Weighing device, aerial mechanical tilt monitoring system and engineering machinery

Abstract

The present application relates to engineering machinery monitoring equipment, provide a kind of weighing device, including swing cylinder base, swing cylinder, weighing sensor and for connecting the load support of working bucket, the swing cylinder base is connected with the swing cylinder, the weighing sensor is installed on the output shaft upper end of the swing cylinder, the load support includes the weighing loading structure at upper end and the bending moment resistance structure at lower end, the weighing loading structure is pressed on the weighing sensor, to be able to load the weighing sensor axial, the bending moment resistance structure is arranged between the lower end of the output shaft, to be able to withstand the bending moment of the load support.In addition, the present application also provides high-altitude machinery tipping monitoring system and engineering machinery.The weighing device of the present application can effectively eliminate the influence of working bucket partial load on measurement results, improve the accuracy and reliability of measurement results.

Description

Technical Field

[0001] This invention relates to monitoring equipment for construction machinery, specifically, to weighing devices. Furthermore, this invention also relates to a high-altitude machinery tilting monitoring system and construction machinery. Background Technology

[0002] In aerial work platforms, equipment tipping is a major cause of safety accidents. To improve performance, it's desirable to maximize both the boom's working range and the bucket's load capacity. However, there's a negative correlation between boom working range and load capacity; the further the boom extends, the smaller the load capacity. Therefore, to prevent tipping, real-time and stable measurement of the bucket's load capacity under different boom positions is crucial.

[0003] However, when the aerial work platform is in operation, the force exerted by the work bucket and its load on the swing cylinder can be equivalent to a vertically downward force F and a bending moment M, such as... Figure 1 As shown, the bending moment causes the sensor's measurement results to inaccurately reflect the load's mass. Furthermore, during transportation and operation of the aerial work platform, vibrations and impacts caused by uneven road surfaces or the load itself can affect the sensor's accuracy and lifespan.

[0004] Chinese patent publication (CN201983846U) discloses a weighing device for an aerial work platform. The work platform is connected to a support shaft above, receiving the entire weight of the work platform. The support shaft passes through the platform bracket, a disc-type sensor, and the inner ring of a rolling bearing. A pressure plate in the middle of the support shaft presses against the disc-type sensor via a thrust bearing. The lower end of the support shaft is installed in a bushing of the platform bracket. A pair of rolling ball bearings are installed between the shaft and the bushing. When the heavy load inside the work platform causes an off-center load, the pair of rolling ball bearings will bear equal and opposite radial forces. The torque formed by this pair of forces will cancel out the bending moment caused by the off-center load. In the vertical direction, the bearings do not bear any axial force; therefore, all forces in the vertical direction are borne by the load cell, allowing for relatively accurate detection of the load inside the work platform.

[0005] However, the weighing device in this technical solution is an integrated structure with the support shaft running through the platform bracket, disc sensor and rolling bearing. Since the force of the working platform is transmitted from top to bottom, the deformation of the support shaft near the working bucket is large, which will have an impact on the sensor measurement due to the off-center load. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a weighing device that can effectively eliminate the influence of off-center loading of the working bucket on the measurement results and improve the accuracy and reliability of the measurement results.

[0007] The technical problem that this invention also aims to solve is to provide a high-altitude machinery tilting monitoring system. This system accurately weighs the load of the work bucket, thereby enabling real-time and accurate assessment of the tilting risk of the high-altitude machinery and improving the operational safety of the machinery.

[0008] Furthermore, the present invention provides an engineering machine that can accurately measure the load of the working bucket, thereby enabling real-time and accurate assessment of the risk of tipping over on the aerial work platform, thus improving the working safety of the aerial work platform.

[0009] To solve the above-mentioned technical problems, the present invention provides a weighing device, including a swing cylinder base, a swing cylinder, a weighing sensor, and a load bracket for connecting a working bucket. The swing cylinder base is connected to the swing cylinder, the weighing sensor is mounted on the upper end of the output shaft of the swing cylinder, and the load bracket includes a weighing loading structure at the upper end and a bending moment resisting structure at the lower end. The weighing loading structure is pressed onto the weighing sensor to apply axial load to the weighing sensor, and the bending moment resisting structure is located at the lower end of the output shaft to withstand the bending moment of the load bracket.

[0010] Preferably, the weighing surface of the load cell is connected in sequence from bottom to top to a rigid gasket, an elastic element, and a fixed flange, and the weighing loading structure is pressed onto the fixed flange.

[0011] Specifically, the through holes on the fixed flange, the elastic element, the rigid gasket, and the load cell are threaded to the upper end of the output shaft by bolts that pass through sequentially from top to bottom, with the top of the bolts being lower than the upper end face of the fixed flange.

[0012] Specifically, the weighing and loading structure includes a loading flange connected to the upper end of the load support, and the lower end face of the loading flange is pressed against the upper end face of the fixed flange.

