Pipe lifting machine based on excavator chassis and slope pipe lifting safety construction judgment method

Abstract

The invention discloses a pipelayer based on an excavator chassis, which comprises an excavator chassis, an excavator working platform, a pipelayer working device, a slewing mechanism, a chassis horizontal tilt angle sensor, a slewing angle detection element, a suspension arm angle sensor, a pin shaft sensor, an electronic monitor and a controller, the controller is connected with the chassis horizontal tilt angle sensor, the rotation angle detection element, the suspension arm angle sensor, the pin shaft sensor and the electronic monitor, the working posture of the whole machine is judged by collecting data of the horizontal tilt angle sensor and data of the rotation angle detection element, and a lifting performance table under the current working condition is called according to the suspension arm angle sensor; the control principle is simple and reliable, and the method is suitable for industrial popularization and application. The control principle is simple and reliable, and the method is suitable for industrial popularization and application, and can be used for detecting whether the construction is safe or not under the condition by collecting pin shaft sensing feedback data and controlling whether the pipe hoist working device works or not according to the judgment result.

Description

Technical Field

[0001] The invention relates to a pipe laying machine, and in particular to a pipe laying machine based on an excavator chassis and a method for judging the safe construction of pipe laying on a slope. Background Art

[0002] In recent years, the country's demand for natural gas has increased year by year, and the laying of natural gas pipelines has also increased year by year. The use of pipe hanging equipment, which plays a key role in pipeline laying construction, has also increased year by year. With the advancement of the natural gas pipeline network, many areas for laying pipelines are slopes or mountains. Such terrain has brought great difficulties to pipeline laying.

[0003] Usually, a pipelayer is used for construction or an excavator is used for construction, as follows: (1) Most pipelayers use a bulldozer chassis as a platform, with the boom and counterweight placed on both sides of the platform. The operating direction is always kept vertical to the vehicle's travel plan. The upper and lower vehicles are designed as an integrated unit, and the upper vehicle cannot rotate horizontally, making it impossible to achieve multi-angle lifting operations in a specified travel direction. If the lifting angle needs to be adjusted, the crawler needs to be adjusted to adjust the angle of the entire machine. In addition, the existing pipelayer force limiter system can only provide safety prompts and restrictions for construction on horizontal ground, and cannot be applied to mountain construction conditions. (2) Since the excavator can rotate freely in the horizontal direction, it can replace the pipelayer to transport pipelines in mountainous areas with narrow roads. However, conventional excavators are not professional lifting construction equipment and can only assist in lifting when the vehicle body is relatively horizontal. Without a force limiter control system, construction will have great safety hazards. Summary of the invention

[0004] In view of the problems existing in the above-mentioned prior art, the present invention provides a pipelayer based on an excavator chassis. The excavator structure is a platform to realize the pipe-laying construction function. The excavator working platform is connected to the excavator chassis through a slewing mechanism. The original pipelayer working device is changed into a pipelayer working device. The pipelayer working device comprises: a hook lifting mechanism and an arm luffing mechanism. The luffing action is realized by the extension and retraction of the oil cylinder in the arm luffing mechanism. The hook lifting mechanism comprises: a hoisting device, a boom, a fixed pulley block, a movable pulley block, and a hook. The fixed pulley block is arranged at the boom head, and the movable pulley block is arranged in the hook. The wire rope on the hoisting device connects the fixed pulley block and the movable pulley block. The lifting and lowering of the pipe is realized by retracting and releasing the wire rope through the hoisting device. At the same time, the working posture of the whole machine is judged by collecting the data of the horizontal inclination sensor and the data of the rotation angle detection element. According to the angle sensor installed on the boom, the lifting performance table under the current working condition is called to implement the pipe-laying operation, and the pin shaft sensor feedback data is collected to detect whether the construction is safe under this condition.

