8, the elastic element 7, the hard pad 6 and the load cell 5, ensuring that the load of the load carrier 10 applies all axial forces to the load cell 5; meanwhile, as the transmission shaft 9 is not in contact with the fixed flange 8, the elastic element 7, the hard gasket 6 and the weighing sensor 5, the part of the structure can not balance bending moment, the influence of unbalanced load on the weighing sensor 5 is eliminated, and the measurement result of the weighing sensor 5 is accurate.
As a specific embodiment of the bending moment resisting structure, referring to fig. 3 and 6, the bending moment resisting structure includes an annular sleeve 11 connected to the bottom of a load bracket 10, the annular sleeve 11 is sleeved on a rotating shaft 3 through a bearing, the annular sleeve 11, a bearing and the rotating shaft 3 are coaxial with an output shaft 20 of a swinging cylinder 4, so that the load bracket 10 can rotate around the rotating shaft 3, the bearing only bears radial force and does not bear any axial force, the load bracket 10 can not transmit the axial force on the rotating shaft 3, and the bending moment during weighing is counteracted by the reaction force of the rotating shaft 3 to the bearing, so that the influence of unbalanced load on a weighing sensor 5 is eliminated.
Further preferably, referring to fig. 3 and 6, the bearing arranged between the annular sleeve 11 and the rotating shaft 3 is an oil-free bushing 2, and the oil-free bushing 2 is a self-lubricating bearing and has excellent bearing capacity, so that the bearing can be stably used even under the condition that the load of the load bracket 10 is large, and the maintenance frequency is greatly reduced. In addition, the thickness of the oilless bushing 2 is thinner, the space can be saved, the whole volume of the device is reduced, and meanwhile, the central axes of the oilless bushing 2, the rotating shaft 3, the swinging mechanism 4, the weighing sensor 5, the transmission shaft 9 and the annular sleeve 11 are all arranged on the same straight line, so that the swinging cylinder 4, the weighing sensor 33 and the load bracket 10 can be integrated in the same vertical plane, the occupied space of the weighing device is greatly reduced, the whole quality of the device is reduced, the structure is reasonable, and the follow-up maintenance and assembly are convenient.
In addition, the oil-free bushing 2 can be coaxially installed on the annular sleeve 11 at the lower end of the load bracket 10 through bolts, and threads are arranged at the upper end of the rotating shaft 3, so that the rotating shaft 3 can be in threaded connection with the lower end of the output shaft 20 of the swinging cylinder 4, the annular sleeve 11 is sleeved on the rotating shaft 3 through the oil-free bushing 2, and the load bracket 10 can rotate around the rotating shaft 3 and simultaneously has the freedom degree of moving up and down along the axial direction of the rotating shaft 3. When the working bucket 13 connected with the load bracket 10 is loaded, the load bracket 10 can slide downwards due to the compression of the elastic element 7 (the maximum displacement of the sliding is the maximum compression of the elastic element 7), at this time, the annular sleeve 11 only bears bending moment and friction force with the rotating shaft 3, the gravity of the load cannot be balanced, and the load bracket 10 and all axial force of the load are ensured to be loaded on the weighing surface of the weighing sensor 5.
The above description has been made of specific embodiments and preferred embodiments of the weighing apparatus according to the present invention, and in order to better understand the technical solutions of the weighing apparatus according to the present invention, the following description is made of the working principle of the weighing apparatus according to the specific example shown in fig. 7 and 8:
referring to fig. 7, a specific embodiment of the weighing device of the present invention is applied to an overhead working truck, the load bracket 10 is connected to the working bucket 13 of the overhead working truck, the acting force of the working bucket 13 and the load thereof on the weighing system can be equivalent to a force F and a bending moment M axially downward (in the weighing direction of the weighing sensor 5) along the output shaft 20 of the swinging cylinder 4, while the weighing device of the present invention loads the force F on the weighing sensor 5 axially through the weighing loading structure at the upper end, and ensures that the weighing sensor 5 is not affected by the bending moment M during the weighing process through the bending moment resisting structure at the lower end and the balancing of the bending moment M.
