Side bend detection structure, working machine, and side bend detection method

Abstract

The present application relates to the technical field of working machine, disclose a side bending detection structure, working machine and side bending detection method, side bending detection structure includes: detection part, swingably arranged on the swing arm, the detection part has a detection plane.The present application sets up the detection part that can swing on the swing arm, when the detection plane can keep vertical with the horizontal plane at all times when the detection part swings with the swing arm, when the swing arm occurs side bending, the detection part produces a certain angle deflection in the detection plane with the side bending of the swing arm, the detection part can detect the angle difference of the angle at this time compared with the angle at the original position, the difference at this time is the side bending angle of the swing arm in the amplitude plane, the detection structure is simple and ingenious, effectively avoids the influence of the amplitude angle of the swing arm on the measurement of the side bending angle, can more directly and effectively measure the side bending angle of the swing arm, effectively solve the problem that the existing bending detection device cannot accurately measure the lateral bending of the crane arm.

Description

Technical Field

[0001] This invention relates to the field of work machinery technology, specifically to a side bend detection structure, work machinery, and side bend detection method. Background Technology

[0002] A crane is a multi-action lifting machine that vertically lifts and horizontally moves heavy objects within a certain range. With the increasing working range of cranes, the boom length of existing large cranes often exceeds 100 meters. To prevent breakage accidents caused by long booms, monitoring the bending condition of the boom has become crucial. Bending of the boom mainly includes bending within the luffing plane and lateral bending; excessive bending in either direction can easily lead to boom breakage.

[0003] Currently, existing cranes only have detection devices for the bending of the boom within the luffing plane, while lateral bending is mainly determined by visual inspection by the operator. The bending of the boom within the luffing plane is primarily detected by an angle measuring instrument, which is fixedly mounted on the boom. The angle measuring instrument detects the angle change in real time as the boom swings and can limit the boom's movement based on the detection results. However, the angle measuring instrument can only detect angle changes within one plane. The pitch angle of the boom within the luffing plane is constantly changing. When detecting the lateral bending of the boom using an angle measuring instrument, the instrument is affected by the boom's luffing angle and cannot obtain effective results. Therefore, existing bending detection devices still have the problem of not being able to accurately measure the lateral bending of the boom. Summary of the Invention

[0004] In view of this, the present invention provides a lateral bending detection structure, operating machinery and lateral bending detection method to solve the problem that existing bending detection devices cannot accurately measure the lateral bending of the crane boom.

[0005] In a first aspect, the present invention provides a lateral bending detection structure for detecting the lateral bending angle of a swing arm relative to a variable amplitude plane, wherein the swing arm is capable of swinging within the variable amplitude plane. The lateral bending detection structure comprises: a detection unit, which is swingably disposed on the swing arm, wherein the swing axis of the detection unit is perpendicular to the variable amplitude plane, the detection unit has a detection plane, and the detection unit is configured to measure the lateral bending angle of the swing arm when the detection plane is perpendicular to the horizontal plane.

[0006] A swingable detection unit is installed on the swing arm. As the swing arm swings, its detection plane remains perpendicular to the horizontal plane. When the swing arm bends laterally, the detection unit deflects at a certain angle within the detection plane. The detection unit can detect the difference between this angle and the angle at the original position. This difference is the lateral bending angle of the swing arm in the variable amplitude plane. The detection structure is simple and ingenious, effectively avoiding the influence of the swing arm's variable amplitude angle on the measurement of the lateral bending angle. It can measure the lateral bending angle of the swing arm more directly and effectively, effectively solving the problem that existing bending detection devices cannot accurately measure the lateral bending of the crane arm.

[0007] In one alternative embodiment, one end of the swing arm forms a connecting end, and the other end forms a swing end. The swing arm is capable of swinging around the connecting end, and the detection unit is disposed on the swing end.

[0008] The detection department detects the angle change at the swing end to reflect the lateral bending angle of the overall swing arm. The angle change at the swing end is more direct and obvious, and can more intuitively reflect the degree of lateral bending of the swing arm.

