WO2011120396A1 - 工程机械及其稳定性控制系统与控制方法 - Google Patents
工程机械及其稳定性控制系统与控制方法 Download PDFInfo
- Publication number
- WO2011120396A1 WO2011120396A1 PCT/CN2011/072087 CN2011072087W WO2011120396A1 WO 2011120396 A1 WO2011120396 A1 WO 2011120396A1 CN 2011072087 W CN2011072087 W CN 2011072087W WO 2011120396 A1 WO2011120396 A1 WO 2011120396A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- center
- gravity
- construction machine
- control system
- stability control
- Prior art date
Links
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/182—Level alarms, e.g. alarms responsive to variables exceeding a threshold
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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
- 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
- B66C23/88—Safety gear
- B66C23/90—Devices for indicating or limiting lifting moment
- B66C23/905—Devices for indicating or limiting lifting moment electrical
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B15/00—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts
- F04B15/02—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts the fluids being viscous or non-homogeneous
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
Definitions
- the present invention claims the priority of the patent application No. 201010139806.0, entitled “Engineering Machinery and Stability Control System” submitted to the State Intellectual Property Office of China on March 30, 2010, all of which The content is incorporated herein by reference.
- TECHNICAL FIELD The present invention relates to the field of construction machinery, and in particular to a stability control system and control method for a construction machine.
- the invention also relates to a construction machine comprising the stability control system described above. BACKGROUND OF THE INVENTION
- the stability in the working process of a construction machine determines the working performance of the construction machine and relates to the personal safety of the operator at the construction site. Therefore, it is particularly important to ensure the stability and stability of the engineering machine.
- FIG. 1 is a schematic structural view of a typical engineering machinery stability control system in the prior art.
- the stability control system in the prior art comprises a pressure sensor 22 and an alarm 23, the pressure sensor 22 is mounted on the upper chamber of each vertical oil rainbow 21, and the pressure sensor 22 is connected to the battery through a power switch, One end is connected to the alarm 23, and the other end of the alarm 23 is grounded.
- the power switch is closed while the leg of the construction machine is being operated.
- the pressure sensor 22 of the leg A voltage signal is generated, and the voltage signal is transmitted to the alarm 23, and the alarm 23 sends an alarm signal, thereby reminding the operator to stop the current operation and changing the operation, preventing the tilting of the construction machine and improving the work of the construction machine. Process stability.
- An object of the present invention is to provide a stability control system and a control method for a construction machine, which have high stability control precision. Another object of the present invention is to provide a construction machine including the above stability control system.
- the present invention provides a stability control system for a construction machine, including a detection device, a control device, and an alarm device.
- the detecting device detects a current position of a center of gravity of each component of the construction machine, obtains a center of gravity position signal of each component, and transmits the gravity center position signal to the control device;
- the control device receives the detecting device a gravity center position signal, calculating a gravity center position of the construction machine according to a center of gravity calculation strategy, and comparing with a preset balance range; when the center of gravity position of the construction machine falls outside the balance range, the control device Controlling the alarm device alarm.
- the detecting device further detects a position of a support point of the leg of the construction machine;
- the balance range is a projection point of the support leg of the construction machine in a projection point of a horizontal plane, and two adjacent projection points
- the area formed by the connection between the first safety operation and the safety area after the first safety calculation is performed, and the center of gravity of the engineering machine is the safety of the center of gravity of the engineering machine after the second safety calculation at the center of gravity of the horizontal plane.
- a position of the point the control device controls the alarm device to alarm when the safety point is outside the safety zone.
- the safe area is obtained by multiplying the area by a first safety margin.
- the security point is obtained by multiplying the center of gravity projection point by a second safety margin.
- the radiation point is perpendicular to the longitudinal direction of the construction machine with the safety point as the end point, and when the number of intersections of the radiation and the connection line is even or zero, the safety point is considered to be outside the safety area.
- the alarm device comprises a first alarm device and a second alarm device that are different from each other.
- the balance range includes a first balance range and a second balance range corresponding to the alarm device; when the center of gravity position is outside the first balance range, the first alarm device alarms When the center of gravity position is outside the second balance range, the second alarm device alarms.
- the center of gravity of each component of the work machine is calculated by finite element.
- the detecting device comprises a turret inclination sensor, a turret angle sensor, a boom angle sensor, a leg angle sensor and a leg displacement sensor.
