Pipe lifting machine and balance control method thereof

Abstract

The invention relates to the field of engineering vehicles, and discloses a pipe lifting machine. The pipe lifting machine is additionally provided with two weight bearing assemblies capable of being supported on the ground, each weight bearing assembly is provided with a force measuring sensor, the force measuring sensors are used for obtaining the acting forces between the weight bearing assemblies and the ground in the preset direction, and then whether the pipe lifting machine is balanced or not is determined according to the acting forces. The invention further provides a balance control method of the pipe lifting machine. When the pipe lifting machine in a non-driving state receives a lifting instruction, the two weight bearing assemblies are controlled to be switched to a supporting state; and the acting force between each weight bearing assembly and the ground in the preset direction is calculated, and when the moments of the acting forces between the two weight bearing assemblies and the ground in the preset direction relative to the vertical axis where the gravity center of a chassis structure is located are unequal, a driving unit is controlled to drive a balance weight to act so as to adjust the pipe lifting machine to be in a balanced state. The problem that the tilting moment is difficult to accurately measure in the prior art is effectively solved, the balance weight can be adjusted in time according to the actual use environment, and unbalance loading and rollover of the pipe lifting machine are prevented.

Description

technical field [0001] The invention relates to the field of engineering vehicles, in particular to a pipelayer and a balance control method thereof. Background technique [0002] The pipelayer is an important equipment in the construction of oil and natural gas pipelines. It is mainly used for the laying of pipelines. Usually, the chassis structure of the bulldozer is used to install counterweights on one side of the chassis structure, and to install lifting pipelines or weights on the other side. The boom of the object. [0003] The current pipelayers have a relatively high proportion of accidents such as rollovers during pipeline construction, which directly affects the safety of pipeline construction. The specific problems are as follows: [0004] 1. The counterweight of the pipelayer is often an irregular structure, and its center of gravity moment is difficult to calculate accurately, and the angle of the boom and the mass of heavy objects such as pipelines cannot be ...

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Problems solved by technology

[0004] 1. The counterweight of the pipelayer is often an irregular structure, and its center of gravity moment is difficult to calculate accurately, and the angle of the boom and the mass of heavy objects such as pipelines cannot be accurately calculated and measured. In addition, the adjustment of the counterweight is mostly performed by the operator with experience Operation, the position of the counterweight is often unreasonable during lifting, which will cause many problems, such as unstable operation, excessive force on one side of the crawler structure, resulting in damage to the crawler chassis structure, affecting the service life of the crawler chassis structure, and even causing lifting Severe situations such as slippage or rollover of the pipe machine

[0005] 2. Even if the position of the counterweight is adjusted manually many times so that the lifting process satisfies the torque balance on the left and right sides of the pipelayer, when the load of the pipelayer advances, due to the side wind, the lateral slope of the ground or the entry of the crawler chassis on one side In special construction environments that are prone to subsidence, such as water nests and wetlands, there will still be unbalanced problems during driving, and there will also be problems similar to unbalanced lifting.

[0007] All of the above solutions have improved effects to a certain extent, but at the same time there are application defects. For example, the counterweight cannot be adjusted in time and accurately according to the influence of factors such as external wind force in the actual use environment, and there is still the possibility of unilateral eccentric load or rollover.

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