[0009] In one optional embodiment, the detection unit includes a swing plate and an angle detection component. The swing plate is swingably mounted on a swing arm, and one surface of the swing plate forms a detection plane. The angle detection component is fixedly mounted on the detection plane. The structure is simple and easy to manufacture and install.

[0010] In one alternative embodiment, the detection unit further includes a counterweight disposed on one side of the swing plate's swing axis.

[0011] Under the action of the weight, no matter how the amplitude angle of the swing arm changes, the swing plate can always reliably maintain a vertical downward state.

[0012] Secondly, the present invention also provides a working machine, including: a swing arm; and the aforementioned side-bend detection structure, wherein the side-bend detection structure is disposed on the swing arm.

[0013] In one alternative embodiment, the machine further includes a controller and a prompting component. The controller is electrically connected to the side bend detection structure and the prompting component. The controller is used to control the operation of the prompting component based on the side bend angle detected by the side bend detection structure.

[0014] When the lateral bending angle exceeds the preset value, the controller can control the prompting component to issue a prompt or alarm, reminding the operator to pay attention to the lateral bending condition of the swing arm at this time, and preventing the swing arm from breaking.

[0015] Thirdly, the present invention also provides a side bend detection method, using the above-described side bend detection structure, the side bend detection method comprising the following steps:

[0016] Obtain the lateral bending angle detected by the detection department; determine the lateral bending state of the swing arm based on the lateral bending angle.

[0017] This effectively avoids the impact of amplitude variation angle on the measurement of the detection unit.

[0018] In one optional implementation, the lateral bend detection method further includes the following steps:

[0019] When the side bend is in a preset state, the control prompting component issues a prompt. The preset state includes a side bend angle greater than a preset angle threshold or a side bend amount greater than a preset side bend amount threshold.

[0020] This is to remind the operator whether the lateral bending of the swing arm exceeds the preset value, and to prevent the swing arm from breaking due to excessive lateral bending.

[0021] In one optional implementation, the lateral bend detection method further includes the following steps:

[0022] Obtain the ground clearance of the detection unit; calculate the lateral bending amount of the swing arm based on the lateral bending angle and the ground clearance.

[0023] In one optional implementation, the step of obtaining the height of the detection unit above the ground includes:

[0024] Obtain the length of the swing arm at the location of the detection unit; obtain the amplitude angle of the swing arm; calculate the height of the detection unit above the ground based on the length and amplitude angle. Attached Figure Description

[0025] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a three-dimensional schematic diagram of a side-bend detection structure according to an embodiment of the present invention;

[0027] Figure 2 for Figure 1 A partial cross-sectional schematic diagram of the side-bend detection structure shown.

[0028] Figure 3 for Figure 1 A schematic diagram of the first possible location of the side bend detection structure;

[0029] Figure 4 for Figure 1 A schematic diagram of the second location of the side bend detection structure;

[0030] Figure 5 This is a schematic diagram of the swing arm's lateral bending state in the lateral bending detection method of this invention embodiment;

[0031] Figure 6 for Figure 5 A schematic diagram of the parameters of the swing arm in the lateral bending state;

[0032] Figure 7 for Figure 5 A schematic diagram of the parameters of the right view of the swing arm in the side-bending state.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1. Detection section; 101. Swing plate; 102. Angle detection component; 103. Bushing; 104. Transmission component; 105. Counterweight; 2. Rotating shaft; 3. Fixed base; 4. Swing arm. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] The following is combined Figures 1 to 7 The following describes embodiments of the present invention.

[0037] According to an embodiment of the present invention, in one aspect, a lateral bending detection structure is provided for detecting the lateral bending angle of a swing arm 4 relative to a variable amplitude plane. The swing arm 4 is capable of swinging within the variable amplitude plane. The lateral bending detection structure includes a detection unit 1. Here, the swing arm 4 may be the lifting arm of a lifting device.

[0038] The detection unit 1 is oscillatingly mounted on the swing arm 4. The swing axis of the detection unit 1 is perpendicular to the amplitude plane. The detection unit 1 has a detection plane. The detection unit 1 is configured to measure the lateral bending angle of the swing arm 4 when the detection plane is perpendicular to the horizontal plane.