[0013] Specifically, a drive shaft for transmitting the torque of the output shaft is mounted on the load bracket. The drive shaft is connected to the loading flange, and the lower end of the drive shaft passes through the through holes at the center of the fixed flange, the elastic element, the rigid gasket, and the weighing sensor from top to bottom, and is connected to the output shaft for transmission.

[0014] Preferably, the drive shaft does not contact the fixed flange, the elastic element, the rigid gasket, or the weighing sensor, and the bottom of the drive shaft does not contact the output shaft.

[0015] Specifically, the bending moment resisting structure includes an annular sleeve connected to the bottom of the load support, and the annular sleeve is sleeved on the rotating shaft at the lower end of the output shaft through a bearing.

[0016] Furthermore, the present invention provides a high-altitude machinery tilt monitoring system, comprising: a weighing unit, the weighing unit including any one of the weighing devices described in the above technical solutions, capable of detecting the load information of the work bucket in real time; a position sensing unit, the position sensing unit capable of detecting the tilt angle information of the chassis and the tilt angle and length information of the boom; a power unit, the power unit capable of driving the mechanical structure to perform operating actions; and a main control unit electrically connected to the weighing unit, the position sensing unit, and the power unit, wherein the main control unit performs the following control during operation: real-time acquisition of the load information of the work bucket, the tilt angle information of the chassis, and the tilt angle and length information of the boom, judging the risk of high-altitude machinery tilting based on the above information, and controlling the power unit according to the judgment result.

[0017] Specifically, determining the risk of overturning of aerial work platforms includes the following steps: S1, calculating the stabilizing torque generated by the counterweight of the aerial work platform based on the tilt angle information of the chassis; S2, calculating the actual overturning torque based on the tilt angle information of the chassis, the tilt angle and length information of the boom, and the load information of the work bucket, and then determining the allowable overturning torque; S3, determining the magnitude of the stabilizing torque and the allowable overturning torque. If the stabilizing torque is not greater than the allowable overturning torque, there is a risk of overturning, and the main control unit controls the power unit to stop operation and issue an overturning alarm; if the stabilizing torque is greater than the allowable overturning torque, the main control unit controls the power unit to perform predetermined actions.

[0018] Specifically, the position sensing unit includes a first tilt sensor, a second tilt sensor, and a displacement sensor. The first tilt sensor is disposed on the chassis to detect the tilt angle information of the chassis, the second tilt sensor is disposed on the boom to detect the tilt angle information of the boom, and the displacement sensor is disposed on the boom to detect the length information of the boom.

[0019] Typically, the boom includes multiple telescopic booms, and each telescopic boom is equipped with a displacement sensor.

[0020] Furthermore, the present invention also provides an engineering machinery, including the weighing device described in any one of the above technical solutions or the high-altitude machinery overturning monitoring system described in any one of the above technical solutions.

[0021] The beneficial effects of the present invention through the above solution are as follows:

[0022] The weighing device of this invention adopts a split design for the load support used to connect the working bucket. The upper end is a weighing loading structure, which presses onto the weighing sensor to perform axial loading. The lower end of the load support is a bending moment resisting structure, which is located at the lower end of the output shaft. During the weighing process, the reaction force of the bending moment resisting structure at the lower end of the output shaft is used to withstand the bending moment on the load support, thereby offsetting the influence of the bending moment on the weighing sensor. This allows the load support to apply all the axial force to the weighing sensor through the weighing loading structure. Since the weighing loading structure and the bending moment resisting structure are set separately, there is no integrated support shaft structure between them. Therefore, there is no situation where deformation of the support shaft structure causes off-center loading that affects the measurement results of the weighing sensor. With the cooperation of the weighing loading structure and the bending moment resisting structure, the influence of off-center loading on the measurement results is solved, and the accuracy and reliability of the measurement results are improved.

[0023] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0025] Figure 1 This is a schematic diagram of the force analysis of a high-altitude mechanical swing cylinder;

[0026] Figure 2 This is a schematic diagram of the overall structure of a specific embodiment of the weighing device of the present invention;

[0027] Figure 3 This is an exploded view of a specific embodiment of the weighing device of the present invention;

[0028] Figure 4 This is a schematic diagram of the upper structure of a specific embodiment of the weighing device of the present invention;

[0029] Figure 5 This is a schematic diagram of the drive shaft structure;

[0030] Figure 6 This is a schematic diagram of the lower structure of a specific embodiment of the weighing device of the present invention;

[0031] Figure 7 This is a schematic diagram of the structure of a specific embodiment of the weighing device of the present invention applied to an aerial work platform vehicle;

[0032] Figure 8 This is a force analysis diagram of a specific embodiment of the weighing device of the present invention in a vertical state;

[0033] Figure 9 This is a force analysis diagram of a specific embodiment of the weighing device of the present invention in an inclined state;

[0034] Figure 10 This is a schematic diagram of a specific embodiment of the high-altitude mechanical overturning monitoring system of the present invention;

[0035] Figure 11 This is a schematic diagram of the sensor arrangement of the position sensing unit;

[0036] Figure 12 This is a force analysis diagram of an aerial work platform vehicle;

[0037] Figure 13 This is a control logic diagram of a specific embodiment of the high-altitude mechanical overturning monitoring system of the present invention.