Specifically, as shown in fig. 8, since there is no radial contact between the drive shaft 9 and the load cell 5, the hard spacer 6, the elastic element 7 and the fixed flange 8, the load moment generated by the bucket 13 is completely borne by the rotating shaft 3, and the reaction force of the rotating shaft 3 to the oilless bushing 2 is f 2 The moment arm is D, which satisfies the following conditions: m=f 2 X D, whereby the influence of the bending moment M on the weighing sensor 5 can be offset. At the same time, the gravity generated by the working bucket 13 and the load thereof can be axially transferred to the weighing surface of the weighing sensor 5, and the axial downward force F is equal to the pressure F of the load bracket 10 to the upper surface of the fixed flange 8 1 And friction force f between the oilless bushing 2 and the rotating shaft 3 3 Namely, the following conditions are satisfied: f=f 1 +f 3 And since the friction between the oilless bushing 2 and the rotating shaft 3 is relatively small and negligible, the pressure f measured by the sensor at this time 1 I.e. the weight of the load carrier 10 and its connected bucket 13 and load, and the actual load of the load in the bucket 13 can be obtained by subtracting the weight independent of the load in the bucket 13 (the weight of the load carrier 10, the bucket 13 and the associated connectors) from the measured value.
The stress analysis is that the weighing device is in a vertical state, namely, the central axis direction of the output shaft 20 is in the plumb line direction, and under special conditions, due to factors such as uneven ground, shaking of the device, elastic deformation of the whole structure and the like, the central axis of the output shaft 20 of the swinging cylinder 4 of the weighing device is not in the vertical direction, but a certain angle theta exists between the central axis and the plumb line, namely, the pressure f of the load bracket 10 to the upper surface of the fixed flange 8 1 The angle with the equivalent force Fθ, satisfy:at this time, the measured value is converted into the equivalent force F, and then the weight (the weight of the load bracket 10, the bucket 13 and the related connecting members) independent of the load in the bucket 13 is subtracted, so that the actual load of the load in the bucket 13 can be obtained.
Further, the invention also provides a high-altitude mechanical tipping monitoring system, referring to fig. 10, which comprises a weighing unit, a position sensing unit, a power unit and a main control unit, wherein the weighing unit comprises the weighing device, so that the load information of the working bucket 13 can be detected in real time, and the accuracy of the load information of the working bucket 13 is ensured; the position sensing unit can detect the inclination angle information of the chassis 15 and the inclination angle information and the length information of the arm support 14; the power unit can drive the mechanical structure to perform operation; the main control unit is electrically connected with the weighing unit, the position sensing unit and the power unit, and the main control unit performs the following control in the working process: load information of the working bucket 13, inclination angle information of the chassis 15, inclination angle information and length information of the arm support 14 are collected in real time, the risk of high-altitude mechanical tipping is judged according to the information, and the power unit is controlled according to the judging result. The main control unit corresponds to an ECU of the automobile electronic control unit, and is capable of calculating, processing, judging, and then outputting instructions to control the operation of the relevant actuators, based on various information input from each sensor of the engine, according to a program stored in the main control unit.
As a specific embodiment of the position sensing unit, referring to fig. 11, the position sensing unit includes a first inclination sensor 16, a second inclination sensor 17, and a displacement sensor 18, the first inclination sensor 16 is disposed on the chassis 15 to be able to detect inclination information of the chassis 15, the second inclination sensor 17 is disposed on the boom 14 to be able to detect inclination information of the boom 14, and the displacement sensor 18 is disposed on the boom 14 to be able to detect length information of the boom 14. In order to have a higher working height, the boom 14 includes multiple telescopic arms, and a displacement sensor 18 is disposed on each telescopic arm, so that the displacement of each telescopic arm can be determined.
Specifically, the step of judging the high-altitude mechanical tipping risk comprises the following steps:
s1, calculating a stabilizing moment generated by the high-altitude mechanical counterweight according to inclination angle information of the chassis 15;
s2, calculating an actual tipping moment according to the inclination angle information of the chassis 15, the inclination angle information and the length information of the arm support 14 and the load information of the working bucket 13, and determining an allowable tipping moment according to the actual tipping moment;
s3, judging the magnitudes of the stable moment and the allowable tipping moment, if the stable moment is not larger than the allowable tipping moment, the main control unit controls the power unit to stop working and sends out a tipping alarm; if the stable moment is larger than the allowable tipping moment, the main control unit controls the power unit to perform the given action.