[0039] The lateral bending detection structure of this embodiment has a swingable detection unit 1 on the swing arm 4. When the detection unit 1 swings with the swing arm 4, its detection plane can always remain perpendicular to the horizontal plane. When the swing arm 4 bends laterally, the detection unit 1 deflects at a certain angle in the detection plane as the swing arm 4 bends laterally. The detection unit 1 can detect the difference between the angle at this time and the angle at the original position. This difference is the lateral bending angle of the swing arm 4 in the amplitude change plane. The detection structure is simple and ingenious, effectively avoiding the influence of the amplitude change angle of the swing arm 4 on the measurement of the lateral bending angle. It can measure the lateral bending angle of the swing arm 4 more directly and effectively, and effectively solves the problem that existing bending detection devices cannot accurately measure the lateral bending of the crane arm.

[0040] In this embodiment, the lateral bending angle of the swing arm 4 is: the tangent of the bending center line of the swing arm 4 when it bends relative to the amplitude plane; the amplitude angle of the swing arm 4 is: the angle generated by swinging relative to the horizontal plane in the working plane; and the amplitude plane is: the plane that the swing arm 4 is located on when it is at a certain amplitude angle and is perpendicular to the vertical plane.

[0041] In this embodiment, one end of the swing arm 4 forms a connecting end, and the other end forms a swing end. The swing arm 4 swings around the connecting end, and the detection unit 1 is disposed on the swing end. The detection unit 1 reflects the lateral bending angle of the overall swing arm 4 by detecting the angle change of the swing end. The angle change of the swing end is more direct and obvious, and can more intuitively reflect the degree of lateral bending of the swing arm 4. It can be understood that, as an alternative implementation, the detection unit 1 can also be disposed on the middle section between the swing end and the connecting end, or the detection unit 1 can be disposed at the end closer to the swing end.

[0042] Specifically, such as Figure 6 As shown, when the swing arm 4 bends, it is not the entire structure that swings around the connecting end, but the entire swing arm 4 bends in the variable amplitude plane. Compared with the related technology that measures the angle of the line connecting the swing end and the connecting end, the angle of the tangent of the bending center line measured by the detection unit 1 in this embodiment is larger. Since the detection unit 1 is set at the swing end, the actual bending situation of the entire swing arm 4 will gradually be superimposed from the connecting end to the swing end. At this time, the angle of the tangent of the bending center line at the swing end can better reflect the overall bending situation.

[0043] Meanwhile, since the swing end of the swing arm 4 is prone to lateral bending, the detection unit 1 located at the swing end can not only reflect the overall lateral bending of the swing arm 4, but also the minor lateral bending at the swing end. Compared with related technologies that measure the angle of the line connecting the swing end and the connecting end, if lateral bending only occurs at the swing end and the overall lateral bending of the swing arm 4 is not obvious, the operator will not be able to detect the local lateral bending of the swing arm 4, and therefore will not be alerted. As a result, the swing end is prone to breakage during subsequent work. The lateral bending detection structure in this embodiment can effectively avoid this situation.

[0044] In this embodiment, the detection unit 1 is mounted on the swing arm 4, which can swing freely under its own weight, so that the detection plane is always perpendicular to the horizontal plane. When the amplitude angle of the swing arm 4 changes, the detection unit 1 swings relative to the swing arm 4. The influence of the amplitude angle of the swing arm 4 can be avoided by the simple structure.

[0045] Specifically, the location of the detection unit 1 is not limited. The detection unit 1 can be placed inside the swing end or outside the swing end, as long as the structure of the swing arm 4 does not affect the free swing of the detection unit 1.

[0046] Preferably, such as Figure 3 and Figure 4 As shown, the detection unit 1 is installed on the connecting beam inside the swing end. The detection unit 1 swings within the swing arm 4 without being disturbed by the outside world, ensuring the stability and reliability of the detection.

