Pipe hoist load control device and control method

Abstract

The invention discloses a load control device and a load control method for a pipe lifting machine, and belongs to the technical field of engineering machinery. The control device comprises a sensor assembly used for detecting the acceleration of the inclination angle of an upper vehicle platform, the angle of an arm support and the hoisting weight of the pipe hoisting machine; the control unit is used for receiving the detection data of the sensor assembly, comparing the detection data with a set value, judging whether load throwing operation is carried out or not according to a comparison result, and outputting an operation signal; and the executing mechanism is used for starting or ending the load throwing action according to the operation signal of the control system. The construction state of the pipe hoisting machine is judged by collecting the data of the state information of the whole machine, the control unit is used for contrastive analysis and controlling the load throwing mechanism, and the anti-overturning load throwing action is completed; the pipe lifting machine can carry out load throwing operation through a reasonable control strategy in the state that the vehicle body begins to tip over due to overload of the load, and the accident that the vehicle turns over is prevented; and the adaptive capacity of the pipe lifting machine to terrains is stronger and safer.

Description

Technical Field

[0001] The present invention belongs to the technical field of engineering machinery, and more specifically, relates to a pipelayer load control device and a control method. Background Art

[0002] The pipelayer is a special equipment used in the construction of oil and gas pipelines. It is mainly used for the laying, docking and trenching of large-diameter pipes. It has the characteristics of large lifting capacity and running on flat land. With the continuous expansion of the scale of pipeline construction, the construction scene has become more complicated, especially in mountainous construction with large slopes and loose soil. The pipelayer needs to carry the pipe for large-load rotation, walking and pipe laying operations, which may cause the vehicle to tilt and overturn.

[0003] Most of the existing pipelayers are limited to a smaller rotation area when working on flat ground. When working on slopes with a slope gradient of more than 10 degrees, ordinary pipelayers can only lift pipes vertically and cannot rotate them. They must cooperate with pipe transporters. Most of the existing pipelayers do not have the function of widening the tracks, and there is a problem that the rated load does not change with the rotation angle. When the pipelayer performs pipe lifting and rotating operations on flat ground, there is a possibility of overloading when rotating to a specific position, causing the vehicle to tip over. Conventional excavators are not professional lifting construction equipment and can only perform fixed-angle lifting operations when the vehicle body is relatively horizontal. When performing pipe lifting and rotating operations in mountainous or slope conditions, the vehicle may tip over due to unbalanced loading of heavy objects and soft soil in the working area. Summary of the invention

[0004] The purpose of the present invention is to address the above shortcomings and provide a pipelayer load control device and control method, so that the pipelayer can perform load throwing operations through a reasonable control strategy when the load is overloaded and the vehicle body begins to tip over, thereby preventing the vehicle from tipping over.

[0005] To achieve the above object, the present invention is implemented by the following technical solutions:

[0006] In a first aspect, the present invention provides a pipelayer load control device, comprising:

[0007] A sensor assembly for detecting the inclination angle acceleration, boom angle and lifting weight of the pipelayer's upper platform;

[0008] A control unit, used for receiving detection data of the sensor assembly, comparing the detection data with a set value, determining whether to perform a load dump operation according to the comparison result, and outputting an operation signal;

[0009] The actuator starts or ends the load dumping action according to the operation signal of the control unit.

[0010] Furthermore, the sensor assembly comprises:

[0011] The platform inclination sensor is installed on the vehicle platform and is used to detect the inclination angle acceleration of the vehicle platform;

[0012] The arm inclination sensor is installed on the arm to detect the arm angle;

[0013] Pin sensor, installed on the top of the boom, is used to detect the lifting weight.

[0014] Furthermore, the control unit includes a torque limiter host and a vehicle controller.

[0015] The torque limiter host is used to receive detection data of the sensor assembly, compare the detection data with the set value, determine whether to perform a load dumping operation according to the comparison result, and output an operation instruction;

[0016] The vehicle controller is used to receive a load dumping operation instruction and output a control signal to an actuator.

[0017] Further, the control unit also includes a torque limiter display screen and control buttons;

[0018] The torque limiter display screen is used to receive the signal sent by the torque limiter host and issue an alarm prompt;

[0019] The control button is used for the staff to manually operate the control actuator. After receiving the alarm prompt, the staff can perform manual detection. If an abnormality is detected, the button can be pressed to control the actuator to end the load dumping operation.

