KR20110049461A - The controller for ballance of supporting device - Google Patents

The controller for ballance of supporting device Download PDF

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Publication number
KR20110049461A
KR20110049461A KR1020090106477A KR20090106477A KR20110049461A KR 20110049461 A KR20110049461 A KR 20110049461A KR 1020090106477 A KR1020090106477 A KR 1020090106477A KR 20090106477 A KR20090106477 A KR 20090106477A KR 20110049461 A KR20110049461 A KR 20110049461A
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KR
South Korea
Prior art keywords
support
height
vehicle
inclination
module
Prior art date
Application number
KR1020090106477A
Other languages
Korean (ko)
Inventor
육상조
Original Assignee
육상조
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 육상조 filed Critical 육상조
Priority to KR1020090106477A priority Critical patent/KR20110049461A/en
Publication of KR20110049461A publication Critical patent/KR20110049461A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0321—Travelling cranes
    • B66C2700/0357—Cranes on road or off-road vehicles, on trailers or towed vehicles; Cranes on wheels or crane-trucks
    • B66C2700/0378—Construction details related to the travelling, to the supporting of the crane or to the blocking of the axles; Outriggers; Coupling of the travelling mechamism to the crane mechanism

Abstract

The present invention relates to a support of a crane vehicle, and in more detail, to a control system that can easily control the horizontal to see the overall situation of the support for preventing load preservation and center movement.

Generally, a crane vehicle is installed in a place where a large crane is difficult to install, and is a device for moving a frame or heavy building material, and a main boom moves up, down, left, and right by a rotating means and a conveying means to move a heavy object hanging on a hook. . However, such cranes have a long length from the ground to the hooks, so the suspended objects are shaken by several meters from side to side, even if the angle is only 1-2 degrees. As you move the load, the load is greater than the load, which makes it difficult to support the vehicle suspension. Therefore, the conventional crane vehicle performs a work in a state in which the vehicle floats in the air and then leveled down after fixing a plurality of supports to the ground. In other words, the crane work is performed after the support is installed to prevent load preservation and movement of the center.

However, since the ground on which the support of the crane is installed is formed to be inclined for drainage treatment or because the ground is not all flat, the center of gravity of the crane is biased to one side as the vehicle is lifted into the air by the support. Therefore, to hold the center of the crane. It is necessary to adjust the height of each support differently to maintain the level, because the work is usually inconvenient because it is necessary to perform the work to balance the work while checking the slope of the support using a horizontal level.

Therefore, in the present invention, in the support that is installed so as to lift the crane vehicle in the air to maintain the horizontal level to prevent load preservation and the center movement, the support is installed inclination sensor for checking the horizontal and tilt value of the vehicle floated in the air And at the same time, a displacement control unit which controls to change the height of the support while recognizing and confirming how much the support is relatively inclined and how high is the height of the support based on the inclination value measured from the tilt sensor. And a movement control panel which is composed of a plurality of buttons to change the height of the support by applying a control command to the displacement control unit, and changes the height of the support base through the displacement control unit based on the control command applied by the movement control panel. A drive unit and the displacement control unit; Based on the facts recognized through the display and the display device is implemented to display the slope and height of the entire support relative to how much the inclination of the vehicle, so that the height of the support installed is different Checking the status of the support is easy to adjust the level.

Description

Horizontal control system for controlling the support of crane vehicles. {The controller for ballance of supporting device}

The present invention relates to a support for a crane vehicle, and more particularly, to a system for horizontal control of a support for preventing load preservation and centering.

Generally, a crane vehicle is installed in a place where a large crane is difficult to install, and moves a frame or heavy building material.

And such a crane vehicle, the crane is installed on the back side and the main boom is moved up and down, left and right by the rotating means and the transfer means to move the heavy restraint hanging on the ring to the destination.

However, the higher the crane, the longer the length of the crane from the ground to the hook is bound. Therefore, even if the angle is only shaken by 1-2 degrees, the suspended object will swing to the left and right several meters.

Moreover, as the crane moves heavy restraint, the crane boom takes more load than its own load, making it difficult to support with the suspension of the vehicle.