[0047] In this embodiment, the detection unit 1 includes a swing plate 101 and an angle detection element 102. The swing plate 101 is swingably mounted on the swing arm 4, and one surface of the swing plate 101 forms a detection plane. The angle detection element 102 is fixedly mounted on the detection plane. The structure is simple and easy to manufacture and install. It can be understood that, as an alternative implementation, the swing plate 101 may also have a receiving space, and the angle detection element 102 may be fixedly mounted in the receiving space. The swing plate 101 may also have a groove or a through hole, which forms a mounting position, and the angle detection element 102 is fixedly mounted in the mounting position.

[0048] Specifically, the angle detection component 102 can be an angle meter, angle detector, or level, etc. It only needs to be able to detect the angle change in a plane. An existing angle detection instrument for measuring the amplitude change angle of the swing arm 4 can be used, and its specific structure will not be described in detail here. The initial position of the angle detection component 102 is not limited. The lateral bending angle can be the angle between the swing arm 4 and the vertical direction in the detection plane, or it can be the angle between the swing arm 4 and the horizontal direction in the detection plane. It only needs to be able to detect its own angle change in the amplitude change plane. Through the lateral bending detection structure of this embodiment, the angle detection instrument that can only measure the amplitude change angle of the swing arm 4 can also be applied to measure the lateral bending angle. The lateral bending angle measurement is realized by using a clever principle.

[0049] In this embodiment, the detection unit 1 further includes a counterweight 105, which is disposed on one side of the swing axis of the swing plate 101. Under the action of the counterweight 105, regardless of the change in the amplitude angle of the swing arm 4, the swing plate 101 can always reliably maintain a vertically downward state. At the same time, due to the presence of the counterweight 105, the swaying of the swing plate 101 in the air can be reduced, preventing the swing plate 101 from easily swaying under the action of external wind force. It can be understood that, as an alternative implementation, the counterweight 105 can be omitted, and the swing plate 101 can be placed in a closed space to prevent it from being disturbed by external factors.

[0050] In this embodiment, the side bend detection structure also includes a fixed seat 3, which is mounted on the swing arm 4. The detection part 1 is swayably mounted on the fixed seat 3. The fixing method is simple and reliable. The side bend detection structure can be inspected and maintained by removing the fixed seat 3 from the swing arm 4.

[0051] Specifically, the specific structure of the fixed base 3 is not limited. It can be in the shape of a prism, cylinder, frustum, etc., as long as its structure can cooperate with the detection unit 1 and allow the detection unit 1 to swing.

[0052] A rotating shaft 2 is fixedly provided on the fixed base 3. The swing plate 101 is rotatably sleeved on the rotating shaft 2. The end of the swing plate 101 away from the counterweight 105 forms a bushing 103 that cooperates with the rotating shaft 2.

[0053] The bushing 103 engages with the rotating shaft 2 via several transmission components 104. These transmission components 104 are preferably bearings. Bearings have low friction, resulting in less resistance to the swing plate 101 during swinging and a smoother swing process. The outer ring of the bearing is fixedly connected to the inner wall of the bushing 103, and the inner ring of the bearing is fixedly connected to the rotating shaft 2. It is understood that, as an alternative implementation, bearings may not be provided, and the inner wall of the bushing 103 may directly slide against the rotating shaft 2.

[0054] According to an embodiment of the present invention, in another aspect, a working machine is provided, which includes a swing arm 4 and the above-described lateral bending detection structure, the lateral bending detection structure being disposed on the swing arm 4.

[0055] In this embodiment, the operating machinery includes excavators, cranes, rotary drilling rigs, etc.

[0056] Preferably, since the crane's boom is the main component prone to lateral bending, and the operating machinery is a crane, with the swing arm 4 being the crane's boom; when the crane is working, the boom's luffing angle within the luffing plane is constantly changing. If an angle measuring instrument is fixedly mounted on the boom in the same way as for measuring the boom's luffing angle, the lateral bending angle of the boom cannot be accurately measured due to the influence of the luffing angle. It is understood that the lateral bending of the swing arm 4 on operating machinery such as excavators and rotary drilling rigs can also be detected using the lateral bending detection structure of this embodiment.

[0057] Specifically, the axis of the extension direction of the crane boom is the central axis. The rotation of the crane boom around the central axis is called the torsion of the crane boom. Due to the crane boom's own structure and the way it is subjected to force, it is difficult for it to torsion during operation. Therefore, the torsion of the crane boom has a very limited impact on the measurement results of the side bending detection structure.