[0020] Further, the actuator includes a reversing valve and a winch motor clutch;

[0021] The reversing valve receives an operating signal from a control system to disengage the clutch of the hoisting motor to achieve load dumping.

[0022] Furthermore, the reversing valve is an electromagnetic reversing valve or a hydraulically controlled reversing valve, which is controlled by an electrical signal or a pilot oil circuit.

[0023] In a second aspect, the present invention provides a control method for the pipelayer load control device according to the first aspect, comprising:

[0024] Get the pipelayer boom angle and lifting weight;

[0025] Calculate the current load based on the acquired pipelayer boom angle and lifting weight;

[0026] If the current load is greater than the rated load, the inclination angle acceleration of the upper platform of the pipelayer is detected;

[0027] If the acceleration of the inclination angle of the upper platform is greater than the set value, the load dumping pre-operation is entered and the actuator is controlled to perform the load dumping operation.

[0028] Furthermore, the control method further includes:

[0029] After the load dumping operation is performed, the boom angle and lifting weight are detected in real time, and the current load is calculated;

[0030] If the current load continues to be greater than the rated load within the preset time period, the load dumping operation continues;

[0031] If the current load is continuously less than the rated load within a preset time period, the inclination angle acceleration of the upper platform of the pipelayer is detected;

[0032] If the acceleration of the inclination angle of the loading platform continues to be greater than the set value within the preset time period, the load dumping operation will continue;

[0033] If the acceleration of the inclination angle of the vehicle platform continues to be less than the set value within the preset time period, the load dumping action is terminated.

[0034] Furthermore, the control method further includes:

[0035] After entering the load dump pre-operation, an alarm will be issued;

[0036] After receiving the alarm, the staff will conduct manual inspection. If any abnormality is detected, the actuator will be manually controlled to end the load shedding.

[0037] Furthermore, the control actuator performs a load dumping operation, including:

[0038] The vehicle controller outputs a control signal to the reversing valve;

[0039] The reversing valve drives the hoisting motor clutch to engage and disengage, executing the load dumping action.

[0040] The present invention collects data on the acceleration of the vehicle platform's inclination angle, the boom angle and the lifting weight, and sends the data to a control unit, which analyzes and determines the working status of the entire machine. When the vehicle is tilted, it makes a load dumping judgment and outputs a control signal to the actuator, thereby achieving a rapid drop of the winch to eliminate the state in which the vehicle is about to overturn.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] The present invention determines the construction status of the pipelayer by collecting data of the whole machine status information, and uses the control unit to compare and analyze and control the load-throwing mechanism to complete the anti-overturning load-throwing action; the pipelayer can effectively reduce the possibility of overturning during pipe-laying construction on a large slope or mountainous working condition, making the pipelayer more adaptable to the terrain and safer, and can also be used for construction operation models that require lifting and rotating on flat ground or slopes;

[0043] The present invention utilizes a torque limiter host and a vehicle controller for control, and the control principle is simple and reliable. It not only meets all the functions in pipe-laying construction, but also makes it safer than existing pipe-laying machines on the market; and it is suitable for industrial promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic structural diagram of a pipelayer load control device provided in Example 1 of the present invention;

[0045] Figure 2 A schematic flow chart of a pipelayer load control method provided in Example 3 of the present invention.

[0046] In the figure: 1. Platform inclination sensor; 2. Boom inclination sensor; 3. Pin sensor; 4. Torque limiter host; 5. Torque limiter display screen; 6. Vehicle controller; 7. Solenoid reversing valve; 8. Winch motor clutch; 9. Control button. DETAILED DESCRIPTION

[0047] The preferred embodiments of the present invention will be described in more detail below in conjunction with the accompanying drawings and specific examples.

[0048] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0049] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0050] Example 1

[0051] This embodiment provides a pipelayer load control device, such as Figure 1 As shown, it includes a platform inclination sensor 1, a boom inclination sensor 2, a pin sensor 3, a torque limiter host 4, a torque limiter display screen 5, a vehicle controller 6, an electromagnetic reversing valve 7, a winch motor clutch 8, and a control button 9.