- the leg displacement sensor is mounted to an end of each leg of the construction machine.
- the present invention also provides a construction machine comprising the stability control system according to any of the above.
- a stability control method for a construction machine including a detection device, a control device and an alarm device, the method comprising the following steps: the detection device detects the construction machinery The current position of the center of gravity of each component, the center of gravity position signal of each component is obtained, and the center of gravity position signal is transmitted to the control device; the control device receives the position signal of the center of gravity of the detecting device, and calculates the position of the center of gravity of the construction machine according to the center of gravity calculation strategy, and Compared with a preset balance range; when the center of gravity of the construction machine falls outside the balance range, the control device controls the alarm device to alarm.
- the stability control system for engineering machinery comprises a detecting device, a control device and a 4-way alarm device.
- the detecting device detects the current position of the center of gravity of each component of the engineering machine, and obtains a position signal of the center of gravity of each component, and Transmitting the center of gravity position signal to the control device;
- the control device receives the position signal of the center of gravity of the detecting device, and the center of gravity calculation strategy calculates the position of the center of gravity of the engineering machine, and compares it with a preset balance range; when the center of gravity of the construction machine falls When outside the balance range, the control device controls the alarm device to alarm.
- the center of gravity of each component is pre-calculated, and when the construction machine is in a certain working state, the position of the center of gravity of each component is uncertain. Therefore, during the working process, the detecting device detects the components of the engineering machine when the working machine is in the working position. The position of the center of gravity, and the detection signal is transmitted to the control device, and the control device calculates the position of the center of gravity of the vehicle according to the calculation method, and then compares with the balance range of the position of the center of gravity, when the center of gravity of the construction machine falls outside the balance range, the control device Control alarm device alarm.
- the invention is provided for engineering machines
- the mechanical stability control system controls the stability of the engineering machinery working process through a new method, and the control precision is high, which provides a basis for the adjustment of the working position of the engineering machinery components.
- the detecting device for the stability control system of the construction machine provided by the invention also detects the position of the supporting point of the supporting leg of the engineering machine, and the balance range is the support point of the engineering machinery. In the projection point of the horizontal plane, the area formed by the connection between the adjacent two projection points passes through the safety area after the first safety operation, and the center of gravity of the engineering machine is the center of gravity of the engineering machine.
- the control device controls the alarm device to alarm.
- the above-mentioned balance range and the determination of the position of the center of gravity of the construction machine not only ensure the control accuracy, but also the implementation in the specific use process is convenient, and the operation difficulty of the stability control system for the construction machine provided by the present invention is reduced.
- the stability control system for the construction machine provided by the present invention has a specific strategy for judging whether the center of gravity projection point is outside the region: the safety point is used as the end point perpendicular to the construction machine The ray in the longitudinal direction is considered to be outside the safe area when the number of intersections of the ray and the line is even or zero.
- FIG. 1 is a schematic structural view of a typical construction machinery stability control system in the prior art
- FIG. 2 is a schematic structural view of a stability control system for a construction machine according to an embodiment of the present invention
- 3 is a schematic structural view of a stability control system for a construction machine according to a second embodiment of the present invention
- FIG. 1 is a schematic structural view of a typical construction machinery stability control system in the prior art
- FIG. 2 is a schematic structural view of a stability control system for a construction machine according to an embodiment of the present invention
- 3 is a schematic structural view of a stability control system for a construction machine according to a second embodiment of the present invention
- FIG. 1 is a schematic structural view of a typical construction machinery stability control system in the prior art
- FIG. 2 is a schematic structural view of a stability control system for a construction machine according to an embodiment of the present invention
- 3 is a schematic structural view of a stability control system for a construction machine according to a second embodiment of the present invention
- FIG. 4 is a schematic diagram of a safety region for a stability control system for a construction machine according to the present invention
- FIG. 5 is a schematic diagram of a center of gravity projection coordinate of the stability control method of the construction machine provided by the present invention.
- the core of the present invention is to provide a stability control system and control method for a construction machine, which has high stability control precision.
- Another core of the present invention is to provide a construction machine including the above stability control system.