Therefore, the conventional crane vehicle is to perform the crane work in a state where the level is maintained by floating the vehicle in the air after fixing the support down to the ground in order to perform the crane work. That is, the crane was performed after the support was installed to prevent load preservation and movement of the center.

However, the roads and sidewalks on which these supports are installed are formed to be inclined for drainage treatment, or because the ground is not all flat, the vehicle is lifted up in the air by the supports, so that the center of gravity of the crane is biased to one side.

Therefore, in order to hold the center of the crane, it is necessary to perform the work to maintain the level by adjusting the height of each support, at this time, because the height is installed for each support is different by using a horizontal level for each support There was a discomfort to only perform the balancing work as you go.

Therefore, in the present invention, the ground is formed to be inclined, so that even if the height of the support is different, the purpose of the control system of the support is easy to adjust the horizontal level while checking the situation of the entire support.

In addition, in the present invention, even if the height of the support to be installed is different, it is an object of the control system of the support to automatically adjust the level by changing the height of the support.

To this end, in the present invention, in the support that is installed so as to lift the crane vehicle in the air for horizontal maintenance to prevent load preservation and center movement,

The support is provided with an inclination sensor for checking the horizontal level and the inclination value of the vehicle floated in the air,

At the same time, based on the inclination value measured from the inclination sensor to recognize and determine how much the support is relatively inclined and the height of the support, while controlling to change the height of the support based on the confirmed fact Displacement control unit,

Movement control panel composed of a plurality of buttons to change the height of the support by applying a control command to the displacement control unit,

A driving device for changing a height of a corresponding zone through a displacement control unit based on a control command applied by the mobile control panel;

On the basis of the fact recognized through the displacement control unit characterized in that the display device is configured to display the inclination and height of the entire support to determine how much the relative tilt of the vehicle.

In addition, the present invention further comprises a weight sensor for measuring the load of the support,

When the displacement control unit compares the inclination value of one side and the other support, if a difference occurs, it generates a control command to change the height of the one or the other support, and automatically when the measured value of the weight sensor becomes the minimum. It is characterized in that the level is maintained.

Crane vehicle of the present invention is characterized by having a feature that can be easily installed without additional safety personnel, it is characterized by reducing the labor cost and construction time to reduce the cost. That is, it is used while moving the crane vehicle according to the surrounding environment during the construction work, and as the support is easy to install, the crane vehicle can be moved frequently and used, and the time saved for installing the support can be saved every time. This will reduce labor costs and construction time by reducing costs.

Hereinafter, specific details for carrying out the present invention will be described with reference to the accompanying drawings.

First, Figure 1 shows the mobile crane of the present invention, as shown is a special vehicle crane is installed in the loading portion of the rear of the vehicle, including a support to float the vehicle in the air to maintain the horizontal level Is done. At this time, the mobile vehicle is not limited to the crane, but refers to the ladder truck, the fire truck, and the aerial work vehicle on which the support is installed.

In addition, Figure 2 is a block diagram showing a configuration for easily maintaining the level by controlling the support of the present invention, as shown, the present invention, the weight sensor and the tilt sensor is installed on the support, through which the support It includes a displacement control unit and a display device, a movement control panel, and driving devices for checking the tilt situation and for easily controlling or automatically maintaining the level.

Here, the inclination sensor is to determine how much the inclination of the support or the vehicle when the vehicle is floated in the air after the support is installed on the ground, it may simply be able to grasp the inclination direction, but made of a support including a gyro sensor The tilt value or the displacement value can be obtained.

In addition, the weight sensor is for measuring the weight value of the support or the vehicle when the moving vehicle is floated in the air after the support is installed on the ground, usually made of a piezoelectric element, strain gauge, or pressure sensor height of the support The weight of the support is to be measured whenever is changed.

In addition, the displacement control unit is applied to the inclination value obtained by the inclination sensor is to recognize and display how much relative inclination of the support of one side and the other side or the front and rear relative. At this time, the degree of inclination to be displayed displays how much one side and the other side are inclined, and displays the height of the corresponding support so that the inclination of the entire support can be grasped at a glance. As a result, the height of the support can be easily changed to keep the level.