[0052] The platform inclination sensor 1 described in this embodiment is installed on the vehicle platform, and is used to detect the angle and angular acceleration between the vehicle platform and the horizontal ground, that is, the inclination angle acceleration of the vehicle platform; the arm inclination sensor 2 is installed on the arm, and detects the angle between the arm and the horizontal plane, that is, the arm angle; the pin sensor 3 is installed on the top of the arm in a hinged form, and is used to measure the weight of the lifted object, that is, the lifting weight.

[0053] The platform inclination sensor 1, the arm inclination sensor 2, the pin sensor 3, the torque limiter host 4, the torque limiter display screen 5 and the vehicle controller 6 described in this embodiment are interconnected via a CAN bus. The torque limiter host 4 collects data from the above sensors, compares it with the set value, determines whether to perform a load dumping operation based on the comparison result, outputs an operation instruction to the vehicle controller 6, and the vehicle controller 6 outputs a control electrical signal to the electromagnetic reversing valve; at the same time, the torque limiter host 4 sends a signal to the torque limiter display screen 5, and the torque limiter display screen 5 receives the signal and issues an alarm prompt.

[0054] The electromagnetic reversing valve 7 described in this embodiment controls the hoisting motor clutch 8 to open and close under the control of the vehicle controller 6 to perform load shedding or end load shedding.

[0055] The control button 9 described in this embodiment is used for the staff to manually operate the control actuator. After receiving the alarm prompt, the staff can perform manual detection. If an abnormality is detected, the button can be pressed to control the actuator to end the load dumping operation.

[0056] Example 2

[0057] This embodiment provides a pipelayer load control device, which uses a hydraulically controlled reversing valve instead of the electromagnetic reversing valve 7 in embodiment 1 as an actuator, and the vehicle controller 6 controls the reversing of the hydraulically controlled reversing valve through a hydraulic pilot line to control the opening and closing of the winch motor clutch 8; other parts are the same as those in embodiment 1.

[0058] Example 3

[0059] This embodiment provides a pipelayer load control method, including:

[0060] Get the pipelayer boom angle and lifting weight;

[0061] If the lifting weight is greater than the rated load corresponding to the current boom angle, the inclination angle acceleration of the upper platform of the pipelayer is detected;

[0062] If the acceleration of the inclination angle of the upper platform is greater than the set value, the load dumping pre-operation is entered and the actuator is controlled to perform the load dumping operation.

[0063] The pipelayer load control method of this embodiment is implemented by the pipelayer load control device of embodiment 1. In combination with embodiment 1, the control method of this embodiment is as follows: Figure 2 As shown, the specific steps include:

[0064] S1, the torque limiter host 4 collects the boom angle through the boom inclination sensor 2;

[0065] S2, the torque limiter host 4 collects the lifting weight through the pin sensor 3;

[0066] S3, the torque limiter host 4 calculates the current load β according to the collected boom angle and lifting weight, and compares it with the stored rated load table; if the current load β is less than the rated load, the operation ends;

[0067] S4. If the current load β is greater than the rated load, the platform inclination angle acceleration α is collected through the platform inclination sensor 1; if the collected platform inclination angle acceleration α is less than the set value, the operation is terminated;

[0068] S5. If the collected acceleration α of the vehicle platform inclination angle is greater than the set value, the torque limiter host 4 enters the load dumping pre-operation and sends a signal to the vehicle controller 6. The vehicle controller 6 outputs a control signal to the electromagnetic reversing valve 7. The electromagnetic reversing valve 7 is energized for a duration of c seconds, so that the winch motor clutch 8 is engaged and disengaged;

[0069] S6, the torque limiter host 4 continuously detects the arm angle and the lifting weight in real time, and calculates the current load β. If the current load β is greater than the rated load for c1 seconds, the electromagnetic reversing valve 7 is energized for c seconds; if the current load β is less than the rated load for c1 seconds, the platform inclination sensor 1 collects the acceleration α of the vehicle platform inclination angle;

[0070] S7. If the inclination angle acceleration α of the boarding platform is greater than the set value for c2 seconds, the electromagnetic reversing valve 7 is energized for c seconds; if the inclination angle acceleration α of the boarding platform is less than the set value for c2 seconds, the electromagnetic reversing valve 7 is de-energized and the load dumping action ends.

