WO2011127818A1 - 运输车的行走控制装置和方法及运输车 - Google Patents

运输车的行走控制装置和方法及运输车 Download PDF

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Publication number
WO2011127818A1
WO2011127818A1 PCT/CN2011/072726 CN2011072726W WO2011127818A1 WO 2011127818 A1 WO2011127818 A1 WO 2011127818A1 CN 2011072726 W CN2011072726 W CN 2011072726W WO 2011127818 A1 WO2011127818 A1 WO 2011127818A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
control module
control device
disposed
vehicle control
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2011/072726
Other languages
English (en)
French (fr)
Inventor
詹纯新
刘权
高一平
滕宏珍
黄赞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hunan Zoomlion Special Vehicle Co Ltd
Changsha Zoomlion Heavy Industry Science and Technology Development Co Ltd
Original Assignee
Hunan Zoomlion Special Vehicle Co Ltd
Changsha Zoomlion Heavy Industry Science and Technology Development Co Ltd
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 Hunan Zoomlion Special Vehicle Co Ltd, Changsha Zoomlion Heavy Industry Science and Technology Development Co Ltd filed Critical Hunan Zoomlion Special Vehicle Co Ltd
Publication of WO2011127818A1 publication Critical patent/WO2011127818A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C25/00—Cranes not provided for in groups B66C17/00 - B66C23/00
    • 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
    • B66C13/20—Control systems or devices for non-electric drives
    • 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

Definitions

  • the present invention relates to the field of transportation machinery, and more particularly to a transportation control apparatus and method for a transportation vehicle and a transportation vehicle.
  • BACKGROUND OF THE INVENTION Existing crawler cranes are being carried out In large-scale operations, such as when transporting large equipment, the combination of two crawler cranes is sometimes used, that is, the combination of the front vehicle (front crawler crane) and the rear vehicle (rear crawler crane) is used.
  • the front and rear vehicles are completely independent, the operation mode is completely mechanical operation, and the efficiency is low.
  • the commander observes the actual position of the front and rear vehicles on the spot, and commands the operator of the front and rear vehicles to operate forward or backward.
  • the purpose of the invention is to provide a traveling control device and a control method for a transport vehicle, so as to solve the problem that the crawler crane front-vehicle rear-car joint walking completely relies on the skilled cooperation of the commander and the operator, and the safety of the work cannot be guaranteed.
  • Another object of the present invention is to provide a transport vehicle for solving the problem that the crawler crane can not safely jointly walk and transport after the vehicle is in front of the vehicle.
  • a travel control device for a transport vehicle including Crawler crane front and crawler crane rear;
  • Front car includes: front left and right front tracks and front body between front left and right front;
  • rear car including: rear left track And a rear crawler right track and a rear body disposed between the rear left track and the rear right track;
  • the transporter further includes a connecting frame connecting the front and the rear;
  • the travel control device includes: a front vehicle control device, disposed at On the front body, the front vehicle control unit has a front vehicle control module, and the front vehicle control module is connected to the driving mechanism of the front vehicle;
  • the vehicle control device is disposed on the rear vehicle body, the rear vehicle control device has a rear vehicle control module, and the rear vehicle control module is coupled with the rear vehicle drive mechanism;
  • the vehicle control device is disposed on the front or rear vehicle, and the vehicle control The device has a whole vehicle control module, the vehicle control module is connected with the front vehicle control module, and the vehicle control module is connected with the rear vehicle control module;
  • the front vehicle position detector comprises: a front left left track angular displacement detector disposed on the front left track; a front right right track angular displacement detector disposed on the front right track; the front car and the connecting frame are opposite
  • the angular displacement detector is arranged on the front vehicle body;
  • the rear vehicle position detector comprises: a rear left angular angle displacement detector, which is arranged on the rear left track; a rear right angle angular displacement detector, which is arranged in the rear right On the track; the rear and the frame relative angular displacement detector, set on the rear body.
  • a sliding connection between the connecting frame and the front vehicle body or/and the rear vehicle body; the front vehicle and the rear vehicle relative distance detector are disposed on a side of the connecting frame near the rear vehicle or/and disposed on the connecting frame Near the side of the front car.
  • the vehicle control module or/and the front vehicle control module or/and the rear vehicle control module are programmable controllers.
  • the front body of the vehicle has a front vehicle; the rear vehicle has a rear vehicle; the connecting frame is connected between the upper vehicle and the rear vehicle; The control device is placed on the upper vehicle.
  • the boarding of the preceding vehicle and/or the loading of the following vehicle includes a swinging platform, a boom and a hoisting mechanism.
  • a transport vehicle comprising: a crawler crane front car and a crawler crane rear car, the front car comprising: a front left track and a front right track and a front left set and a front set The front body between the right track; the rear car includes: the rear left and rear right tracks and the rear body between the rear left and rear right tracks; the connecting frame, connected to the front body Between the rear body and the rear body, the movable connection between the connecting frame and the front body is an active connection between the connecting frame and the rear body; the transporting vehicle further includes: a walking control device of the transport vehicle described above.
  • a travel control method for a transport vehicle including: the vehicle control module respectively issues control commands to the front and rear vehicles; and the front and rear vehicles jointly walk according to the control command.
  • the travel control method of the transport vehicle further includes: the front vehicle, the rear vehicle, and the front and rear vehicle relative distance detectors feed back operation information to the vehicle control module according to the actual working state; the vehicle control module according to the feedback operation information Determine whether the actual working state meets the preset condition; if the preset bar is satisfied Then, the vehicle control module issues a maintenance command to the front and rear vehicles to maintain the current working state of the front and rear vehicles; if the preset condition is not met, the vehicle control module issues the front vehicle and/or the rear vehicle.