The moment of the high-altitude machine is the moment for tilting the high-altitude machine, the stable moment is the moment for resisting the tilting of the high-altitude machine, when the moment of the tilting is larger than the stable moment, the high-altitude machine can tilt, the actual moment of the tilting is the moment which can cause tilting risk in the running process of the high-altitude machine, however, in the monitoring process, the actual moment of the tilting needs to be ensured to be always smaller than the stable moment, but the moment of the tilting needs to be ensured to be capable of stopping operation to give out tilting alarm when the actual moment of the tilting is about to reach the stable moment, therefore, the allowable moment of the tilting is obtained on the basis of the actual moment of the tilting, the allowable moment of the tilting is larger than the actual moment of the tilting, the tilting risk of the high-altitude machine is judged by monitoring the magnitudes of the allowable moment and the stable moment, and when the allowable moment of the tilting is monitored to reach the stable moment, the actual moment of the tilting is about to be larger than the stable moment, the high-altitude machine does not have tilting action at the moment, and the actual moment of the tilting moment needs to be stopped to be increased if the actual moment of the tilting is still not to be larger. The calculation mode of the allowable tipping moment is selected according to the actual requirement, for example, a certain difference is added to the specific value of the actual tipping moment to obtain the allowable tipping moment, or a certain percentage is multiplied to the specific value of the actual tipping moment to obtain the allowable tipping moment.
Referring to fig. 11, the aerial working vehicle needs to run from the initial position posture 1 to the final posture 3, along with the change of the position of the boom 14, the gravity centers of the boom 14, the working bucket 13 and the load thereof also change, the risk of the aerial mechanical tipping is judged according to the result of the stress analysis of the aerial working vehicle, and in the running process of the aerial working vehicle, the stress analysis of the aerial working vehicle is as shown in fig. 12, and the stress analysis of the aerial working vehicle totally bears three loads, namely the weights G of the chassis 15 respectively 1 Dead weight G of arm support 14 2 And the total weight G of the bucket 13 plus the load 3 Wherein G is 1 And G 2 Are all fixed values, and G is not required to be measured 3 Can be derived directly from the measurement results of the load cells 5 in the weighing cell. The turning point when the aerial working vehicle is overturned is O, the overturned turning point O is taken as an analysis object, G 1 Force arm of L 1 Which is capable of generating a stabilizing moment M that prevents the aerial vehicle from tipping over 1 The method comprises the following steps: m is M 1 ＝G 1 ×L 1 Wherein L is 1 The specific value of (2) can be calculated according to the distance from the gravity center of the chassis counterweight to the tipping rotation point O and the inclination angle beta of the chassis 15 measured by the first inclination sensor 16; g 2 Force arm of L 2 ，G 3 Force arm of L 3 Which together generate a tilting moment M which causes the aerial vehicle to tilt 2 In the use process, due to the change of the telescopic length S of the arm support 14, two conditions exist in the gravity center of the arm support, the first is shown as a G in fig. 11 2 And G 3 Are all positioned on the same side of the tipping rotation point O, G 2 And G 3 A moment is generated to tip the aerial vehicle, so that in this case M 2 ＝G 3 ×L 3 +G 2 ×L 2 The method comprises the steps of carrying out a first treatment on the surface of the The second case is G 2 And G 3 Respectively located on both sides of the tipping rotation point O, i.e. G 2 And G 1 G is the same side 2 A moment for preventing the overhead working truck from tipping is generated, and thus, in this case, M 2 ＝G 3 ×L 3 -G 2 ×L 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein L is 2 And L 3 The specific values of (2) can be based on the telescopic length S of the arm support 14 measured by the displacement sensor 18, the inclination angle alpha and L of the arm support 14 measured by the second inclination sensor 17 1 And (5) calculating to obtain the product. When calculating the tipping moment M 2 Moment of tipping M 2 Namely the actual tipping moment, in order to prevent the overhead working truck from tipping, the stable moment M needs to be monitored in real time 1 Always greater than tipping moment M 2 However, during actual use, due to errors and tipping moment M during operation of the device 2 Always dynamically changed, according to the tipping moment M for safety 2 Will give an allowable tipping moment M 3 The allowable tipping moment M 3 Greater than the tipping moment M 2 Thereby at a stabilizing moment M 1 Reach allowable tipping moment M 3 At the moment, i.e. the stabilizing moment M 1 Not greater than the permissible tipping moment M 3 When the main control unit judges that the tipping risk exists, but the moment M is stabilized 1 Or greater than tipping moment M 2 Therefore, the overhead working truck cannot be overturned, and the main control unit can timely control the power unit to stop working and send out an overturned alarm; while at a steady moment M 1 Greater than the permissible tipping moment M 3 At the time, the stabilizing moment M 1 Is also always greater than the tipping moment M 2 Therefore, the main control unit judges that the tilting risk does not exist, the main control unit controls the power unit to perform the given action, that is, the main control unit controls the power unit to drive the mechanical structure, so that the arm support 14 continues to move from the posture 1 to the posture 3.