[0038] Explanation of reference numerals in the attached figures

[0039] 1. Swing cylinder base 2. Oil-free bushing

[0040] 3 rotating shafts 4 swing cylinders

[0041] 5. Load cells 6. Rigid pads

[0042] 7. Elastic element 8. Fixed flange

[0043] 9 Drive shafts 10 Load brackets

[0044] 11 Annular sleeve 12 Loading flange

[0045] 13 work buckets 14 booms

[0046] 15 Chassis 16 First Tilt Sensor

[0047] 17 Second tilt sensor 18 Displacement sensor

[0048] 19 Contact surface 20 Output shaft Detailed Implementation

[0049] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the present invention, and the scope of protection of the present invention is not limited to the specific embodiments described below.

[0050] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "forming," "having," "setting," and "connecting," etc., should be interpreted broadly. For example, a connection can be a direct connection or an indirect connection through an intermediate medium; it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate connector; it can be the internal communication of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0051] In this invention, unless otherwise specified, the directional terms "up," "down," "left," and "right" used to indicate the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention. The directional terms of this invention should be understood in conjunction with the actual installation state.

[0052] It should be noted that, unless otherwise specified, “radial” refers to the radial direction of the output shaft 20 of the swing cylinder 4, and “axial” refers to the axial direction of the output shaft 20 of the swing cylinder 4.

[0053] This invention provides a weighing device, see [link to relevant documentation]. Figures 2 to 6As a specific embodiment of the weighing device of the present invention, it includes a swing cylinder base 1, a swing cylinder 4, a weighing sensor 5, and a load bracket 10 for connecting the work bucket. The swing cylinder base 1 is connected to the swing cylinder 4; specifically, the swing cylinder base 1 is rigidly connected to the cylinder body of the swing cylinder 4. The load bracket 10 is connected to the output shaft 20 of the swing cylinder 4, thereby realizing the rotational adjustment of the load bracket 10. The swing cylinder base 1 can be mounted on the boom of different aerial work platforms. The weighing sensor 5 is installed on the upper end of the output shaft 20 of the swing cylinder 4. In this design, the load support 10 adopts a split design, comprising a weighing and loading structure at the upper end and a bending moment resisting structure at the lower end. The weighing and loading structure is pressed onto the weighing sensor 5 to axially load the weighing sensor 5. The bending moment resisting structure is located at the lower end of the output shaft 20 to withstand the bending moment of the load support 10. Specifically, the bending moment resisting structure can be sleeved on the rotating shaft 3 at the lower end of the output shaft 20, giving it the freedom of axial movement and axial rotation (rotation about the central axis of the output shaft 20). The rotating shaft 3 is connected to the pendulum. The output shaft 20 of the moving cylinder 4 is coaxially arranged, meaning that the load support 10 can move axially, preventing the lower end of the load support 10 from transmitting axial force to the rotating shaft 3. Simultaneously, the load support 10 has the freedom to rotate around the central axis of the output shaft 20, allowing the swing cylinder 4 to drive the load support 10 to rotate. During the measurement process of the load support 10 and its load by the load sensor 5, the reaction force of the rotating shaft 3 against the bending moment structure can counteract the influence of the bending moment on the load sensor 5. This allows the load support 10 to apply all the axial force to the load sensor 5 through the weighing loading structure. Since the direction of the weighing force axis of the load sensor 5 is consistent with the axial direction of the output shaft 20, the measurement results of the load sensor 5 are accurate and reliable. Furthermore, because the weighing loading structure and the bending moment structure are separate components, there is no integrated support shaft structure between them. Therefore, there is no situation where deformation of the support shaft structure causes off-center loading that affects the measurement results of the load sensor. With the cooperation of the weighing loading structure and the bending moment structure, the influence of off-center loading on the measurement results is eliminated.

[0054] As one specific embodiment of the weighing device of the present invention, see [link to specific embodiment]. Figures 2 to 4The weighing surface of the load cell 5 is connected from bottom to top to a rigid pad 6, an elastic element 7, and a fixed flange 8. The weighing loading structure is pressed onto the fixed flange 8. The elastic element 7 is in close contact with the rigid pad 6 below it and the fixed flange 8 above it, so that the weighing loading structure transfers the load sequentially through the fixed flange 8 and the elastic element 7 to the rigid pad 6. Finally, the force is evenly transferred to the upper surface of the load cell 5 through the rigid pad 6, so that the force on the load cell 5 is more uniform and the influence of off-center load on the measurement results is reduced. The elastic element 7 is preferably a rubber buffer pad. During the weighing process, the ground ripples and ridges will cause vibration and impact inside the working bucket weighing device of this invention. The elastic element 7 can reduce the vibration and impact, so as to reduce the fluctuation of the measurement results. It should be noted that the load cell 5 is preferably a disc-type load cell, which can be better installed on the output shaft 20. The disc-type load cell is coaxially set with the output shaft 20, and the rigid gasket 6, elastic element 7 and fixing flange 8 are all preferably disc-shaped and match the shape of the weighing surface of the disc-type load cell. This allows the force transmitted axially by the weighing loading structure to be transmitted more evenly to the weighing surface of the disc-type load cell, ensuring the accuracy of the measurement results of the load cell 5.