- FIG. 2 is a schematic structural diagram of a stability control system for a construction machine according to an embodiment of the present invention
- FIG. 2 is a schematic structural diagram of a stability control system for a construction machine according to an embodiment of the present invention
- the detecting device 1 detects the current position of the center of gravity of each component of the engineering machine, and obtains The center of gravity position signal of each component transmits the center of gravity position signal to the control device 2;
- the control device 2 receives the position of the center of gravity of the detecting device 1, calculates the position of the center of gravity of the construction machine according to the center of gravity calculation strategy, and sets the balance range with the preset The comparison is made; when the center of gravity of the construction machine falls outside the balance range, the control device 2 controls the alarm device 3 to alarm.
- the center of gravity of each component of the above-mentioned construction machine is pre-calculated, and the position of the center of gravity on each component is constant, and the components are formed on the engineering machine with respect to the entire engineering machine.
- the change in position, the center of gravity of each component is constantly changing with respect to the position of the entire construction machine, and the detecting device 1 detects the position of the center of gravity of each component when the engineering machine is in the current working position.
- the center of gravity of the various components of the engineering machine can be calculated by finite element calculation. Since the center of gravity of each component is constantly changing with respect to the current position of the entire engineering machine, the predetermined balance range may also be calculated by a predetermined calculation method of the detection point, that is, the preset balance range described above.
- the above-mentioned components can determine the accuracy of the division according to the needs.
- the concrete pump truck can specifically include the legs, the booms, the turret, the vehicle body and the cylinders. It is also possible to further divide the above components, and the accuracy of the specific division of each component is not limited herein.
- the detection of the position of the center of gravity described above can be realized by means of a sensor detecting the relative positional relationship of the components of the construction machine.
- the detecting device may include a turret inclination sensor 11, a turret angle sensor 12, a boom angle sensor 13, a leg angle sensor 14, and a leg. Displacement sensor 15.
- the turret inclination sensor 11 detects the angle between the turret and the horizontal plane
- the turret rotation angle sensor 12 detects the rotation angle of the turret at any working position
- the boom angle sensor 13 detects the inclination of the boom
- the leg angle sensor 14 detects each branch The angle between the leg in the support position and the front-rear direction of the concrete pump truck
- the leg displacement sensor 15 detects the elongation length of each leg when each leg is in the support position.
- the number of the boom angle sensors 13 may be the same as the number of the booms, and the boom angle sensors 13 respectively detect the angle between the first boom of the concrete pump truck and the turret, and the adjacent two arms
- the angle between the frames; the escape displacement sensor 15 can be mounted at the ends of the construction machinery.
- the leg displacement sensor 15 is installed at the end of each leg of the construction machine, and can detect the position of the support points of each leg, thereby facilitating the determination of the balance range to a certain extent.
- the leg displacement sensor 15 can also be mounted at other positions of the construction machine, as long as the position of the center of gravity of the leg can be detected. Through the detection results of the above sensors, the center of gravity of each component can be obtained when the concrete pump truck is in a certain working state.
- the detecting device 1 detects the position of the center of gravity of each component of the construction machine at a time, and transmits the detection signal to the control device 2.
- the control device 2 calculates the position of the center of gravity of the vehicle according to a predetermined calculation method. Further, in comparison with the balance range of the center of gravity position, when the center of gravity of the construction machine falls outside the balance range, the control device 2 controls the alarm device 3 to give an alarm.
- the alarm device 3 may specifically be an audible alarm device or a visual alarm device, or may have both of the above alarm devices.
- FIG. 4 is a schematic diagram of a safety area for a stability control system for a construction machine according to the present invention.
- the detecting device for the stability control system of the construction machine also detects the position of the support point of the leg of the construction machine, and the balance model described above
- the circumference can be the projection point of the support leg of the construction machine in the projection point of the horizontal plane, and the area A formed by the connection between the adjacent two projection points passes through the safety area B after the first safety operation;
- the position of the center of gravity may be the position of the safety point C after the second safety calculation of the center of gravity D of the construction machine at the center of gravity of the horizontal plane; when the safety point C is outside the safety area B, the control device 2 controls the alarm device 3 to alarm.
- one of the first security operation and the second security operation may be 1 .
- the security area may be an area obtained by multiplying the area formed by the connection between two adjacent projection points by the first safety margin. To ensure the stability, the specific value of the first safety margin shall ensure the safety area.
- the range is smaller than the range of the area formed by the line between the adjacent two projection points.
- the above security area can also be obtained by other operations for the area formed by the connection between two adjacent projection points.