  • the method further includes: the vehicle control module accepts an initial setting of the operator.
  • the content of the initial setting includes a preset condition and a joint walking mode, wherein when the joint walking mode is the synchronous straight walking mode, the preset condition is whether the relative angle between the front vehicle and the connecting frame is equal to the relative angle between the rear vehicle and the connecting frame. .
  • the vehicle control module issues an adjustment command to the front vehicle and/or the rear vehicle to change the current working state of the preceding vehicle and/or the rear vehicle.
  • the vehicle control module sends an adjustment command to the rear and front vehicles; the rear vehicle adjusts the speed and/or direction of the left and right tracks of the rear vehicle according to the adjustment command, so that the relative angle between the rear vehicle and the connecting frame is equal to the preceding vehicle and The relative angle of the connecting frame; the front and rear vehicles adjust their respective left and right tracks to travel at the same speed according to the adjustment command.
  • the vehicle control module is connected to the front vehicle control module, the vehicle control module is connected to the vehicle control module; the front vehicle control module is connected to the driving mechanism of the front vehicle; and the rear vehicle control module is connected to the driving mechanism of the rear vehicle;
  • the vehicle control module can control the driving mechanism of the front and rear vehicles, thereby automatically controlling the combined walking of the front and rear vehicles, without the need of special commanders for command, without the need for commanders and operators to cooperate, thereby overcoming the front of the crawler crane.
  • the combined driving of the rear and rear vehicles relies entirely on the skilled cooperation of the commanders and operators, and the safety of the work cannot be guaranteed. At the same time, the work efficiency and transportation speed are improved, the use of personnel is reduced, and the labor cost is reduced.
  • the walking information can be fed back to the vehicle control module, thereby The vehicle control module automatically prepares the walking speed and direction of the front and rear vehicles during walking, so that the vehicle control module automatically adjusts the walking speed and direction of the front and rear vehicles during walking.
  • the transport vehicle with the travel control device of the transport vehicle can control the combined travel and load of the crawler crane in front and rear, and can transport the heavy objects that cannot be carried by the single crawler crane, thus improving the transport weight and transporting large parts or super Large parts.
  • FIG. 1 shows a front view structure of a transport vehicle according to an embodiment of the present invention
  • FIG. 2 shows a top view structure of a travel control device of a transport vehicle according to an embodiment of the present invention
  • the arrow indicates the forward direction of the transport vehicle
  • FIG. 3 shows a connection block diagram of the travel control device of the transport vehicle according to an embodiment of the present invention
  • FIG. 4 shows the travel of a transport vehicle according to an embodiment of the present invention.
  • the front vehicle 1 includes: a front left rail 11 and a front right rail 13 and a front left and a right rear crawler.
  • the front vehicle body 15 includes: a rear left track 21 and a rear right track 23, and a rear body 25 disposed between the rear left track and the rear right track;
  • the connecting frame 3 for carrying The weight 6 is used to connect between the front vehicle 1 and the rear vehicle 2, and the movable connection between the connecting frame 3 and the front vehicle body 15 or the connecting frame and the rear vehicle body 25 is an active connection.
  • the front and rear vehicles also include the components that are required for the drive mechanism, the traveling mechanism, and the like.
  • the travel control device of the transport vehicle includes: a front vehicle control device, which is disposed on the front vehicle body 15, and the front vehicle control device has The front vehicle control module, the front vehicle control module is connected with the driving mechanism of the front vehicle; the rear vehicle control device is disposed on the rear vehicle body 25, the rear vehicle control device has a rear vehicle control module, the rear vehicle control module and the rear vehicle driving mechanism The vehicle control device is disposed on the front vehicle 1 or the rear vehicle 2.
  • the vehicle control device has a vehicle control module, the vehicle control module is connected with the front vehicle control module, and the vehicle control module is connected with the vehicle control module.
  • the vehicle control module can control both the front and the rear; the front vehicle position detector is set on the front vehicle 1, for example, on the track of the preceding vehicle 1 and connected to the vehicle control module; , set on the rear car 2, for example, set on the track of the rear car 2, and with the whole vehicle control
  • the module is connected; the front and rear vehicle relative distance detectors 31 are disposed on the connecting frame 3 and connected to the vehicle control module.
  • Each of the above detectors can employ a variety of suitable sensors.
  • the preceding vehicle control device and the rear vehicle control device of the present invention are both disposed at the top of the front vehicle body 15 and at the top of the rear vehicle body 25, and may be disposed, for example, in the lateral direction of the front vehicle body 15 or
  • the rear side of the rear vehicle body 25 is such that the connecting frame 3 is placed on the top of the front vehicle body 15 and on the top of the rear vehicle body 25 to carry heavy loads.
  • the front vehicle control device can be disposed in the cab 17 of the preceding vehicle
  • the rear vehicle control device can be disposed in the cab 27 of the rear vehicle
  • the vehicle control device can be disposed in the cab 7 of the vehicle. As shown in Fig. 1 and Fig.
  • the operation room of the front vehicle or the operation room 27 of the rear vehicle is disposed in the lateral direction of the front or rear vehicle, and the operation room 7 of the entire vehicle can be disposed in the front vehicle.
  • Each control device may, for example, comprise a control panel, a joystick, a screen, a meter, an input device, such as a keyboard, and the like.
  • the vehicle control module is connected to the front vehicle control module, the vehicle control module is connected to the vehicle control module; the front vehicle control module is connected to the driving mechanism of the front vehicle; and the rear vehicle control module is connected to the driving mechanism of the rear vehicle;
  • the vehicle control module can control the driving mechanism of the front and rear vehicles, thereby automatically controlling the combined walking of the front and rear vehicles, without the need of special commanders for command, without the need for commanders and operators to cooperate, thereby overcoming the front of the crawler crane.