In addition, the displacement control unit of the present invention to measure the weight of the support each time the height of the support is changed, and to control the weight value while changing the height of one side of the support based on the measured weight value. Then, the measured weight value is compared with the set value or the previously measured weight value, so that the horizontal adjustment is recognized when the value becomes the minimum. At this time, the weight value may simply grasp the center of gravity using only the weight of the support, but may also take the center of gravity to reflect the weight of the crane.

In addition, the display device displays the inclination and height of the entire support relatively so that the inclination of the entire support can be easily understood.

That is, as shown in Figure 3a, when the support is adjusted to the same height in order to float the moving vehicle in the air, since the bottom surface is uneven, the inclination value is measured and displayed differently. That is, when the support (No1, No2, No3, No4) is raised to the same height as displayed on the height display, the one side and the other (n1, n2, n3, n4) are relatively It will indicate whether it is tilted. At this time, the height display is relatively easy to grasp the support (No2, No4) of the side on which the rod is exposed while expressing how inclined.

At this time, the support of the rod-hung side can be recognized by the degree of inclination, but can be easily recognized through the weight sensor.

In addition, as shown in Figure 3b, when the height of the support on the side of the rod is increased through the movement control panel, the height of the support (No2, No4) of the side on which the rod is caught, as shown in the height display portion, the tilt display portion As indicated in, the left and right tilts are adjusted until they coincide.

Then, as shown in Figure 3c, by comparing the inclination of the front and rear to change the height of the support on the side of the rod, the height of the front support (No1, No2) as shown in the height display portion is increased In addition, the tilt of all supports can be easily grasped and leveled.

In addition, the present invention can recognize the support on the side of the rod through the weight sensor and automatically change the height of the support to adjust the horizontal tilt of the support in the left and right or front and rear directions.

In addition, the sound device is a warning or guidance device that adjusts the height of the support to the surrounding people or the manager, and the intensity of the sound continuously output so that the slope is too high or faster.

Figure 4 shows the configuration of the displacement control unit for relatively displaying the overall tilt situation in accordance with an embodiment of the present invention. In this case, the module of the present invention means a functional and structural combination of hardware for performing the technical idea of the present invention and software for driving the hardware.

First, the displacement control unit of the present invention includes a tilt detection module, a situation recognition module, a horizontal control module, a tilt display module, a height display module and an input module in order to display the degree of inclination of the support relatively. In order to automatically maintain the level of the support is made including a weight sensing module and a horizontal holding module.

Here, the tilt detection module is called by the horizontal control module to drive the tilt sensor, and the tilt value is acquired every time. At this time, the acquired tilt value (information) is read by the situation recognition module to perform a predetermined operation.

In addition, the situation recognition module recognizes a situation in which the support of one side and the other side or the support of the front and rear are inclined based on the inclination information acquired through the tilt detection module, and grasps how inclined relative to the situation. It is displayed through the tilt display module. In addition, the situation recognition module is to be displayed on the height display module so that it is easy to recognize the support on which the load is inclined to one side based on the tilt information and the height and height information of each support.

The tilt display module may call the GUI module based on the information processed by the situation recognition module to display how much the support is inclined relative to the tilt display of the display device.

In addition, the height display module calls the GUI module based on the information processed by the situation recognition module, it is easy to know how much the support is raised relative to the height display portion of the display device and the support that the rod is inclined to one side. Express it for identification.

In addition, the horizontal control module controls to change the height of the support by driving the driving device based on the control command input through the input module, and the tilt sensor is called every time the height of the support changes by calling the tilt detection module. Is driven to obtain the inclination value.

Therefore, each time the inclination of the support is changed, the value is acquired, and how much one side and the other side are inclined can be displayed on the display device to easily identify the inclined state. By expressing the degree of inclination together, it is possible to easily grasp the support on which the rod is inclined to one side.