[0055] During the weighing process, the fixed flange 8, elastic element 7, rigid gasket 6, and load cell 5 need to be fixed to the upper end of the output shaft 20 of the swing cylinder 4, and they need to be pre-tightly fitted together to avoid gaps caused by mutual jumps, which would affect the measurement results of the load cell 5. See [link to relevant documentation]. Figure 3 and Figure 4 The fixed flange 8, elastic element 7, rigid gasket 6, and load cell 5 each have through holes for bolts to pass through. The bolt passes through these through holes sequentially from top to bottom and is threaded onto the upper end of the output shaft 20. The fixed flange 8, elastic element 7, rigid gasket 6, and load cell 5 are thus fixed to the output shaft 20. Furthermore, the weighing loading structure is pressed onto the fixed flange 8 to transmit axial force to the weighing surface of the load cell 5. Therefore, the top of the bolt needs to be lower than the upper end face of the fixed flange 8, ensuring a constant gap between the top of the bolt and the weighing loading structure. This prevents part of the load from the load bracket 10 from being distributed to the output shaft 20 through the bolt. Since the force applied by the weighing loading structure is transmitted to the load cell 5 sequentially through the fixed flange 8, elastic element 7, and rigid gasket 6, the bolt passing through the through holes of these components sequentially from top to bottom will not exert axial pressure on the bolt, thus avoiding affecting the weighing results.

[0056] As one specific embodiment of the weighing device of the present invention, see [link to specific embodiment]. Figure 3 and Figure 4The weighing and loading structure includes a loading flange 12 connected to the upper end of the load support 10. The lower end face of the loading flange 12 is pressed against the upper end face of the fixed flange 8. During the weighing process, under the action of gravity, the end faces of the two are always in contact. The lower end face of the loading flange 12 and the upper end face of the fixed flange 8 are both planes, and the lower end face of the loading flange 12 can completely cover the upper end face of the fixed flange 8, ensuring that the fixed flange 8 is subjected to uniform force.

[0057] During operation, in order to achieve rotational adjustment of the working bucket 13, a transmission shaft 9 for transmitting torque of the output shaft 20 is installed on the load support 10. Specifically, see [link to relevant documentation]. Figure 3 and Figure 4 The drive shaft 9 is connected to the loading flange 12, and the lower end of the drive shaft 9 passes through the through holes in the center of the fixed flange 8, the elastic element 7, the rigid gasket 6, and the weighing sensor 5 from top to bottom, and is connected to the output shaft 20 for transmission. To facilitate torque transmission, the lower end of the drive shaft 9 has two contact surfaces 19, which are parallel to the central axis of the output shaft 20 of the swing cylinder 4, thus allowing the drive shaft 9 to transmit the torque of the output shaft 20 without bearing axial force. It should be noted that the structural shape of the drive shaft 9 is varied; for example, the cross-sectional shape of the drive shaft 9 can be square or hexagonal, or the drive shaft 9 can be a splined shaft.

[0058] To further ensure that the load of the load bracket 10 is not transmitted to the output shaft 20 through the drive shaft 9, preferably, the drive shaft 9 does not contact the fixed flange 8, the elastic element 7, the rigid gasket 6, and the load cell 5, and the bottom of the drive shaft 9 does not contact the output shaft 20. During the weighing process, the load of the load bracket 10 will not directly apply axial force to the output shaft 20 through the drive shaft 9, nor will it indirectly transmit axial force to the output shaft 20 through the fixed flange 8, the elastic element 7, the rigid gasket 6, and the load cell 5. This ensures that the load of the load bracket 10 applies all axial force to the load cell 5. At the same time, since the drive shaft 9 does not contact the fixed flange 8, the elastic element 7, the rigid gasket 6, and the load cell 5, this part of the structure will not balance the bending moment, eliminating the influence of off-center load on the load cell 5, and making the measurement result of the load cell 5 accurate.

[0059] As a specific implementation of a bending moment resisting structure, see [link to relevant documentation]. Figure 3 and Figure 6The bending moment resisting structure includes an annular sleeve 11 connected to the bottom of the load support 10. The annular sleeve 11 is sleeved on the rotating shaft 3 through a bearing. The annular sleeve 11, the bearing, and the rotating shaft 3 are all coaxial with the output shaft 20 of the swing cylinder 4, so that the load support 10 can rotate around the rotating shaft 3. The bearing only bears radial force and does not bear any axial force, so that the load support 10 will not transmit axial force to the rotating shaft 3. The bending moment during weighing is offset by the reaction force of the rotating shaft 3 on the bearing, thus eliminating the influence of the eccentric load balancer 5.