[0005] In order to achieve the above-mentioned object, the technical solution adopted by the present invention is: a pipelayer based on an excavator chassis, comprising: an excavator chassis, an excavator working platform, a pipelayer working device, and a slewing mechanism, wherein the excavator working platform is mounted on the excavator chassis through the slewing mechanism, and the pipelayer working device is mounted on the excavator working platform, and further comprising: Chassis horizontal inclination sensor: installed on the excavator chassis, used to detect the angle between the excavator chassis and the horizontal plane; Rotation angle detection element: It is set at the connection between the excavator chassis and the excavator working platform to measure the rotation angle of the excavator working platform; Boom angle sensor: installed on the pipelayer working device, used to detect the angle between the pipelayer working device and the horizontal plane; Pin sensor: installed on the working device of the pipelayer to measure the weight of the hoisted object; Electronic monitor: installed in the cab of the excavator working platform, used by the driver to observe the whole machine information and prompt the alarm function; Controller: connected with the chassis horizontal inclination sensor, rotation angle detection element, boom angle sensor, pin sensor, and electronic monitor. By collecting the horizontal inclination sensor data and the rotation angle detection element data, the working posture of the whole machine is determined. According to the boom angle sensor, the lifting performance table under the current working condition is called to implement the pipe lifting operation. The pin sensor feedback data is collected to detect whether the construction is safe under this condition. Based on the judgment result, the working device of the pipe laying machine is controlled to work.

[0006] Furthermore, the pipelayer working device includes: a hook lifting mechanism and a boom luffing mechanism, and a controller controls the operation of the hook lifting mechanism and the boom luffing mechanism, that is, a boom angle sensor is installed on the boom in the hook lifting mechanism, and is used to detect the angle between the boom and the horizontal plane, and a pin shaft sensor is installed on the top of the boom in the hook lifting mechanism, and is used to measure the weight of the lifted object.

[0007] Furthermore, the rotation angle detection element may also be an element having counting and detection functions.

[0008] Furthermore, the chassis horizontal inclination sensor, the rotation angle detection element, the pin sensor, the boom angle sensor, the controller, and the electronic monitor are connected via a CAN bus. A method for judging the safe construction of slope pipe laying of a pipe laying machine based on an excavator chassis. When the system is powered on, the controller will collect data information from the chassis horizontal inclination sensor, and the information is divided into the inclination angle of the X-axis and the inclination angle of the Y-axis; when the X-axis angle is a positive value, the left side of the excavator chassis track is higher than the right side, otherwise it means that the left side track is lower than the right side track; when the Y-axis angle is a positive value, the excavator chassis driving wheel is higher than the guide wheel, otherwise the guide wheel is higher than the driving wheel.

[0009] Furthermore, when -α≤X-axis inclination≤α and -α≤Y-axis inclination≤α, the controller determines that the chassis of the excavator is approximately in a horizontal posture, and reads the boom angle sensor data, calls the whole machine horizontal lifting performance table to implement the lifting operation, and the pin sensor determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism are performed normally; if it exceeds the limit, the electronic monitor alarms and prompts, and limits the luffing action of the boom luffing mechanism and the lifting action of the hook lifting mechanism; When β≥Y-axis inclination angle>α and θ≥X-axis inclination angle>α, the controller determines that the excavator chassis is at an inoperable angle, the electronic monitor prompts, and limits the lifting action of the hook lifting mechanism 7; When -α≥Y-axis inclination angle>-β and -α≤X-axis inclination angle≤α, the controller determines that the excavator chassis is in a non-slope construction state, the electronic monitor prompts, and limits the lifting action of the hook lifting mechanism; Among them, α represents the positive judgment angle of the coordinate axis, that is, if it is greater than 0° and less than α, no angle calculation is performed; -α represents the negative judgment angle of the coordinate axis, that is, if it is less than 0° and greater than -q, no angle calculation is performed; β represents the limit judgment angle of the positive direction of the coordinate axis, that is, an angle greater than β exceeds the judgment range, and -β represents the limit judgment angle of the negative direction of the coordinate axis. Angle, that is, less than -β exceeds the judgment range; θ represents the tilt angle of the whole machine on the X-axis, that is, any angle greater than α and less than β.

[0010] Furthermore, when β≥Y-axis inclination angle>α and -α≤X-axis inclination angle≤α, the controller determines that the excavator chassis is in posture one, the slewing angle detection element detects the slewing angle of the vehicle, the boom angle sensor detects the horizontal angle of the boom, and determines whether it exceeds the angle limit of the boom under the current slope lifting state. If the boom angle exceeds the design limit, the electronic monitor alarms and limits the lifting action of the hook; if the boom angle does not exceed the limit, the controller calls the lifting capacity table of posture one to implement the lifting operation, and the pin shaft sensor determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism are performed normally; if it exceeds the limit, the electronic monitor alarms and limits the boom luffing action and the lifting action of the hook lifting mechanism.