[0071] In the above step S5, the torque limiter host 4 enters the load dumping pre-operation and sends a signal to the torque limiter display screen 5. The torque limiter display screen 5 receives the signal and sends an alarm prompt. After receiving the alarm prompt, the staff conducts manual inspection. If an abnormality is detected, the electromagnetic reversing valve 7 is powered off by manually pressing the control button 9, and the load dumping action ends; if no operation is performed, the electromagnetic reversing valve 7 continues to be powered for c seconds.

[0072] The specific values ​​of c seconds, c1 seconds and c2 seconds described in this embodiment can be set and adjusted according to actual usage.

[0073] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Without departing from the scope and technical principles of the described embodiments, many modifications and changes are obvious to those of ordinary skill in the art, and these modifications and changes should also be regarded as the scope of protection of the present invention.

Claims

1. A pipelayer load control device, characterized in that: include: A sensor assembly for detecting the inclination angle acceleration, boom angle and lifting weight of the pipelayer's upper platform; A control unit, used for receiving detection data of the sensor assembly, comparing the detection data with a set value, determining whether to perform a load dump operation according to the comparison result, and outputting an operation signal; The actuator is used to start or end the load dumping action according to the operation signal of the control unit.

2. The pipelayer load control device according to claim 1, characterized in that: The sensor assembly comprises: The platform inclination sensor is installed on the vehicle platform and is used to detect the inclination angle acceleration of the vehicle platform; The arm inclination sensor is installed on the arm to detect the arm angle; Pin sensor, installed on the top of the boom, is used to detect the lifting weight.

3. The pipelayer load control device according to claim 1, characterized in that: The control unit includes a torque limiter host and a vehicle controller. The torque limiter host is used to receive detection data of the sensor assembly, compare the detection data with the set value, determine whether to perform a load dumping operation according to the comparison result, and output an operation instruction; The vehicle controller is used to receive a load dumping operation instruction and output a control signal to an actuator.

4. The pipelayer load control device according to claim 3, characterized in that: The control unit also includes a torque limiter display screen and control buttons; The torque limiter display screen is used to receive the signal sent by the torque limiter host and issue an alarm prompt; The control button is used to manually control the actuator to end the load dumping operation.

5. The pipelayer load control device according to claim 1, characterized in that: The actuator includes a reversing valve and a winch motor clutch; The reversing valve receives an operating signal from a control system to disengage the clutch of the hoisting motor to achieve load dumping.

6. The pipelayer load control device according to claim 5, characterized in that: The reversing valve is an electromagnetic reversing valve or a hydraulically controlled reversing valve.

7. A control method for a pipelayer load control device according to any one of claims 1 to 6, characterized in that: include: Get the pipelayer boom angle and lifting weight; Calculate the current load based on the acquired pipelayer boom angle and lifting weight; If the current load is greater than the rated load, the inclination angle acceleration of the upper platform of the pipelayer is detected; If the acceleration of the inclination angle of the upper platform is greater than the set value, the load dumping pre-operation is entered and the actuator is controlled to perform the load dumping operation.

8. The pipelayer load control method according to claim 7, characterized in that: The control method further comprises: After the load dumping operation is performed, the boom angle and lifting weight are detected in real time, and the current load is calculated; If the current load continues to be greater than the rated load within the preset time period, the load dumping operation continues; If the current load is continuously less than the rated load within a preset time period, the inclination angle acceleration of the upper platform of the pipelayer is detected; If the acceleration of the inclination angle of the loading platform continues to be greater than the set value within the preset time period, the load dumping operation will continue; If the acceleration of the inclination angle of the vehicle platform continues to be less than the set value within the preset time period, the load dumping action is terminated.

9. The pipelayer load control method according to claim 7, characterized in that: The control method further comprises: After entering the load dump pre-operation, an alarm will be issued; After receiving the alarm, the staff will conduct manual inspection. If any abnormality is detected, the actuator will be manually controlled to end the load shedding.

10. The pipelayer load control method according to claim 7, characterized in that: The control actuator performs a load dumping operation, including: The vehicle controller outputs a control signal to the reversing valve; The reversing valve drives the hoisting motor clutch to engage and disengage, executing the load dumping action.

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