In addition, the weight sensing module of the present invention is called by the horizontal control module to drive a weight sensor or a pressure sensor, and to obtain a weight value or a pressure value (hereinafter referred to as a weight value). At this time, the weight sensing module is operated every time the horizontal control module drives the tilt sensing module to take a weight value or a pressure value.

In addition, the horizontal maintenance module of the present invention reads the weight value acquired by the weight sensing module, and if the read weight value is smaller than the stored weight value, it stores and updates the read weight value. On the basis of this fact, the control command for driving the driving device is generated and the operation of adjusting the height of the support rod is repeatedly performed.

At this time, the weight value is the weight value of the support on one side of the rod is applied, and if the inclination direction is changed in the process of adjusting the height and the rod is applied to the other support, the horizontal maintenance module does not change the height of the other support. As the block is applied, change the height of the original one side support. In other words, when the rod is caught on one side of the support, the height of one side of the support is gradually increased. At this time, the height of the one side of the support is inclined in the opposite direction while the rod is caught on the other side. It is supposed to lower the height of one side support by blocking.

At this time, the horizontal maintenance module is to maintain the horizontal level by adjusting the height of the support rod until the weight value of both one side and the other side is minimum.

The height adjusted here is to change the height is adjusted whenever the inclination direction is changed. In other words, if the inclination changes in the other direction while increasing the height by about 10mm, it returns to the previous state and increases the height by 5mm so that the one side and the other weight become the minimum while changing the height of each step. .

In addition, Figure 5 is a flow chart showing a process of adjusting the height of the support according to an embodiment of the present invention, as shown in the first to install the support and float the vehicle in the air.

At this time, the displacement control unit operates the inclination sensor and the weight sensor to acquire the inclination value and the weight value. On the basis of the obtained information, the displacement control unit displays the degree of inclination of the support or the vehicle together with the height of the support so that the relative displacement can be easily determined.

In this case, the displacement control unit easily recognizes the support on which the load is applied through the weight sensor, and goes through a process of adjusting the height of the support.

At this time, the displacement control unit goes through the process of continuously acquiring the weight value each time the height adjustment is made to compare with the previous weight value. At this time, if the measured weight value is smaller than the stored value, the process is temporarily stored.

If the inclination direction is changed to the other side during the process of adjusting the height of the support, the displacement control unit returns to the previous state and resets it by changing the amount of height to be adjusted.

At this time, the displacement control unit is to obtain the weight value of both sides of the one side and the other side, and by repeating the above process until the height is gradually reduced to almost no change, the minimum weight of both sides without changing the slope The process of adjustment is made until

Therefore, the present invention is easy to grasp the overall situation, and automatically made the horizontal adjustment is to be able to easily install the support without a separate safety personnel.

1 is a side view of a crane vehicle according to an embodiment of the present invention.

2 is a block diagram of a system in accordance with an embodiment of the present invention.

3A to 3C are display screens of a monitor according to an embodiment of the present invention.

Figure 4 is a block diagram of a displacement control unit according to an embodiment of the present invention.

5 is a flow chart showing the operation of the system according to an embodiment of the present invention.

<Description of the symbols for the main parts of the drawings>

1: vehicle 10: support

11: tilt sensor 12: weight sensor

13: displacement control unit 14: display device

15: Sound system 16: Mobile control panel

17: drive unit 13a: tilt detection module

13b: Weight sensing module 13c: Situation recognition module

13d: level control module 13e: level holding module

13f: Tilt display module 13g: Height display module

13h: input module 13i: drive module

14a: tilt display 14b: height display

14c: balance holding unit

Claims (5)