[0060] For further optimization, see Figure 3 and Figure 6 The bearing located between the annular sleeve 11 and the rotating shaft 3 is an oil-free bushing 2. The oil-free bushing 2 is a self-lubricating bearing with excellent load-bearing capacity. It can be used stably even under heavy loads on the load support 10, greatly reducing the maintenance frequency. In addition, the oil-free bushing 2 is thin, which saves space and reduces the overall size of the device. At the same time, the central axes of the oil-free bushing 2, rotating shaft 3, swing mechanism 4, weighing sensor 5, transmission shaft 9 and annular sleeve 11 are all set on the same straight line. Therefore, the swing cylinder 4, weighing sensor 33 and load support 10 can be integrated in the same vertical plane, which can greatly reduce the space occupied by the weighing device and reduce the overall weight of the device. The structure is reasonable and convenient for subsequent maintenance and assembly.

[0061] Additionally, the oil-free bushing 2 can be coaxially mounted on the annular sleeve 11 at the lower end of the load support 10 via bolts. The upper end of the rotating shaft 3 is threaded, allowing the rotating shaft 3 to be threadedly connected to the lower end of the output shaft 20 of the swing cylinder 4. This allows the annular sleeve 11 to be fitted onto the rotating shaft 3 via the oil-free bushing 2, enabling the load support 10 to rotate around the rotating shaft 3 while also having the freedom to move up and down along the axial direction of the rotating shaft 3. When the working bucket 13 connected to the load support 10 is under load, the load support 10 will slide downwards due to the compression of the elastic element 7 (the maximum displacement of the slide is the maximum compression of the elastic element 7). At this time, the annular sleeve 11 only bears the bending moment and the frictional force between itself and the rotating shaft 3, and will not balance the weight of the load, ensuring that all axial forces of the load support 10 and the load are applied to the weighing surface of the weighing sensor 5.

[0062] The specific embodiments and preferred embodiments of the weighing device of the present invention have been described above. In order to better understand the technical solution of the weighing device of the present invention, the following will be carried out according to... Figure 7 and Figure 8 The specific embodiments shown illustrate the working principle of the weighing device of the present invention:

[0063] See Figure 7In one specific embodiment of the weighing device of the present invention, it is applied to an aerial work platform. The load support 10 is connected to the working bucket 13 of the aerial work platform. The force exerted by the working bucket 13 and its load on the weighing system can be equivalent to a force F axially downward along the output shaft 20 of the swing cylinder 4 (the weighing direction of the weighing sensor 5) and a bending moment M. The weighing device of the present invention loads the force F axially onto the weighing sensor 5 through the weighing loading structure located at the upper end, and balances the bending moment M through the bending moment anti-bending structure located at the lower end, ensuring that the weighing sensor 5 is not affected by the bending moment M during the weighing process.

[0064] Specifically, such as Figure 8 As shown, since there is no radial contact between the drive shaft 9 and the load cell 5, the rigid gasket 6, the elastic element 7 and the fixed flange 8, the load torque generated by the working bucket 13 is entirely borne by the rotating shaft 3. The reaction force of the rotating shaft 3 on the oil-free bushing 2 is f2, and its lever arm is D, which satisfies: M=f2×D, thereby being able to counteract the influence of the bending moment M on the load cell 5. Meanwhile, the gravity generated by the working bucket 13 and its load can be transmitted axially to the weighing surface of the weighing sensor 5. The magnitude of the downward force F along the axial direction is equal to the pressure f1 of the load support 10 on the upper surface of the fixed flange 8 and the frictional force f3 between the oilless bushing 2 and the rotating shaft 3, that is, F=f1+f3. Since the friction between the oilless bushing 2 and the rotating shaft 3 is relatively small, it can be ignored. Therefore, the pressure f1 measured by the sensor at this time is the gravity of the load support 10 and the connected working bucket 13 and the load. By subtracting the weight unrelated to the load in the working bucket 13 (the weight of the load support 10, the working bucket 13 and related connecting parts) from the measured value, the actual load of the load in the working bucket 13 can be obtained.

[0065] The above force analysis is based on the force analysis of the weighing device of the present invention in a vertical state, that is, the direction of the central axis of the output shaft 20 is the vertical direction. Under special circumstances, due to factors such as uneven ground, device shaking, and elastic deformation of the overall structure, the central axis of the output shaft 20 of the swing cylinder 4 of the weighing device of the present invention may not be in the vertical direction, but rather at a certain angle θ with the vertical line. That is, there is an angle θ between the pressure f1 of the load support 10 on the upper surface of the fixed flange 8 and the equivalent force F, which satisfies: After converting the measured value into the equivalent force F, and then subtracting the weight that is unrelated to the load in the working bucket 13 (the weight of the load support 10, the working bucket 13 and related connecting parts), the actual load in the working bucket 13 can be obtained.