  • the combined driving of the rear and rear vehicles relies entirely on the skilled cooperation of the commanders and operators, and the safety of the work cannot be guaranteed. At the same time, the work efficiency and transportation speed are improved, the use of personnel is reduced, and the labor cost is reduced.
  • the walking information can be fed back to the vehicle control module, thereby The vehicle control module automatically prepares the walking speed and direction of the front and rear vehicles during walking, so that the vehicle control module automatically adjusts the walking speed and direction of the front and rear vehicles during walking. Further, as shown in FIG.
  • the front vehicle position detector includes: a front left left crawler angle displacement detector 111 disposed on the front left rail 11; a front right right crawler angular displacement detector 131 disposed on the front right
  • the track 13 is connected to the front vehicle body 15;
  • the rear vehicle position detector comprises: a rear left track angle displacement detector 211 disposed on the rear left track 21;
  • the rear right track angular displacement detector 231 is disposed on the rear right track 23;
  • the rear and link relative angular displacement detectors 251 are disposed on the rear body 25.
  • the above position detectors can accurately reflect the real-time walking information of the walking parts of the front and rear vehicles, and can accurately feedback the walking information of the front and rear vehicles, and can be used for the preceding vehicle.
  • the walking of each track of the rear vehicle is precisely adjusted, thereby increasing the accuracy of the adjustment.
  • the number of these position detectors may be more than one, may be plural, and distributed in different positions. For example, it is distributed at different locations on each track to get more real-time walking information.
  • the connecting frame 3 and the rear vehicle body 25 are slidably connected to ensure that the rear car 2 and the connecting frame 3 can be separated from the sliding direction, so that the walking is flexible; the front car and the rear car are relatively
  • the macro-discharge detector 31 is disposed on the side of the connecting frame near the rear car 2, so that the displacement between the rear car 2 and the connecting frame 3 can be fed back more quickly and conveniently.
  • the front and rear vehicle relative distance detectors 31 are disposed on the side of the connecting frame near the front car, and may also be connected to the frame.
  • 3 is a sliding connection with the rear vehicle body 25 and a sliding connection between the connecting frame 3 and the front vehicle body 15, and a front vehicle and a rear vehicle relative distance detection are respectively arranged on one side of the front vehicle and the side closer to the rear vehicle.
  • the vehicle control module or/and the front vehicle control module or/and the rear vehicle control module are programmable controllers (PLCs), so that the transportation is accurate, fast, and easy to program under the working conditions of control, transportation, and the like. The cost is lower.
  • PLCs programmable controllers
  • each of the above control modules may also be a CPU.
  • the body 15 of the front vehicle is provided with the upper vehicle 154 of the preceding vehicle
  • the body 25 of the rear vehicle is provided with the upper vehicle 254 of the rear vehicle
  • the connecting frame 3 is connected to the upper vehicle. 154 and the upper vehicle 254 between the rear vehicle
  • the vehicle control device is disposed on the upper vehicle 154 of the preceding vehicle. In this way, the arrangement of the connection frame 3 is facilitated.
  • a slewing platform, a boom 156 and a hoisting mechanism can be provided on each of the upper vehicles for lifting work, so that the front and rear vehicles have a lifting function in addition to the transportation function.
  • the present invention also provides a transport vehicle comprising: a crawler crane front vehicle 1 and a crawler crane rear vehicle 2, the front vehicle 1 comprising: a front left rail 11 and a front right rail 13 and a front set The front body 15 between the left left track and the front right track; the rear car 2 includes: a rear left track 21 and a rear right track 23, and a rear body disposed between the rear left track and the rear right track 25; the connecting frame 3 is connected between the front body 15 and the rear body 25, and the movable connection between the connecting frame 3 and the front body 15 is an active connection between the connecting frame 3 and the rear body 25; Also included: The travel control device of the transport vehicle described above.
  • This kind of transport vehicle makes the operation control of the front and rear vehicles completely intelligent.
  • the operator's operation of the front and rear vehicles is as simple and reliable as the operation of the ordinary crawler crane.
  • the safe use of the equipment is completely guaranteed by the safety device of the equipment itself, which greatly reduces The labor intensity and mental stress of the operators and commanders.
  • the present invention also provides a travel control method for a transport vehicle, and FIG.
  • Step S502 the vehicle control module issues a control command to the front vehicle and the rear vehicle respectively; for example, the operator inputs a control command to the vehicle control module through the keyboard, and the vehicle control module sends the front vehicle control module vehicle and the rear vehicle control module respectively.
  • the control command for example, commands the direction or speed of the preceding vehicle and the rear vehicle; step S504, the front vehicle and the rear vehicle-jointly walk according to the control command; the front and rear vehicles are respectively controlled by the preceding vehicle control module vehicle and the rear vehicle control module
  • the front driving mechanism and the rear driving mechanism are moved to operate the crawler belts of the preceding vehicle and the rear vehicle; the combined walking of the front and the rear vehicles can be realized through steps S502 and S504; step S506, front and rear vehicles, and
  • the front vehicle and the rear vehicle relative distance detector feed back the operation information to the vehicle control module according to the actual working state; the front left left track angle displacement detector, the front vehicle right track angle displacement detector, the front vehicle and the connecting frame relative angular displacement detector , rear left angle angle displacement detector, rear right angle angle displacement detector, rear vehicle and connecting frame relative angular displacement detection And the front vehicle and the rear vehicle relative distance detector feed back the operation information to the vehicle control module; in step S508, the vehicle control module determines whether the actual working state
  • step S510 If the preset condition is met, the process goes to step S510. If the preset condition is not met, the process goes to step S512; in step S510, the vehicle control module issues a maintenance command to the front and the rear vehicle to make the front vehicle and The rear vehicle maintains the current working state; in step S512, the vehicle control module issues an adjustment command to the front vehicle and/or the rear vehicle, and the front vehicle control module vehicle and the rear vehicle control module respectively control the front vehicle driving mechanism and the rear vehicle driving mechanism, respectively. Exercise to change the current working condition of the front and/or the rear.