- the above safety point can also be obtained by multiplying the center of gravity projection point by the second safety margin. To ensure the stability improvement, the specific value of the second safety margin should ensure that the probability that the center of gravity projection point falls in the safe area increases.
- the above security points can also be obtained by other means, as long as the security improvement can be ensured. As shown in FIG.
- the stability control system for the construction machine provided by the present invention may determine whether the center of gravity projection point is outside the area, and the specific strategy may be: In the longitudinal direction of the machine, when the number of intersections of 1 and the line is even or zero, the safety point C is considered to be outside the safety area B. When the method is used, if the ray coincides with the line, the intersection of the ray and the line is considered to be one.
- the above control strategy provides a basis for setting the control program of the control device, and ensures the realization of the stability control system for the construction machine provided by the present invention.
- the alarm device for the stability control system of the construction machine provided by the present invention may further include a first alarm device and a second alarm device that are different from each other, and balanced.
- the range may further include a first balance range and a second balance range corresponding to the 4-way alarm device; when the center-of-gravity position is outside the first balance range, the first alarm device 4 is alerted, and the center of gravity position is located at the second position When the balance is outside, the second alarm device alarms.
- the second balance range may be included within the first balance range, and when the center of gravity position is outside the second balance range, the second alarm device alarms, thereby alerting the operator to the caution in the next operation, when the center of gravity position When located outside the first balance range, the first alarm device alerts the operator to further caution.
- the first alarm device and the second alarm device may be alarm devices having different sounds, or optical signals having different colors; of course, one is an optical signal, and the other is a sound. Signals are also possible.
- the present invention also provides a construction machine, including the stability control system as described above, and other structures of the construction machine are the same as the prior art, and are not mentioned herein.
- the invention also provides a stability control method for engineering machinery.
- the plane obtains the new support point coordinates ( ⁇ 11, ⁇ 11), ( ⁇ 21, ⁇ 21), ( ⁇ 31, ⁇ 31), ( ⁇ 41, ⁇ 41); the position of the center of gravity of the component calculated according to the finite element, the installation position of the component in the whole vehicle, and the above
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- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
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Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/002,107 US9082288B2 (en) | 2010-03-30 | 2011-03-23 | Engineering machine and stability control system and control method thereof |
EP11761970A EP2555067A1 (en) | 2010-03-30 | 2011-03-23 | Engineering machine and stability control system and control method thereof |
BR112012025018A BR112012025018A2 (pt) | 2010-03-30 | 2011-03-23 | máquinas de construção e o sistema de controle da sua estabilidade, e o método de controle. |
KR1020127015333A KR20120116409A (ko) | 2010-03-30 | 2011-03-23 | 공정기계 및 그의 안정성 제어시스템과 제어방법 |
JP2013501606A JP2013523558A (ja) | 2010-03-30 | 2011-03-23 | 建設機械、安定性制御システム、及び制御方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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CN2010101398060A CN101833287B (zh) | 2010-03-30 | 2010-03-30 | 工程机械及其稳定性控制系统 |
CN201010139806.0 | 2010-03-30 |
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WO2011120396A1 true WO2011120396A1 (zh) | 2011-10-06 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/CN2011/072087 WO2011120396A1 (zh) | 2010-03-30 | 2011-03-23 | 工程机械及其稳定性控制系统与控制方法 |
Country Status (7)
Country | Link |
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US (1) | US9082288B2 (zh) |
EP (1) | EP2555067A1 (zh) |
JP (1) | JP2013523558A (zh) |
KR (1) | KR20120116409A (zh) |
CN (1) | CN101833287B (zh) |
BR (1) | BR112012025018A2 (zh) |
WO (1) | WO2011120396A1 (zh) |
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CN114428483B (zh) * | 2022-01-26 | 2023-07-21 | 上海三一重机股份有限公司 | 作业机械遥控端力反馈控制方法、装置及系统 |
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Publication number | Publication date |
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EP2555067A1 (en) | 2013-02-06 |
KR20120116409A (ko) | 2012-10-22 |
CN101833287B (zh) | 2012-02-22 |
US20140015685A1 (en) | 2014-01-16 |
US9082288B2 (en) | 2015-07-14 |
BR112012025018A2 (pt) | 2019-09-24 |
CN101833287A (zh) | 2010-09-15 |
JP2013523558A (ja) | 2013-06-17 |
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