The high-altitude mechanical tipping monitoring system adopts the weighing device provided by the invention, so that the accurate detection result of the weighing unit on the load information of the working bucket 13 can be ensured, and the allowable tipping moment M is further ensured 3 The main control unit can accurately judge the rollover risk. The control logic diagram of the high-altitude mechanical tipping monitoring system is shown in fig. 13, the inclination angle of the chassis 15, the inclination angle of the arm support 14 and the length of the arm support 14 are determined by the position sensing unit, and the working bucket 1 is determined by the weighing unit3, the weight, the position sensing unit and the weighing unit feed back the detected information to the main control unit, the main control unit performs analysis and calculation according to the fed back information, so as to obtain a stable moment and an allowable tipping moment, and performs judgment and analysis on the stable moment and the allowable tipping moment, if the stable moment is larger than the allowable tipping moment, the overhead working truck has no tipping risk, and the main control unit continues to control the power unit to finish the action; if the stable moment is not larger than the allowable tipping moment, the overhead working truck has a tipping risk, the main control unit controls the power unit to stop working and give an alarm so as to remind the staff until the staff adjusts until the stable moment is larger than the allowable tipping moment.
Furthermore, the invention also provides engineering machinery, which comprises the weighing device or the high-altitude machinery tipping monitoring system provided by the invention, and has all the beneficial effects, and the description is omitted here.
As can be seen from the above description of the technical solutions of the present invention, the present invention mainly adopts a split design for the load support 10, the load of the load support 10 can be loaded on the load cell 5 along the axial direction by using the weighing loading structure at the upper end of the split design, and the bending moment resisting structure at the lower end of the split design is sleeved on the rotating shaft 3 at the lower end of the output shaft 20 of the swinging cylinder 4, so that the load support 10 has the degree of freedom of moving along the axial direction and rotating around the axial direction on the rotating shaft 3, and the reaction force of the rotating shaft 3 on the oil-free bushing 2 can counteract the bending moment borne by the load support 10 during the weighing process, so that the bending moment is prevented from acting on the load cell 5, and the accuracy of the weighing result is ensured. And because the weighing loading structure and the bending moment resistant structure are arranged in a split mode, an integral supporting shaft structure penetrating from top to bottom does not exist between the weighing loading structure and the bending moment resistant structure, and therefore the condition that the measuring result of the weighing sensor is influenced due to unbalanced load caused by deformation of the supporting shaft structure does not exist. In addition, the high-altitude machine tipping monitoring system adopts the weighing device disclosed by the invention, so that the accuracy of the load information of the working hopper 13 is ensured, and the tipping risk of the high-altitude machine during high-altitude operation can be accurately judged through the coordination and the matching of a plurality of systems, and the safety of high-altitude operation equipment is improved.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and all the simple modifications belong to the protection scope of the present invention.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations of the invention are not described in detail in order to avoid unnecessary repetition.
Moreover, any combination of the various embodiments of the invention can be made without departing from the spirit of the invention, which should also be considered as disclosed herein.
Claims (12)
1. The utility model provides a weighing device, its characterized in that includes swing jar base (1), swing jar (4), weighing sensor (5) and is used for connecting load support (10) of work fill (13), swing jar base (1) with swing jar (4) are connected, weighing sensor (5) install in output shaft (20) upper end of swing jar (4), load support (10) are including the weighing load structure that is located the upper end and the bending moment resistant structure that is located the lower extreme, the weighing load structure pressure is established on weighing sensor (5) so as to can be right weighing sensor (5) axial loading, bending moment resistant structure is located the lower extreme of output shaft (20) so as to be able to bear the bending moment of load support (10).
2. The weighing device according to claim 1, characterized in that the weighing surface of the weighing sensor (5) is connected with a hard gasket (6), an elastic element (7) and a fixing flange (8) in sequence from bottom to top, and the weighing loading structure is pressed on the fixing flange (8).
3. The weighing device according to claim 2, characterized in that the fixing flange (8), the elastic element (7), the hard gasket (6) and the through hole on the weighing sensor (5) are in threaded connection with the upper end of the output shaft (20) by means of bolts passing through in sequence from top to bottom, the top of the bolts being lower than the upper end face of the fixing flange (8).