  • the joint walking of the front and rear vehicles is realized, which ensures the uniformity of walking, and can be automatically adjusted according to the real-time walking condition, thereby ensuring the accuracy of walking.
  • the method further includes: the vehicle control module accepts an initial setting of the operator.
  • the content of the initial setting includes a preset condition and a joint walking mode
  • the walking mode includes a front vehicle, a rear vehicle synchronous straight walking, a curved walking, an in-situ winding, and the like, wherein when the joint walking mode is a synchronous straight walking mode , the preset condition is whether the relative angle between the front car and the connecting frame is equal to the rear car and The relative angle of the connecting frame. In this way, it is possible to realize various complicated walking in the front and rear vehicles so as to walk freely.
  • the vehicle control module issues an adjustment command to the front vehicle and/or the rear vehicle to change the current working state of the preceding vehicle and/or the rear vehicle.
  • the vehicle control module sends an adjustment command to the rear and front vehicles; the rear vehicle adjusts the speed and/or direction of the left and right tracks of the rear vehicle according to the adjustment command, so that the relative angle between the rear vehicle and the connecting frame is equal to the preceding vehicle and The relative angle of the connecting frame; the front and rear vehicles adjust their respective left and right tracks to travel at the same speed according to the adjustment command.
  • the walking speed of the front and rear vehicles is controlled by controlling the speed and direction of each track, and such control is more direct and accurate.
  • the vehicle control module passes the speed reduction ratio, combined with mechanical characteristics, etc.
  • the parameter is converted into the displacement of the left track of the rear car, and it is automatically determined whether the relative angle between the front car and the connecting frame is equal to the relative angle between the rear car and the connecting frame. If the difference between the two angles exceeds the calculation allowable error range, the left and right walking tracks are automatically adjusted first. , the relative angle between the rear car and the connecting frame is approximately equal to the relative angle between the front car and the connecting frame, and then the four crawlers are controlled to walk at the same speed.