In the support which is installed to lift the crane vehicle in the air to maintain the level, to prevent load preservation and centering, The support is provided with an inclination sensor for checking the horizontal level and the inclination value of the vehicle floated in the air, At the same time, the displacement control unit controls to change the height of the support on the basis of the confirmed fact while checking the relative tilt and how much the height of the support based on the tilt value measured from the tilt sensor And a movement control panel which is composed of a plurality of buttons to change the height of the support by applying a control command to the displacement control unit, and changes the height of the support base through the displacement control unit based on the control command applied by the movement control panel. And a display device configured to display the inclination and height of the entire support based on the facts recognized by the displacement control unit so as to determine how inclined the vehicle is. support Attitude control system for controlling The method of claim 1, The support is further comprises a weight sensor capable of measuring the load of the support, The displacement control unit compares the inclination values of one side and the other side and generates a control command to control the height of one side or the other side of the support when the difference occurs, while the weight sensor continues whenever the height of the support is changed. By measuring the weight of the supports so that the horizontal level is maintained when the measured value becomes the minimum. The method of claim 2, The vehicle is a posture control system for controlling the support of the crane vehicle, characterized in that the aerial vehicle or ladder vehicle is installed support. The method of claim 2, The displacement control unit is called by the horizontal control module to drive the inclination sensor, the inclination detection module configured to acquire a inclination value each time; Based on the inclination information acquired through the inclination detection module, the situation in which the support of one side and the other or the support of the front and rear are inclined is recognized, and the relative inclination is detected and displayed through the inclination display module. On the other hand, based on the inclination value and the height and height information of each support, the situation recognition module to be able to easily grasp the support on which the load is inclined to one side; And a tilt display module for displaying how the support is inclined relative to the tilt display unit of the display device through the situation recognition module; A height display module for expressing the height of the display unit of the display device by the situation recognition module so that the support can be grasped to be easily understood and the support on which the rod is inclined to one side; And while controlling the drive to change the height of the support on the basis of the control command input through the input module, while calling the tilt detection module to drive the tilt sensor whenever the height of the support changes the slope Attitude control system for controlling the support of the crane vehicle, characterized in that it comprises a horizontal control module for obtaining a value. The method of claim 4, wherein The displacement control unit is called every time the horizontal control module calls the tilt detection module to drive a weight sensor or a pressure sensor, and acquires a weight value or a pressure value, while easily tilting to one side to recognize a support on which a rod is applied. A weight sensing module to enable; The weight sensing module reads the weight value acquired, compares the weight value with the stored weight value based on the support on which the rod is loaded, updates the stored weight value if it is small, and drives the driving device. Attitude control system for controlling the support of the crane vehicle, characterized in that further comprises a horizontal maintenance module to maintain the level so that the weight of all the support to the minimum.
KR1020090106477A 2009-11-05 2009-11-05 The controller for ballance of supporting device KR20110049461A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101307210B1 (en) * 2011-12-02 2013-09-26 동명대학교산학협력단 Monitoring system for a high place operation car based USD communication
KR101467283B1 (en) * 2014-08-04 2014-12-11 (주)지오시스템리서치 Horizontality control type seebed mooring apparatus
CN109131611A (en) * 2018-07-13 2019-01-04 云南电网有限责任公司曲靖供电局 A kind of self-balancing running gear and balance car
KR20220046052A (en) 2020-10-06 2022-04-14 주식회사 정우테크놀러지 Apparatus for expanding inner space of special vehicle having automatic horizontal control function and special vehicle with thereof
KR102408924B1 (en) * 2022-02-21 2022-06-14 주식회사 국도특장 Vehicle auto leveling system using sensor
KR102536817B1 (en) * 2022-11-25 2023-05-26 김용필 Apparatus for adjusting level of specially equipped vehicle

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101307210B1 (en) * 2011-12-02 2013-09-26 동명대학교산학협력단 Monitoring system for a high place operation car based USD communication
KR101467283B1 (en) * 2014-08-04 2014-12-11 (주)지오시스템리서치 Horizontality control type seebed mooring apparatus
CN109131611A (en) * 2018-07-13 2019-01-04 云南电网有限责任公司曲靖供电局 A kind of self-balancing running gear and balance car
KR20220046052A (en) 2020-10-06 2022-04-14 주식회사 정우테크놀러지 Apparatus for expanding inner space of special vehicle having automatic horizontal control function and special vehicle with thereof
KR102408924B1 (en) * 2022-02-21 2022-06-14 주식회사 국도특장 Vehicle auto leveling system using sensor
KR102536817B1 (en) * 2022-11-25 2023-05-26 김용필 Apparatus for adjusting level of specially equipped vehicle

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