[0058] In this embodiment, the working machine also includes a controller and a prompting component. The controller is electrically connected to the lateral bending detection structure and the prompting component. The controller is used to control the action of the prompting component according to the lateral bending angle detected by the lateral bending detection structure. When the lateral bending angle exceeds a preset value, the controller can control the prompting component to issue a prompt or alarm to remind the operator to pay attention to the lateral bending condition of the swing arm 4 at this time and prevent the swing arm 4 from breaking.

[0059] Specifically, the operating machinery also includes a display panel, which is electrically connected to the controller. The controller can display the lateral bending angle on the display panel in real time for the operator to observe.

[0060] According to an embodiment of the present invention, in another aspect, a lateral bend detection method is provided, using the above-described lateral bend detection structure. The lateral bend detection method includes the following steps:

[0061] Obtain the lateral bending angle detected by the detection unit 1; determine the lateral bending state of the swing arm 4 based on the lateral bending angle.

[0062] Specifically, the detection plane of the detection unit 1 is perpendicular to the horizontal plane; by measuring the lateral bending angle of the tangent of the bending center line of the swing arm 4 when it bends relative to the amplitude change plane through the detection unit 1, the influence of the amplitude change angle on the measurement of the detection unit 1 can be effectively avoided.

[0063] In this embodiment, the lateral bend detection method further includes the following steps:

[0064] When the side bend is in a preset state, the control prompting component issues a prompt. The preset state includes a side bend angle greater than a preset angle threshold or a side bend amount greater than a preset side bend amount threshold.

[0065] Specifically, the side bending angle measured by the detection unit 1 is obtained; at least one control prompting component issues a prompt based on the side bending angle and its corresponding side bending amount to remind the operator whether the side bending amount of the swing arm 4 exceeds the preset value, so as to prevent the swing arm 4 from breaking due to excessive side bending.

[0066] Further, the step of issuing a prompt based on at least one of the lateral deflection angle and its corresponding lateral deflection amount includes:

[0067] Determine if the lateral turning angle is greater than the preset lateral turning angle; if it is determined that the lateral turning angle is greater than the preset lateral turning angle, then control the prompting component to issue a prompt.

[0068] And / or, determine whether the lateral bending amount is greater than the preset lateral bending amount; if it is determined that the lateral bending amount is greater than the preset lateral bending amount, then control the prompting component to issue a prompt.

[0069] Specifically, the preset lateral bending angles and preset lateral bending amounts corresponding to different detection unit heights are shown in Table 1:

[0070]

[0071] Table 1

[0072] The height of the detection unit 1 above the ground is the vertical distance between the detection unit 1 and the plane where the connecting end of the swing arm 4 is located when the swing arm 4 is at different amplitude angles.

[0073] It should be noted that Table 1 only shows the preset lateral bending angle and preset lateral bending amount for one specification of swing arm 4. Table 1 only illustrates the ground clearance of several detection parts 1, and the actual application is not limited to this.

[0074] In this embodiment, the lateral bend detection method further includes the following steps:

[0075] Obtain the ground clearance of the detection unit 1; calculate the lateral bending amount of the swing arm 4 based on the lateral bending angle and the ground clearance.

[0076] It should be noted that the ground at this time is the plane where the connecting end of the swing arm 4 is located.

[0077] Specifically, such as Figure 6 As shown, the lateral bending amount of the swing arm 4 is obtained by the following formula:

[0078] S=L×sinθ

[0079] in,

[0080] S represents the lateral bending amount;

[0081] L represents the height of the detection unit 1 above the ground;

[0082] θ is the lateral bending angle;

[0083] The ground clearance L of the detection unit 1 is calculated by the controller or directly measured by the distance detector.

[0084] In this embodiment, the step of obtaining the height of the detection unit 1 above the ground includes:

[0085] The length of the swing arm 4 at the location of the detection unit 1 is obtained; the amplitude angle of the swing arm 4 is obtained; and the height of the detection unit 1 above the ground is calculated based on the length and amplitude angle.