[0066] Furthermore, the present invention also provides a high-altitude machinery overturning monitoring system, see [link to relevant documentation]. Figure 10The system includes a weighing unit, a position sensing unit, a power unit, and a main control unit. The weighing unit includes the weighing device of this invention, capable of real-time detection of the load information of the working bucket 13 to ensure the accuracy of the load information. The position sensing unit can detect the tilt angle information of the chassis 15, as well as the tilt angle and length information of the boom 14. The power unit can drive the mechanical structure to perform operational actions. The main control unit is electrically connected to the weighing unit, the position sensing unit, and the power unit. During operation, the main control unit performs the following control: real-time acquisition of the load information of the working bucket 13, the tilt angle information of the chassis 15, and the tilt angle and length information of the boom 14; based on this information, it assesses the risk of tipping over of the aerial work platform and controls the power unit according to the assessment result. It should be noted that the main control unit is equivalent to an automotive electronic control unit (ECU), capable of calculating, processing, judging, and then outputting commands to control the actions of relevant actuators based on its stored programs and various information input from the engine's sensors.

[0067] As one specific implementation of the position-aware unit, see [link to relevant documentation]. Figure 11 The position sensing unit includes a first tilt sensor 16, a second tilt sensor 17, and a displacement sensor 18. The first tilt sensor 16 is mounted on the chassis 15 to detect the tilt angle of the chassis 15. The second tilt sensor 17 is mounted on the boom 14 to detect the tilt angle of the boom 14. The displacement sensor 18 is mounted on the boom 14 to detect the length of the boom 14. It should be noted that, in order to achieve a higher aerial work height, the boom 14 includes multiple telescopic booms. Correspondingly, each telescopic boom is equipped with a displacement sensor 18 to determine the displacement of each telescopic boom.

[0068] Specifically, assessing the risk of machinery tipping over at height includes the following steps:

[0069] S1. Based on the tilt angle information of chassis 15, calculate the stabilizing torque generated by the high-altitude mechanical counterweight;

[0070] S2. Based on the tilt angle information of chassis 15, the tilt angle and length information of boom 14, and the load information of work bucket 13, calculate the actual overturning moment, and determine the allowable overturning moment based on the actual overturning moment.

[0071] S3. Determine the magnitude of the stabilizing torque and the allowable overturning torque. If the stabilizing torque is not greater than the allowable overturning torque, there is a risk of overturning. The main control unit controls the power unit to stop operation and issues an overturning alarm. If the stabilizing torque is greater than the allowable overturning torque, the main control unit controls the power unit to perform the predetermined actions.

[0072] It should be noted that the tipping moment refers to the moment that causes the aerial work platform to tip over, while the stabilizing moment is the moment used to resist the tipping of the aerial work platform. When the tipping moment exceeds the stabilizing moment, the aerial work platform will tip over. The actual tipping moment is the moment that can cause the risk of tipping over during the operation of the aerial work platform. However, during monitoring, it is necessary to ensure that the actual tipping moment is always less than the stabilizing moment, but it is also necessary to be able to stop operation and issue a tipping alarm when the actual tipping moment is about to reach the stabilizing moment. Therefore, in the event of an actual tipping... The allowable overturning moment is derived from the torque. This allowable overturning moment is greater than the actual overturning moment. By monitoring the magnitude of the allowable overturning moment and the stabilizing moment, the overturning risk of the aerial work platform is assessed. When the allowable overturning moment reaches the stabilizing moment, it means that the actual overturning moment is about to exceed the stabilizing moment, but at this point, the actual overturning moment is still less than the stabilizing moment, and the aerial work platform has not yet overturned. If the actual overturning moment continues to increase, there is a risk of overturning, and operations must be stopped to prevent the actual overturning moment from increasing further. The calculation method for the allowable overturning moment is selected according to actual needs. For example, a certain difference can be added to the specific value of the actual overturning moment to obtain the allowable overturning moment, or a certain percentage can be multiplied by the specific value of the actual overturning moment to obtain the allowable overturning moment.