  • the front vehicle is stationary, and the rear vehicle is traveling around the front center of the vehicle in the center of the differential arc; the front vehicle is wound around the rear axle at any radius, or the rear vehicle is wound around the front axle at any radius to achieve the original Turn the ground; the front and rear cars walk in a 90-degree "cross" straight line.
  • the invention is controlled by the electro-hydraulic detection and control technology, the control is fast and accurate, and the failure is small, and in the case of equipment failure or accident, the vehicle control module automatically cuts off the dangerous direction action to ensure the safety of walking.
  • each control device such as the vehicle control device, can also be provided with functions such as automatic sound and light prompting, alarming, and the like, and a good human-machine coupling interface can be set.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Description

运输车的 ^"走控制装置和方法及运输车 技术领域 本发明涉及运输机械领域， 更具体地， 涉及一种运输车的行走控制装置和 方法及运输车。 背景技术 现有的履带起重机在进行大型作业时， 如运输大型设备时， 有时会釆用两 个履带起重机联合使用的方式， 即釆用了前车（前面的履带起重机）和后车（后 面的履带起重机） 的组合作业方式， 其前车与后车完全独立， 操作方式完全是 机械式操作， 效率低下， 指挥人员在现场观察前车和后车的实际位置情况， 指 挥前车和后车的操作者向前或向后操作行走， 实现行走和回转功能， 工作过程 中操作者只能执行指挥人员指令， 设备的安全可靠性不能依靠设备本身保障， 完全依赖指挥人员和操作人员的熟练配合， 指挥人员和操作人员承担非常大的 精神压力和责任， 工作的安全性得不到保证。 发明内容 本发明的目的在于提供一种运输车的行走控制装置以及控制方法， 以解决 履带起重机前车后车联合行走完全依赖指挥人员和操作人员的熟练配合， 工作 的安全性得不到保证等问题。 本发明的另一目的在于提供一种运输车， 以解决 履带起重机前车后车不能安全地联合行走、 运输的问题。 根据本发明的一个方面， 提供了一种运输车的行走控制装置， 运输车包括 履带起重机前车、 履带起重机后车； 前车包括： 前车左履带和前车右履带以及 设置在前车左履带和前车右履带之间的前车车身； 后车包括： 后车左履带和后 车右履带以及设置在后车左履带和后车右履带之间的后车车身； 运输车还包括 连接前车和后车的连接架； 行走控制装置包括： 前车控制装置， 设置在前车车身上， 前车控制装置具 有前车控制模块， 前车控制模块与前车的驱动机构连接； 后车控制装置， 设置 在后车车身上， 后车控制装置具有后车控制模块， 后车控制模块与后车的驱动 机构连接； 整车控制装置， 设置在前车或后车上， 整车控制装置具有整车控制 模块，整车控制模块与前车控制模块连接，整车控制模块与后车控制模块连接； 前车位置检测器， 设置在前车上并与整车控制模块连接； 后车位置检测器， 设 置在后车上并与整车控制模块连接； 前车与后车相对距离检测器， 设置在连接 架上并与整车控制模块连接。 进一步地， 前车位置检测器包括： 前车左履带角度位移检测器， 设置在前 车左履带上； 前车右履带角度位移检测器， 设置在前车右履带上； 前车与连接 架相对角度位移检测器， 设置在前车车身上； 后车位置检测器包括： 后车左履 带角度位移检测器， 设置在后车左履带上； 后车右履带角度位移检测器， 设置 在后车右履带上； 后车与连接架相对角度位移检测器， 设置在后车车身上。 进一步地， 连接架与前车车身或 /和后车车身之间为滑动连接； 前车与后车 相对距离检测器，设置在连接架靠近后车的一侧或 /和设置在所述连接架靠近所 述前车的一侧。 进一步地， 整车控制模块或 /和前车控制模块或 /和后车控制模块为可编程 控制器。 进一步地，前车的车身上设有前车的上车；后车的车身上设有后车的上车； 连接架， 连接在前车的上车和后车的上车之间； 整车控制装置设置在前车的上 车上。 进一步地， 前车的上车和 /或后车的上车包括回转平台、 臂架和卷扬机构。 根据本发明的另一个方面， 还提供了一种运输车， 包括： 履带起重机前车 和履带起重机后车， 前车包括： 前车左履带和前车右履带以及设置在前车左履 带和前车右履带之间的前车车身； 后车包括： 后车左履带和后车右履带以及设 置在后车左履带和后车右履带之间的后车车身； 连接架， 连接在前车车身和后 车车身之间， 连接架与前车车身之间为活动连接或连接架与后车车身之间为活 动连接； 运输车还包括： 前面所述的运输车的行走控制装置。 根据本发明的又一个方面， 还提供了一种运输车的行走控制方法， 包括： 整车控制模块向前车和后车分别发出控制指令； 前车和后车根据控制指令联合 行走。 进一步地， 运输车的行走控制方法， 还包括： 前车、 后车以及前车与后车 相对距离检测器根据实际工作状态向整车控制模块反馈运行信息； 整车控制模 块根据反馈的运行信息判断实际工作状态是否满足预设条件； 若满足预设条 件， 则整车控制模块向前车和后车发出维持指令， 以使前车和后车维持当前工 作状态； 若不满足预设条件， 则整车控制模块向前车和 /或后车发出调节指令， 以使前车和 /或后车改变当前工作 ^1大态。 进一步地，在整车控制模块向前车和后车分别发出控制指令之前，还包括： 整车控制模块接受操作者的初始化设置。 