[0011] Furthermore, when θ≥absolute value of the X-axis inclination angle>α and -α≤Y-axis inclination angle≤α, if the X-axis inclination angle is a positive value, it is determined that the disembarkation is in posture two, the slewing angle detection element detects the slewing angle of the boarding vehicle, the boom angle sensor detects the horizontal angle of the boom, and determines whether it exceeds the angle limit of the boom under the current ramp loading state. If the boom angle exceeds the design limit, the electronic monitor alarms and limits the lifting action of the hook; if the boom angle does not exceed the limit, the controller calls the lifting capacity table of posture two to implement the lifting operation, and the pin shaft sensor determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism are performed normally; if it exceeds the limit, the electronic monitor alarms and limits the amplitude change of the boom amplitude change mechanism. action and the lifting action of the hook lifting mechanism; if the X-axis inclination angle is a negative value, it is determined that the disembarkation is in posture three, the slewing angle detection element detects the slewing angle of the boarding vehicle, the boom angle sensor detects the horizontal angle of the boom, and determines whether it exceeds the angle limit of the boom under the current ramp loading state. If the boom angle exceeds the design limit, the electronic monitor alarms and limits the lifting action of the hook; if the boom angle does not exceed the limit, the controller calls the lifting capacity table of posture three to implement the lifting operation, and the pin shaft sensor determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism are performed normally; if it exceeds the limit, the electronic monitor alarms and limits the boom luffing action and the lifting action of the hook lifting mechanism.

[0012] Furthermore, when the Y-axis inclination angle ≥ β or the X-axis inclination angle ≥ θ, the controller determines that the excavator chassis is currently on a slope that exceeds the allowable load range, and the electronic monitor prompts and limits the boom luffing action of the boom luffing mechanism and the lifting action of the hook lifting mechanism.

[0013] The beneficial effects of the present invention are as follows: the use of an excavator chassis can be used to carry out pipe lifting construction on steep slopes or in mountainous conditions, making the excavator more adaptable to the terrain and safer, and can also be used for construction operations that require fixed mounting and disembarking angles; the construction status of the excavator is judged by collecting data from chassis status information, and the data from the vehicle rotation angle and boom horizontal angle sensors are collected to call the lifting performance table under this posture, and the data collected by the pin shaft sensor is compared with the called parameter table to achieve safe slope pipe lifting construction operations, which not only meets all the functions in pipe lifting construction, but also makes it safer than existing pipe lifters on the market. The control principle of the present invention is simple and reliable, and is suitable for industrial promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the system structure of the present invention; Figure 2 It is a schematic diagram of the installation structure of the chassis horizontal inclination sensor and the rotation angle detection element of the present invention; Figure 3 for Figure 2 The partially enlarged structural diagram of middle Ⅰ; Figure 4 for Figure 2 The schematic diagram of the partial enlarged structure of middle Ⅱ; Figure 5 It is a structural diagram of an excavator; Figure 6 for Figure 5 A schematic diagram of the partially enlarged structure of middle III; Figure 7 for Figure 5 Schematic diagram of the partial enlarged structure of middle Ⅳ; Figure 8 It is a control flow diagram of the present invention; Fig. 9 It is a schematic diagram of horizontal posture; Fig.10 This is a schematic diagram of posture 1; Fig.11 This is a schematic diagram of posture two and posture three; In the figure: 1. Chassis horizontal inclination angle sensor; 2. Rotation angle detection element; 3. Boom angle sensor; 4. Pin sensor; 5. Controller; 6. Electronic monitor; 7. Hook lifting mechanism; 8. Boom luffing mechanism. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below through the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0016] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0017] like Figure 1-7As shown, a pipelayer based on an excavator chassis comprises: an excavator chassis, an excavator working platform, a pipelayer working device, and a slewing mechanism. The excavator working platform is installed on the excavator chassis through the slewing mechanism, and the pipelayer working device is installed on the excavator working platform, wherein the pipelayer working device comprises: a hook lifting mechanism and an arm luffing mechanism, and the luffing action is achieved by extending and retracting the oil cylinder in the arm luffing mechanism; the hook lifting mechanism comprises: a hoisting device, a boom, a fixed pulley block, a movable pulley block, and a hook. The fixed pulley block is arranged at the boom head, the hoisting device is installed on the excavator working platform, the boom is hinged to the excavator working platform, the luffing action is achieved by controlling the boom luffing mechanism, the movable pulley block is arranged in the hook, the wire rope on the hoisting device connects the fixed pulley block and the movable pulley block, and the pipe is raised and lowered by retracting and releasing the wire rope by the hoisting device.