[0073] See Figure 11 The aerial work platform needs to move from its initial position (attitude 1) to its final position (attitude 3). As the position of the boom 14 changes, the center of gravity of the boom 14, the work bucket 13, and its load also changes. The risk of tipping over is assessed based on the force analysis results of the aerial work platform. During the operation of the aerial work platform, the force analysis is as follows: Figure 12 As shown, it bears three loads: the counterweight G1 of the chassis 15, the self-weight G2 of the boom 14, and the total weight G3 of the work bucket 13 plus the load. G1 and G2 are fixed values ​​and do not require measurement, while G3 can be directly obtained from the measurement results of the weighing sensor 5 in the weighing unit. The turning point when the aerial work platform overturns is O. Taking this turning point O as the analysis object, the lever arm of G1 is L1, which can generate a stabilizing torque M1 to prevent the aerial work platform from overturning, satisfying: M1 = G1 × L1. The specific value of L1 can be calculated based on the distance from the center of gravity of the chassis counterweight to the turning point O, and the tilt angle β of the chassis 15 measured by the first tilt angle sensor 16. The lever arm of G2 is L2, and the lever arm of G3 is L3. Together, they can generate the overturning torque M2 that causes the aerial work platform to overturn. During use, due to the change in the extension length S of the boom 14, its center of gravity will have two situations. The first is as follows... Figure 11As shown, G2 and G3 are both located on the same side of the tilting and turning point O. Both G2 and G3 will generate a torque that causes the aerial work platform to tip over. Therefore, in this case, M2 = G3 × L3 + G2 × L2. In the second case, G2 and G3 are located on opposite sides of the tilting and turning point O, that is, G2 and G1 are on the same side. G2 will generate a torque to prevent the aerial work platform from tipping over. Therefore, in this case, M2 = G3 × L3 - G2 × L2. The specific values ​​of L2 and L3 can be calculated based on the extension length S of the boom 14 measured by the displacement sensor 18, the tilt angle α of the boom 14 measured by the second tilt angle sensor 17, and L1. When the overturning moment M2 is calculated, it is the actual overturning moment. To prevent the aerial work platform from overturning, it is necessary to monitor the stabilizing moment M1 in real time to ensure it is always greater than the overturning moment M2. However, in actual use, due to errors and the fact that the overturning moment M2 is constantly changing during equipment operation, to ensure safety, an allowable overturning moment M3 is derived from this overturning moment M2. This allowable overturning moment M3 is greater than the overturning moment M2. Therefore, when the stabilizing moment M1 reaches the allowable overturning moment M3, that is, when the stabilizing moment M1 is not greater than the allowable overturning moment... At position M3, the main control unit determines that there is a risk of tipping over. However, at this time, the stabilizing torque M1 is still greater than the tipping torque M2, so the aerial work platform will not tip over. The main control unit can promptly control the power unit to stop operation and issue a tipping alarm. When the stabilizing torque M1 is greater than the allowable tipping torque M3, the stabilizing torque M1 is always greater than the tipping torque M2. Therefore, the main control unit determines that there is no risk of tipping over. The main control unit controls the power unit to perform the predetermined action, that is, the main control unit controls the power unit to drive the mechanical structure, so that the boom 14 continues to move from position 1 to position 3.

[0074] The high-altitude machinery overturning monitoring system of this invention uses the weighing device provided by this invention, thus ensuring the accuracy of the weighing unit's detection results of the load information of the working bucket 13, thereby ensuring the correct calculation result of the allowable overturning moment M3, and enabling the main control unit to accurately judge the overturning hazard. The control logic diagram of this high-altitude machinery overturning monitoring system is as follows: Figure 13As shown, the tilt angle of the chassis 15, the tilt angle of the boom 14, and the length of the boom 14 are determined by the position sensing unit, and the weight of the work bucket 13 is determined by the weighing unit. The position sensing unit and the weighing unit jointly feed back the detected information to the main control unit. The main control unit analyzes and calculates the feedback information to obtain the stabilizing torque and the allowable overturning torque, and judges and analyzes the two. If the stabilizing torque is greater than the allowable overturning torque, the aerial work platform has no risk of overturning, and the main control unit continues to control the power unit to complete the action; if the stabilizing torque is not greater than the allowable overturning torque, the aerial work platform has a risk of overturning, the main control unit controls the power unit to stop working and issues an alarm to remind the staff until the staff makes adjustments until the stabilizing torque is greater than the allowable overturning torque.

[0075] Furthermore, the present invention also provides an engineering machinery, which includes the weighing device or high-altitude machinery overturning monitoring system provided by the present invention, possessing all its beneficial effects, which will not be elaborated here.

[0076] As can be seen from the above description of the various technical solutions of the present invention, the present invention mainly adopts a split design for the load support 10. The upper weighing and loading structure of the load support 10 can axially load the load onto the weighing sensor 5. The lower bending moment resisting structure is fitted onto the rotating shaft 3 at the lower end of the output shaft 20 of the swing cylinder 4, giving the load support 10 the freedom to move axially and rotate around the rotating shaft 3. Furthermore, during the weighing process, the reaction force of the rotating shaft 3 on the oil-free bushing 2 can counteract the bending moment borne by the load support 10, preventing the bending moment from acting on the weighing sensor 5 and ensuring the accuracy of the weighing results. Since the weighing and loading structure and the bending moment resisting structure are separate, there is no integrated support shaft structure running vertically between them. Therefore, there is no situation where deformation of the support shaft structure causes off-center loading that affects the measurement results of the weighing sensor. In addition, the high-altitude machinery overturning monitoring system of the present invention uses the weighing device of the present invention to ensure the accuracy of the load information of the working bucket 13. Through the coordinated cooperation of multiple systems, it can accurately judge the overturning risk of high-altitude machinery when performing high-altitude operations, thereby improving the safety of high-altitude operation equipment.