进一步地， 初始化设置的内容包括预设条件和联合行走模式， 其中， 在联 合行走模式为同步直线行走的模式时， 预设条件为前车与连接架相对角度是否 等于后车与连接架相对角度。 进一步地， 在联合行走模式为同步直线行走时， 若不满足预设条件， 则整 车控制模块向前车和 /或后车发出调节指令， 以使前车和 /或后车改变当前工作 状态包括： 整车控制模块向后车和前车发出调节指令； 后车根据调节指令调整后车的 左履带和右履带的速度和 /或方向，使得后车与连接架的相对角度等于前车与连 接架的相对角度； 前车和后车根据调节指令调整各自的左履带和右履带同速行 走。 由于整车控制模块与前车控制模块连接， 整车控制模块与后车控制模块连 接； 前车控制模块与前车的驱动机构连接； 后车控制模块与后车的驱动机构连 接； 所以， 通过整车控制模块可以控制前车和后车的驱动机构， 从而自动控制 前车和后车的联合行走， 无需专门的指挥人员进行指挥， 无需指挥人员和操作 人员进行配合， 进而克服了履带起重机前车后车联合行走完全依赖指挥人员和 操作人员的熟练配合， 工作的安全性得不到保证等问题， 同时， 提高了工作效 率、 运输速度， 减少了人员的使用， 降低了劳动力成本。 此外， 由于设置了前车位置检测器、 后车位置检测器以及前车与后车相对 距离检测器， 并且这些检测器与整车控制模块连接， 从而能向整车控制模块反 馈行走信息， 从而为整车控制模块在行走中自动调节前车、 后车的行走速度和 方向做好了准备工作， 以便整车控制模块在行走中自动调节前车、 后车的行走 速度和方向。 同理， 具有运输车的行走控制装置的运输车能够控制履带起重机前车后车 联合行走和载重， 能够运输单个履带起重机所不能承载的重物， 因而提升了运 输重量， 能够运输大型部件或超大型部件。 附图说明 构成本申请的一部分的附图用来提供对本发明的进一步理解， 本发明的示 意性实施例及其说明用于解释本发明， 并不构成对本发明的不当限定。 在附图 中： 图 1示出了根据本发明实施例的一种运输车的主视结构； 图 2示出了根据本发明实施例的一种运输车的行走控制装置的俯视结构； 图中箭头表示运输车前进方向； 图 3示出了根据本发明实施例的一种运输车的行走控制装置的连接框图； 以及 图 4示出了才艮据本发明实施例的一种运输车的行走控制方法。 具体实施方式 需要说明的是， 在不冲突的情况下， 本申请中的实施例及实施例中的特征 可以相互组合。 下面将参考附图并结合实施例来详细说明本发明。 图 1和图 2示出了根据本发明的运输车的行走控制装置， 其中， 前车 1包 括： 前车左履带 11和前车右履带 13以及设置在前车左履带和前车右履带之间 的前车车身 15; 后车 2包括： 后车左履带 21和后车右履带 23以及设置在后车 左履带和后车右履带之间的后车车身 25; 连接架 3 , 用来承载重物 6 , 并用来 连接在前车 1和后车 2之间， 连接架 3与前车车身 15之间为活动连接或连接 架与后车车身 25 之间为活动连接。 当然， 前车和后车还包括驱动机构、 行走 机构等应有的部件。 图 3示出了运输车的行走控制装置各部件的线路连接关系， 如图 3所示， 运输车的行走控制装置包括： 前车控制装置， 设置在前车车身 15 上， 前车控 制装置具有前车控制模块， 前车控制模块与前车的驱动机构连接； 后车控制装 置， 设置在后车车身 25 上， 后车控制装置具有后车控制模块， 后车控制模块 与后车的驱动机构连接； 整车控制装置， 设置在前车 1或后车 2上， 整车控制 装置具有整车控制模块， 整车控制模块与前车控制模块连接， 整车控制模块与 后车控制模块连接，整车控制模块可以对前车和后车都控制； 前车位置检测器， 设置在前车 1上， 例如， 设置在前车 1的履带上， 并与整车控制模块连接； 后 车位置检测器， 设置在后车 2上， 例如， 设置在后车 2的履带上， 并与整车控 制模块连接； 前车与后车相对距离检测器 31 , 设置在连接架 3上并与整车控制 模块连接。 上述各检测器可以釆用各种合适的传感器。 另外， 如图 1所示， 本 发明的前车控制装置、 后车控制装置均避开前车车身 15顶部和在后车车身 25 顶部设置， 例如， 可以设置在前车车身 15的侧向或后车车身 25的侧向， 以使 在前车车身 15顶部和在后车车身 25顶部设置连接架 3以 担重物。 前车控制装置可以设置在前车的操纵室 17 中， 后车控制装置可以设置在 后车的操纵室 27 中， 整车控制装置可以设置在整车的操纵室 7 中。 结合图 1 和图 2所示， 前车的操 ¾^人室 17或后车的操 ¾^人室 27设置在前车或后车的侧向， 整车的操纵室 7可以设置在前车的上车 154的侧面或前车的其他位置， 以便前 车的上车 154进行起重或前车进行承重。 各控制装置例如可以包括控制面板， 控制杆、 屏幕， 仪表， 输入装置， 例如键盘等部件。 由于整车控制模块与前车控制模块连接， 整车控制模块与后车控制模块连 接； 前车控制模块与前车的驱动机构连接； 后车控制模块与后车的驱动机构连 接； 所以， 通过整车控制模块可以控制前车和后车的驱动机构， 从而自动控制 前车和后车的联合行走， 无需专门的指挥人员进行指挥， 无需指挥人员和操作 人员进行配合， 进而克服了履带起重机前车后车联合行走完全依赖指挥人员和 操作人员的熟练配合， 工作的安全性得不到保证等问题， 同时， 提高了工作效 率、 运输速度， 减少了人员的使用， 降低了劳动力成本。 此外， 由于设置了前车位置检测器、 后车位置检测器以及前车与后车相对 距离检测器， 并且这些检测器与整车控制模块连接， 从而能向整车控制模块反 馈行走信息， 从而为整车控制模块在行走中自动调节前车、 后车的行走速度和 方向做好了准备工作， 以便整车控制模块在行走中自动调节前车、 后车的行走 速度和方向。 进一步地， 如图 2所示， 前车位置检测器包括： 前车左履带角度位移检测 器 111 , 设置在前车左履带 11上； 前车右履带角度位移检测器 131 , 设置在前 车右履带 13上； 前车与连接架相对角度位移检测器 151 , 设置在前车车身 15 上； 后车位置检测器包括： 后车左履带角度位移检测器 211 , 设置在后车左履 带 21上； 后车右履带角度位移检测器 231 , 设置在后车右履带 23上； 后车与 连接架相对角度位移检测器 251 , 设置在后车车身 25上。 