[0018] Based on the excavator slope pipe lifting safety construction judgment system, it also includes: Chassis horizontal inclination sensor, rotation angle detection element, boom angle sensor, pin sensor, controller, electronic monitor, hook lifting mechanism, boom luffing mechanism; The chassis horizontal inclination sensor 1 is installed on the excavator chassis to detect the angle between the excavator chassis and the horizontal plane; A rotation angle detection element 2 is installed at the connection between the excavator chassis and the excavator working platform to measure the rotation angle of the excavator working platform. The rotation angle detection element can be a rotation angle detection element or other elements with counting and detection functions; The boom angle sensor 3 is installed on the boom to detect the angle between the boom and the horizontal plane; The pin sensor 4 is installed on the top of the boom in a hinged form to measure the weight of the hoisted object; The electronic monitor 6 is installed in the cab, the driver can observe the whole machine information and prompt the alarm function; The chassis horizontal inclination sensor, the rotation angle detection element 2, the pin sensor 3, the boom angle sensor 3, the controller 5, and the electronic monitor 6 are interconnected via a CAN bus, or other forms of communication interconnection.

[0019] like Figure 8 As shown, a method for judging the safe construction of a pipe laying machine on a slope based on an excavator chassis is shown. When the system is powered on, the controller 5 will collect data information from the chassis horizontal tilt sensor 1, and the information is divided into the tilt angle of the X axis and the tilt angle of the Y axis. When the X-axis angle is a positive value, the left side of the excavator chassis crawler is higher than the right side, otherwise it means that the left crawler is lower than the right crawler. When the Y-axis angle is a positive value, the excavator chassis drive wheel is higher than the guide wheel, otherwise the guide wheel is higher than the drive wheel.

[0020] like Fig. 9As shown, when -α≤X-axis inclination angle≤α and -α≤Y-axis inclination angle≤α, the controller 5 determines that the excavator chassis is approximately in a horizontal posture, and reads the data of the boom angle sensor 3, calls the whole machine horizontal lifting performance table to implement the lifting operation, and the pin sensor 4 determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism 7 are performed normally; if it exceeds the limit, the electronic monitor 6 alarms and prompts, and limits the boom luffing action of the boom luffing mechanism 8 and the lifting action of the hook lifting mechanism 7.

[0021] When β≥Y-axis inclination angle>α and θ≥X-axis inclination angle>α, the controller 5 determines that the excavator chassis is at an inoperable angle, the electronic monitor 6 prompts, and limits the lifting action of the hook lifting mechanism 7.

[0022] When -α≥Y-axis inclination angle>-β and -α≤X-axis inclination angle≤α, the controller 5 determines that the excavator chassis is in a non-slope construction state, the electronic monitor 6 prompts, and limits the lifting action of the hook lifting mechanism 7.

[0023] like Fig.10 As shown, when β≥Y-axis inclination angle>α and -α≤X-axis inclination angle≤α, the controller 5 determines that the excavator chassis is in posture one, the rotation angle detection element 2 detects the rotation angle of the vehicle, the boom angle sensor 3 detects the horizontal angle of the boom, and determines whether it exceeds the angle limit of the boom under the current ramp loading state. If the boom angle exceeds the design limit, the electronic monitor 6 alarms and limits the lifting action of the hook; if the boom angle does not exceed the limit, the controller 5 calls the lifting capacity table of posture one to implement the lifting operation, and the pin sensor 4 determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism 7 are normally performed; if it exceeds the limit, the electronic monitor 6 alarms and limits the boom amplitude change action of the boom amplitude change mechanism 8 and the lifting action of the hook lifting mechanism 7.