[0086] Specifically, such as Figure 7 As shown, the height of the detection unit 1 above the ground is obtained using the following formula:

[0087] L=H×sinα

[0088] in,

[0089] L represents the height of the detection unit 1 above the ground;

[0090] H is the length of the swing arm 4 at the location of the detection unit 1;

[0091] α is the amplitude angle of the swing arm 4;

[0092] The amplitude angle α is directly measured by the amplitude angle detector.

[0093] In this embodiment, the prompting component includes at least one of the following: a display screen, a prompting light, and a voice prompt device.

[0094] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A side-bend detecting structure for detecting a side-bend angle of a swing arm (4) with respect to a plane of amplitude, the swing arm (4) being swingable in the plane of amplitude, characterized by, The side-bending detection structure comprises: a detection part (1) swingably arranged on the swing arm (4), an oscillation axis of the detection part (1) being perpendicular to the plane of amplitude variation, the detection part (1) having a detection plane, the detection part (1) being configured to measure a side-bending angle of the swing arm (4) when the detection plane is perpendicular to the horizontal plane; one end of the swing arm (4) forms a connecting end, the other end forms a swing end, the swing arm (4) being capable of swinging around the connecting end, the detection part (1) being arranged on the swing end; the detection part (1) comprises a swing plate (101) and an angle detection member (102), the swing plate (101) being swingably arranged on the swing arm (4), one surface of the swing plate (101) forming the detection plane, the angle detection member (102) being fixedly arranged on the detection plane; when the swing arm (4) is side-bent, the detection part (1) deflects by a certain angle in the detection plane along with the side-bending of the swing arm (4), the detection part (1) being capable of detecting a difference between the angle at this time and the angle at the original position, the difference at this time being the side-bending angle of the swing arm (4) in the plane of amplitude variation; a method for calculating a side-bending amount using the side-bending detection structure is as follows: obtaining a length of the swing arm (4) at a position where the detection part (1) is located; obtaining an amplitude angle of the swing arm (4); calculating a ground clearance of the detection part (1) from the ground according to the length and the amplitude angle; calculating a side-bending amount of the swing arm (4) according to the side-bending angle and the ground clearance; a calculation formula of the side-bending amount is as follows: wherein, S is the side-bending amount; L is the ground clearance of the detection part; is the side bend angle.

2. The off-winding detection structure of claim 1, wherein the detection part (1) further comprises a weight (105), the weight (105) being arranged on one side of the swing plate (101) along an oscillation axis thereof.

3. A work machine characterized by, comprises: a swing arm (4); the side-bending detection structure according to claim 1 or 2, the side-bending detection structure being arranged on the swing arm (4).

4. A work machine according to claim 3, characterised in that The work machine further comprises a controller and a prompting component, the controller and the side-bending detection structure, the prompting component being electrically connected, the controller being configured to control the prompting component to act according to the side-bending angle detected by the side-bending detection structure.

5. A method of detecting a side bend, characterized by, The side-bending detection method using the side-bending detection structure according to claim 1 or 2 comprises the following steps: obtaining a side-bending angle detected by the detection part (1); determining a side-bending state of the swing arm (4) according to the side-bending angle.

6. The method of detecting a side bend according to claim 5, wherein The side-bending detection method further comprises the following steps: controlling the prompting component to issue a prompt when the side-bending state is a preset state, wherein the preset state comprises a side-bending angle greater than a preset angle threshold or a side-bending amount greater than a preset side-bending amount threshold.

7. The method of detecting a side bend according to claim 6, wherein The side-bending detection method further comprises the following steps: obtaining a ground clearance of the detection part (1) from the ground; calculating a side-bending amount of the swing arm (4) according to the side-bending angle and the ground clearance.

8. The method of detecting a side bend according to claim 7, wherein The step of obtaining the ground clearance of the detection part (1) from the ground comprises: acquiring a length of the swing arm (4) at a position where the detection part (1) is located; acquiring a luffing angle of the swing arm (4); calculating a ground clearance of the detection part (1) from the ground according to the length and the luffing angle.

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