设置上述这些位置检测器可以精确的反映前车、 后车各行走部件的实时行 走信息， 能够做到对前车、后车的各个履带行走信息的精确反馈， 能够对前车、 后车的各个履带的行走进行精确调整， 从而增加了调整的精确性。 上述这些位 置检测器的数目可以不止为一个， 可以为多个， 并分布在不同的位置。 例如， 分布在每条履带的不同位置， 以得到更多的实时行走信息。 进一步地， 如图 2所示， 连接架 3与后车车身 25之间为滑动连接， 以保 证后车 2与连接架 3可以从向滑动一定 巨离， 使行走灵活； 前车与后车相对 巨 离检测器 31设置在连接架靠近后车 2的一侧， 这样可以更快、 更方便地反馈 后车 2与连接架 3之间的位移。 同理， 也可在连接架 3与前车车身 15之间为 滑动连接时， 前车与后车相对距离检测器 31 设置在所述连接架靠近所述前车 的一侧， 还可以连接架 3与后车车身 25之间为滑动连接并且连接架 3与前车 车身 15之间为滑动连接， 在前车的一侧和靠近后车的一侧分别设置一个前车 与后车相对距离检测器 31 , 这样， 反馈效果更好， 计算更精确， 控制更精确。 进一步地， 整车控制模块或 /和前车控制模块或 /和后车控制模块为可编程 控制器（PLC ), 这样， 在满足控制、 运输等工作条件下， 运送准确， 快速， 便 于编程， 成本较低。 当然， 上述各控制模块也可以为 CPU。 进一步地， 如图 1所示， 前车的车身 15上设有前车的上车 154; 后车的车 身 25上设有后车的上车 254; 连接架 3 , 连接在前车的上车 154和后车的上车 254之间； 整车控制装置设置在前车的上车 154上。 这样， 便于连接架 3的设 置。 各上车上可以设置回转平台、 臂架 156和卷扬机构， 以进行起重工作， 这 样， 前车和后车除了具有运输功能外， 还具有起重的功能。 如图 2所示， 本发明还提供了一种运输车， 包括： 履带起重机前车 1和履 带起重机后车 2 , 前车 1包括： 前车左履带 11和前车右履带 13以及设置在前 车左履带和前车右履带之间的前车车身 15; 后车 2包括： 后车左履带 21和后 车右履带 23 以及设置在后车左履带和后车右履带之间的后车车身 25; 连接架 3 , 连接在前车车身 15和后车车身 25之间， 连接架 3与前车车身 15之间为活 动连接或连接架 3与后车车身 25之间为活动连接； 运输车还包括： 前面所述 的运输车的行走控制装置。 这种运输车使前车、 后车的操作控制完全智能化， 操作者操作前车、 后车 就像操作普通履带起重机一样简单可靠， 设备的安全使用完全由设备自身的安 全装置保证， 大大降低了操作人员和指挥人员的劳动强度和精神压力。 本发明还提供了一种运输车的行走控制方法， 图 4为根据本发明实施例的 运输车的行走控制方法的流程图， 包括以下步骤： 步骤 S502, 整车控制模块向前车和后车分别发出控制指令； 例如， 操作者 通过键盘向整车控制模块输入控制指令， 整车控制模块向前车控制模块车和后 车控制模块分别发出控制指令， 例如， 指令前车、 后车行走的方向或速度； 步骤 S504 , 前车和后车 -据控制指令联合行走； 前车和后车通过前车控制 模块车和后车控制模块分别控制前车驱动机构、 后车驱动机构运动， 从而使前 车的履带和后车的履带动作； 通过步骤 S502和步骤 S504可以实现前车和后车 的联合行走； 步骤 S506 , 前车、 后车以及前车与后车相对距离检测器根据实际工作状态 向整车控制模块反馈运行信息； 前车左履带角度位移检测器、 前车右履带角度 位移检测器、前车与连接架相对角度位移检测器、后车左履带角度位移检测器、 后车右履带角度位移检测器、 后车与连接架相对角度位移检测器以及前车与后 车相对距离检测器向整车控制模块反馈运行信息； 步骤 S508,整车控制模块根据反馈的运行信息判断实际工作状态是否满足 预设条件， 预设条件随行走模式的不同而不同； 若满足预设条件， 则转入步骤 S510 , 若不满足预设条件， 则转入步骤 S512; 步骤 S510 , 整车控制模块向前车和后车发出维持指令， 以使前车和后车维 持当前工作状态； 步骤 S512 , 整车控制模块向前车和 /或后车发出调节指令， 前车控制模块 车和后车控制模块分别控制前车驱动机构、 后车驱动机构故相应的运动， 以使 前车和 /或后车改变当前工作状态。 通过上述步骤实现了前车和后车的联合行走， 保证了行走的协调一致， 而 且可以根据实时行走状况可以自动调节， 保证了行走的准确性。 进一步地，在整车控制模块向前车和后车分别发出控制指令之前，还包括： 整车控制模块接受操作者的初始化设置。 这样， 可以使操作者灵活控制前车和 后车的行走。 进一步地， 初始化设置的内容包括预设条件和联合行走模式， 行走模式包 括前车、 后车同步直线行走、 曲线行走、 原地绕圏等， 其中， 在联合行走模式 为同步直线行走的模式时， 预设条件为前车与连接架相对角度是否等于后车与 连接架相对角度。 这样， 可以使前车、 后车实现各种复杂的行走， 以使行走自 如。 进一步地， 在联合行走模式为同步直线行走时， 若不满足预设条件， 则整 车控制模块向前车和 /或后车发出调节指令， 以使前车和 /或后车改变当前工作 状态包括： 整车控制模块向后车和前车发出调节指令； 后车根据调节指令调整 后车的左履带和右履带的速度和 /或方向，使得后车与连接架的相对角度等于前 车与连接架的相对角度； 前车和后车根据调节指令调整各自的左履带和右履带 同速行走。 这样， 通过控制各履带的速度、 方向来控制前车、 后车的行走， 而 且， 这样的控制更为直接和准确。 具体来说， 在联合行走模式为同步直线行走时， 操作者通过操纵机构发出 控制信息， 然后整车控制模块发出任意角度行走控制指令后， 整车控制模块通 过减速机速比， 结合机械特性等参数换算成后车左履带的移动位移， 自动判断 前车与连接架相对角度是否等于后车与连接架相对角度， 如果两者角度差超出 计算允许误差范围， 则首先自动调节后车左右行走履带， 使后车与连接架相对 角度近似等于前车与连接架相对角度， 然后控制四条履带同速行走， 在行走过 程中根据各履带的实际位移、 前车与后车的实际距离自动计算四条履带的行走 速度， 并自动调节输出控制行走速度的信号。 