[0024] like Fig.11As shown, when θ≥absolute value of X-axis inclination angle>α and -α≤Y-axis inclination angle≤α, if the X-axis inclination angle is a positive value, it is determined that the disembarkation is in posture 2, the slewing angle detection element 2 detects the slewing angle of the boarding vehicle, the boom angle sensor 3 detects the horizontal angle of the boom, and determines whether it exceeds the angle limit of the boom in the current ramp loading state. If the boom angle exceeds the design limit, the electronic monitor 6 alarms and limits the lifting action of the hook; if the boom angle does not exceed the limit, the controller 5 calls the lifting capacity table of posture 2 to implement the lifting operation, and the pin sensor 4 determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism 7 are normally performed; if it exceeds the limit, the electronic monitor 6 alarms and limits the amplitude change action of the boom amplitude change mechanism 8 and the lifting action of the hook lifting mechanism 7; if the X-axis inclination angle is a negative value, it is determined that the disembarkation is in posture three, the slewing angle detection element 2 detects the slewing angle of the boarding vehicle, the boom angle sensor 3 detects the horizontal angle of the boom, and determines whether it exceeds the angle limit of the boom under the current ramp loading state. If the boom angle exceeds the design limit, the electronic monitor 6 alarms and limits the lifting action of the hook; if the boom angle does not exceed the limit, the controller 5 calls the lifting capacity table of posture three to implement the lifting operation, and the pin shaft sensor 4 determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism 7 are performed normally; if it exceeds the limit, the electronic monitor 6 alarms and limits the luffing action of the boom luffing mechanism 8 and the lifting action of the hook lifting mechanism 7.

[0025] When the Y-axis inclination angle ≥ β or the X-axis inclination angle ≥ θ, the controller 5 determines that the excavator chassis is currently on a slope that exceeds the allowable load range, and the electronic monitor 6 prompts and limits the boom luffing action of the boom luffing mechanism 8 and the lifting action of the hook lifting mechanism 7.

[0026] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A pipelayer based on an excavator chassis, characterized in that: include: An excavator chassis, an excavator working platform, a pipelayer working device, and a slewing mechanism. The excavator working platform is mounted on the excavator chassis through the slewing mechanism, and the pipelayer working device is mounted on the excavator working platform. The excavator working platform also includes: Chassis horizontal inclination sensor: installed on the excavator chassis, used to detect the angle between the excavator chassis and the horizontal plane; Rotation angle detection element: It is set at the connection between the excavator chassis and the excavator working platform to measure the rotation angle of the excavator working platform; Boom angle sensor: installed on the pipelayer working device, used to detect the angle between the pipelayer working device and the horizontal plane; Pin sensor: installed on the working device of the pipelayer to measure the weight of the hoisted object; Electronic monitor: installed in the cab of the excavator working platform, used by the driver to observe the whole machine information and prompt the alarm function; Controller: connected with the chassis horizontal inclination sensor, rotation angle detection element, boom angle sensor, pin sensor, and electronic monitor. By collecting the horizontal inclination sensor data and the rotation angle detection element data, the working posture of the whole machine is determined. According to the boom angle sensor, the lifting performance table under the current working condition is called to implement the pipe lifting operation. The pin sensor feedback data is collected to detect whether the construction is safe under this condition. Based on the judgment result, the working device of the pipe laying machine is controlled to work.

2. A pipelayer based on an excavator chassis according to claim 1, characterized in that: The pipelayer working device comprises: a hook lifting mechanism and a boom luffing mechanism, and a controller controls the operation of the hook lifting mechanism and the boom luffing mechanism, that is, a boom angle sensor is installed on the boom in the hook lifting mechanism, and is used to detect the angle between the boom and the horizontal plane, and a pin shaft sensor is installed on the top of the boom in the hook lifting mechanism, and is used to measure the weight of the lifted object.

3. A pipelayer based on an excavator chassis according to claim 1, characterized in that: The rotation angle detection element may also be an element having counting and detection functions.

4. A pipelayer based on an excavator chassis according to claim 1, characterized in that: The chassis horizontal inclination sensor, the rotation angle detection element, the pin sensor, the boom angle sensor, the controller and the electronic monitor are connected via a CAN bus.

5. The method for judging the safety of slope pipe laying construction of a pipe laying machine based on an excavator chassis according to claim 2, characterized in that: When the system is powered on, the controller will collect chassis horizontal inclination sensor data information, the information is divided into the inclination angle of the X-axis and the inclination angle of the Y-axis; when the X-axis angle is positive, the left side of the excavator chassis track is higher than the right side, otherwise it means that the left track is lower than the right track; when the Y-axis angle is positive, the excavator chassis drive wheel is higher than the guide wheel, otherwise the guide wheel is higher than the drive wheel.