4. The weighing device according to claim 2, characterized in that the weighing and loading structure comprises a loading flange plate (12) connected with the upper end of the loading bracket (10), and the lower end surface of the loading flange plate (12) is pressed on the upper end surface of the fixed flange (8).
5. The weighing device according to claim 4, wherein the load bracket (10) is arranged on a transmission shaft (9) for transmitting the torque of the output shaft (20), the transmission shaft (9) is connected with the loading flange plate (12), and the lower end of the transmission shaft (9) sequentially passes through the fixing flange (8), the elastic element (7), the hard gasket (6) and the through hole at the respective center of the weighing sensor (5) from top to bottom to be in transmission connection with the output shaft (20).
6. A weighing device according to claim 5, characterized in that the drive shaft (9) is not in contact with the mounting flange (8), the elastic element (7), the hard pad (6) and the load cell (5), and that the bottom of the drive shaft (9) is not in contact with the output shaft (20).
7. The weighing device according to claim 1, characterized in that the bending moment resistant structure comprises an annular sleeve (11) connected with the bottom of the load bracket (10), wherein the annular sleeve (11) is sleeved on the rotating shaft (3) at the lower end of the output shaft (20) through a bearing.
8. An overhead machinery rollover monitoring system, comprising:
a weighing unit comprising a weighing device according to any one of claims 1-7, to enable real-time detection of load information of the work bucket (13);
the position sensing unit can detect the inclination angle information of the chassis (15) and the inclination angle information and the length information of the arm support (14);
the power unit can drive the mechanical structure to perform operation;
the main control unit is electrically connected with the weighing unit, the position sensing unit and the power unit, and the main control unit performs the following control in the working process: and collecting load information of the working bucket (13), inclination angle information of the chassis (15) and inclination angle information and length information of the arm support (14) in real time, judging the risk of high-altitude mechanical tipping according to the information, and controlling the power unit according to a judging result.
9. The overhead mechanical rollover monitoring system according to claim 8, wherein determining the risk of overhead mechanical rollover comprises the steps of:
s1, calculating a stabilizing moment generated by the high-altitude mechanical counterweight according to inclination angle information of the chassis (15);
s2, calculating an actual tipping moment according to the inclination angle information of the chassis (15), the inclination angle information and the length information of the arm support (14) and the load information of the working bucket (13), and determining an allowable tipping moment according to the actual tipping moment;
s3, judging the magnitudes of the stable moment and the allowable tipping moment, if the stable moment is not larger than the allowable tipping moment, the main control unit controls the power unit to stop working and sends out a tipping alarm; and if the stable moment is larger than the allowable tipping moment, the main control unit controls the power unit to perform according to the set action.
10. The overhead machinery tipping monitoring system according to claim 8, wherein the position sensing unit comprises a first inclination sensor (16), a second inclination sensor (17) and a displacement sensor (18), the first inclination sensor (16) is arranged on the chassis (15) so as to be capable of detecting inclination information of the chassis (15), the second inclination sensor (17) is arranged on the boom (14) so as to be capable of detecting inclination information of the boom (14), and the displacement sensor (18) is arranged on the boom (14) so as to be capable of detecting length information of the boom (14).
11. The overhead mechanical tipping monitoring system of claim 10, wherein the boom (14) comprises a plurality of stages of telescopic arms, each stage of telescopic arms having the displacement sensor (18) disposed thereon.
12. A working machine comprising a weighing apparatus according to any one of claims 1-7 or an overhead machine tip-over monitoring system according to any one of claims 8-11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310449441.9A CN116675158A (en) | 2023-04-24 | 2023-04-24 | Weighing device, high-altitude machine tipping monitoring system and engineering machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310449441.9A CN116675158A (en) | 2023-04-24 | 2023-04-24 | Weighing device, high-altitude machine tipping monitoring system and engineering machine |
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| Publication Number | Publication Date |
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| CN116675158A true CN116675158A (en) | 2023-09-01 |
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| CN202310449441.9A Pending CN116675158A (en) | 2023-04-24 | 2023-04-24 | Weighing device, high-altitude machine tipping monitoring system and engineering machine |
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| Country | Link |
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| CN (1) | CN116675158A (en) |
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2023
- 2023-04-24 CN CN202310449441.9A patent/CN116675158A/en active Pending
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