此外， 还可以实现前车静止、 后车绕前车中心回转中心线差速弧线行走； 前车绕后车任意半径圓圏行走， 或后车绕前车任意半径圓圏行走， 以实现原地 转圏； 前车与后车成 90度"十字"直线行走。 在实现上述控制时， 本发明通过电液检测控制技术进行控制， 控制快速而 精确， 故障少， 而且， 在设备出现故障或意外情况时， 整车控制模块会自动切 断危险方向动作， 保证行走安全。 另外， 各控制装置， 例如整车控制装置还可 以设置自动声光提示、 报警等功能， 并可以设置良好的人机耦合界面。 从以上的描述中， 可以看出， 本发明上述的实施例实现了如下技术效果： 实现了运输重型部件的前车后车联合行走的控制， 简化了操作， 提高了安 全可靠性； 设备的安全使用完全由设备自身的安全装置保证， 大大降低了操作 人员和指挥人员的劳动强度和精神压力。 以上所述仅为本发明的优选实施例而已， 并不用于限制本发明， 对于本领 域的技术人员来说， 本发明可以有各种更改和变化。 凡在本发明的 ^"神和原则 之内， 所作的任何修改、 等同替换、 改进等， 均应包含在本发明的保护范围之 内。

Claims

权 利 要 求 书
1. 一种运输车的行走控制装置， 所述运输车包括履带起重机前车、 履带起 重机后车； 所述前车包括： 前车左履带和前车右履带以及设置在前车左 履带和前车右履带之间的前车车身； 所述后车包括： 后车左履带和后车 右履带以及设置在后车左履带和后车右履带之间的后车车身； 其特征在 于，
所述运输车还包括连接所述前车和后车的连接架；
所述行走控制装置包括：
前车控制装置， 设置在所述前车车身上， 所述前车控制装置具有前 车控制模块， 所述前车控制模块与所述前车的驱动机构连接；
后车控制装置， 设置在所述后车车身上， 所述后车控制装置具有后 车控制模块， 所述后车控制模块与所述后车的驱动机构连接；
整车控制装置， 设置在所述前车或所述后车上， 所述整车控制装置 具有整车控制模块， 所述整车控制模块与所述前车控制模块连接， 所述 整车控制模块与所述后车控制模块连接；
前车位置检测器， 设置在所述前车上并与所述整车控制模块连接； 后车位置检测器， 设置在所述后车上并与所述整车控制模块连接； 前车与后车相对距离检测器， 设置在所述连接架上并与所述整车控 制模块连接。
2. 根据权利要求 1所述的运输车的行走控制装置， 其特征在于，
所述前车位置检测器包括： 前车左履带角度位移检测器， 设置在所述前车左履带上； 前车右履带角度位移检测器， 设置在所述前车右履带上； 前车与连接架相对角度位移检测器， 设置在所述前车车身上； 所述后车位置检测器包括：
后车左履带角度位移检测器， 设置在所述后车左履带上； 后车右履带角度位移检测器， 设置在所述后车右履带上； 后车与连接架相对角度位移检测器， 设置在所述后车车身上。 根据权利要求 2所述的运输车的行走控制装置， 其特征在于，
所述连接架与所述前车车身或 /和所述后车车身之间为滑动连接； 所述前车与后车相对距离检测器， 设置在所述连接架靠近所述后车 的一侧或 /和设置在所述连接架靠近所述前车的一侧。 根据权利要求 3所述的运输车的行走控制装置， 其特征在于， 所述整车 控制模块或 /和所述前车控制模块或 /和所述后车控制模块为可编程控制 器。 根据权利要求 2所述的运输车的行走控制装置， 其特征在于，
所述前车的车身上设有前车的上车； 所述后车的车身上设有后车的上车；
所述连接架， 连接在所述前车的上车和所述后车的上车之间； 所述整车控制装置设置在所述前车的上车上。 根据权利要求 5所述的运输车的行走控制装置， 其特征在于， 所述前车 的上车和 /或所述后车的上车包括回转平台、 臂架和卷扬机构。 一种运输车， 其特征在于， 包括： 履带起重机前车和履带起重机后车， 所述前车包括： 前车左履带和前车右履带以及设置在前车左履带和 前车右履带之间的前车车身；
所述后车包括： 后车左履带和后车右履带以及设置在后车左履带和 后车右履带之间的后车车身；
连接架， 连接在所述前车车身和所述后车车身之间， 所述连接架与 所述前车车身之间为活动连接或所述连接架与所述后车车身之间为活动 连接；
所述运输车还包括： 根据权利要求 1至 6中任一项所述的运输车的 行走控制装置。
一种运输车的行走控制方法， 其特征在于， 包括：
整车控制模块向前车和后车分别发出控制指令； 所述前车和所述后车 f艮据所述控制指令联合行走。
9. 根据权利要求 8所述的运输车的行走控制方法， 其特征在于， 还包括： 所述前车、 所述后车以及前车与后车相对 巨离检测器才艮据实际工作 状态向所述整车控制模块反馈运行信息；
所述整车控制模块根据所述反馈的运行信息判断所述实际工作状态 是否满足预设条件；
若满足所述预设条件， 则所述整车控制模块向所述前车和所述后车 发出维持指令， 以使所述前车和所述后车维持当前工作状态；
若不满足所述预设条件， 则所述整车控制模块向所述前车和 /或所述 后车发出调节指令， 以使所述前车和 /或后车改变当前工作状态。
10. 根据权利要求 8所述的运输车的行走控制方法， 其特征在于， 在整车控 制模块向前车和后车分别发出控制指令之前， 还包括： 所述整车控制模 块接受操作者的初始化设置。
11. 根据权利要求 10所述的运输车的行走控制方法， 其特征在于， 所述初始 化设置的内容包括所述预设条件和联合行走模式， 其中，
在所述联合行走模式为同步直线行走的模式时， 所述预设条件为所 述前车与连接架相对角度是否等于所述后车与连接架相对角度。
12. 居权利要求 11所述的运输车的行走控制方法， 其特征在于， 在所述联 合行走模式为同步直线行走时， 若不满足所述预设条件， 则所述整车控 制模块向所述前车和 /或所述后车发出调节指令，以使所述前车和 /或后车 改变当前工作状态包括：
所述整车控制模块向所述后车和所述前车发出所述调节指令； 所述后车根据所述调节指令调整所述后车的左履带和右履带的速度 和 /或方向， 使得所述后车与连接架的相对角度等于前车与连接架的相对 角度；
所述前车和所述后车根据所述调节指令调整各自的左履带和右履带 同速行走。
PCT/CN2011/072726 2010-04-13 2011-04-13 运输车的行走控制装置和方法及运输车 Ceased WO2011127818A1 (zh)

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