6. A method for judging the safety of slope pipe laying construction by a pipe laying machine based on an excavator chassis according to claim 5, characterized in that: When -α≤X-axis inclination≤α and -α≤Y-axis inclination≤α, the controller determines that the excavator chassis is approximately in a horizontal posture, and reads the boom angle sensor data, calls the whole machine horizontal lifting performance table to implement the lifting operation, and the pin sensor determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism are performed normally; if it exceeds the limit, the electronic monitor alarms and prompts, and limits the luffing action of the boom luffing mechanism and the lifting action of the hook lifting mechanism; When β≥Y-axis inclination angle>α and θ≥X-axis inclination angle>α, the controller determines that the excavator chassis is at an inoperable angle, the electronic monitor prompts, and limits the lifting action of the hook lifting mechanism 7; When -α≥Y-axis inclination angle>-β and -α≤X-axis inclination angle≤α, the controller determines that the excavator chassis is in a non-slope construction state, the electronic monitor prompts, and limits the lifting action of the hook lifting mechanism; Among them, α represents the positive judgment angle of the coordinate axis, that is, if it is greater than 0° and less than α, no angle calculation is performed; -α represents the negative judgment angle of the coordinate axis, that is, if it is less than 0° and greater than -q, no angle calculation is performed; β represents the limit judgment angle of the positive direction of the coordinate axis, that is, an angle greater than β exceeds the judgment range, and -β represents the limit judgment angle of the negative direction of the coordinate axis. Angle, that is, less than -β exceeds the judgment range; θ represents the tilt angle of the whole machine on the X-axis, that is, any angle greater than α and less than β.

7. The method for judging the safety of slope pipe laying construction of a pipe laying machine based on an excavator chassis according to claim 5, characterized in that: When β≥Y-axis inclination angle>α and -α≤X-axis inclination angle≤α, the controller determines that the excavator chassis is in posture one, the slewing angle detection element detects the slewing angle of the vehicle, the boom angle sensor detects the horizontal angle of the boom, and determines whether it exceeds the angle limit of the boom under the current slope lifting state. If the boom angle exceeds the design limit, the electronic monitor alarms and limits the lifting action of the hook; if the boom angle does not exceed the limit, the controller calls the lifting capacity table of posture one to implement the lifting operation, and the pin shaft sensor determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism are performed normally; if it exceeds the limit, the electronic monitor alarms and limits the boom luffing action and the lifting action of the hook lifting mechanism.

8. The method for judging the safety of slope pipe laying by a pipe laying machine based on an excavator chassis according to claim 5, characterized in that: When θ≥absolute value of X-axis inclination angle>α and -α≤Y-axis inclination angle≤α, if the X-axis inclination angle is a positive value, it is determined that the disembarkation is in posture 2, the slewing angle detection element detects the slewing angle of the boarding vehicle, the boom angle sensor detects the horizontal angle of the boom, and determines whether it exceeds the angle limit of the boom under the current ramp loading state. If the boom angle exceeds the design limit, the electronic monitor alarms and limits the lifting action of the hook; if the boom angle does not exceed the limit, the controller calls the lifting capacity table of posture 2 to implement the lifting operation, and the pin shaft sensor determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism are performed normally; if it exceeds the limit, the electronic monitor alarms and limits the boom luffing action of the boom luffing mechanism. and the lifting action of the hook lifting mechanism; if the X-axis inclination angle is a negative value, it is determined that the disembarkation is in posture three, the slewing angle detection element detects the slewing angle of the boarding vehicle, the boom angle sensor detects the horizontal angle of the boom, and determines whether it exceeds the angle limit of the boom under the current ramp loading state. If the boom angle exceeds the design limit, the electronic monitor alarms and limits the lifting action of the hook; if the boom angle does not exceed the limit, the controller calls the lifting capacity table of posture three to implement the lifting operation, and the pin shaft sensor determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism are performed normally; if it exceeds the limit, the electronic monitor alarms and limits the boom luffing action of the boom luffing mechanism and the lifting action of the hook lifting mechanism.

9. The method for judging the safety of slope pipe laying construction of a pipe laying machine based on an excavator chassis according to claim 5, characterized in that: When the Y-axis inclination angle ≥ β or the X-axis inclination angle ≥ θ, the controller determines that the excavator chassis is currently on a slope that exceeds the allowable lifting range, and the electronic monitor prompts and limits the luffing action of the boom luffing mechanism and the lifting action of the hook lifting mechanism.

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