[0077] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0078] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0079] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A weighing device, characterized in that, The system includes a swing cylinder base (1), a swing cylinder (4), a weighing sensor (5), and a load bracket (10) for connecting a working bucket (13). The swing cylinder base (1) is connected to the swing cylinder (4). The weighing sensor (5) is mounted on the upper end of the output shaft (20) of the swing cylinder (4). The load bracket (10) includes a weighing loading structure at the upper end and a bending moment resisting structure at the lower end. The weighing loading structure is pressed onto the weighing sensor (5) to axially load the weighing sensor (5). The bending moment resisting structure is located at the lower end of the output shaft (20) to withstand the bending moment of the load bracket (10). The bending moment resisting structure has the freedom to move axially along the output shaft (20) and rotate about the central axis of the output shaft (20).

2. The weighing device according to claim 1, characterized in that, The weighing surface of the load cell (5) is connected from bottom to top to a rigid gasket (6), an elastic element (7) and a fixed flange (8), and the weighing loading structure is pressed onto the fixed flange (8).

3. The weighing device according to claim 2, characterized in that, The through holes on the fixed flange (8), the elastic element (7), the rigid gasket (6) and the weighing sensor (5) are connected to the upper end of the output shaft (20) by bolts passing through them sequentially from top to bottom, with the top of the bolts lower than the upper end face of the fixed flange (8).

4. The weighing device according to claim 2, characterized in that, The weighing and loading structure includes a loading flange (12) connected to the upper end of the load support (10), and the lower end face of the loading flange (12) is pressed against the upper end face of the fixed flange (8).

5. The weighing device according to claim 4, characterized in that, The load support (10) is provided with a transmission shaft (9) for transmitting the torque of the output shaft (20). The transmission shaft (9) is connected to the loading flange (12), and the lower end of the transmission shaft (9) passes through the through holes in the center of the fixed flange (8), the elastic element (7), the rigid gasket (6) and the weighing sensor (5) from top to bottom and is connected to the output shaft (20) for transmission.

6. The weighing device according to claim 5, characterized in that, The drive shaft (9) does not contact the fixed flange (8), the elastic element (7), the rigid gasket (6) and the weighing sensor (5), and the bottom of the drive shaft (9) does not contact the output shaft (20).

7. The weighing device according to claim 1, characterized in that, The bending moment resisting structure includes an annular sleeve (11) connected to the bottom of the load support (10), and the annular sleeve (11) is sleeved on the rotating shaft (3) at the lower end of the output shaft (20) through a bearing.

8. A high-altitude mechanical overturning monitoring system, characterized in that, include: A weighing unit, comprising the weighing device according to any one of claims 1-7, capable of detecting the load information of the working bucket (13) in real time; The position sensing unit is capable of detecting the tilt angle information of the chassis (15) and the tilt angle and length information of the boom (14); A power unit, which is capable of driving a mechanical structure to perform operational actions; The main control unit is electrically connected to the weighing unit, the position sensing unit and the power unit. During operation, the main control unit performs the following control: real-time acquisition of the load information of the working bucket (13), the tilt angle information of the chassis (15) and the tilt angle and length information of the boom (14), and judges the risk of overturning of the high-altitude machinery based on the above information, and controls the power unit according to the judgment result.

9. The high-altitude mechanical overturning monitoring system according to claim 8, characterized in that, Assessing the risk of machinery tipping over at height includes the following steps: S1. Based on the tilt angle information of the chassis (15), calculate the stabilizing torque generated by the high-altitude mechanical counterweight; S2. Based on the tilt angle information of the chassis (15), the tilt angle information and length information of the boom (14) and the load information of the work bucket (13), calculate the actual overturning moment, and determine the allowable overturning moment based on the actual overturning moment; S3. Determine the magnitude of the stabilizing torque and the allowable overturning torque. If the stabilizing torque is not greater than the allowable overturning torque, there is a risk of overturning. The main control unit controls the power unit to stop operating and issues an overturning alarm. If the stabilizing torque is greater than the allowable overturning torque, the main control unit controls the power unit to perform the predetermined actions.

10. The high-altitude mechanical overturning monitoring system according to claim 8, characterized in that, The position sensing unit includes a first tilt sensor (16), a second tilt sensor (17), and a displacement sensor (18). The first tilt sensor (16) is mounted on the chassis (15) to detect the tilt information of the chassis (15). The second tilt sensor (17) is mounted on the boom (14) to detect the tilt information of the boom (14). The displacement sensor (18) is mounted on the boom (14) to detect the length information of the boom (14).

11. The high-altitude machinery overturning monitoring system according to claim 10, characterized in that, The boom (14) includes a multi-stage telescopic boom, and each stage of the telescopic boom is equipped with a displacement sensor (18).

12. An engineering machinery, characterized in that, It includes the weighing device according to any one of claims 1-7 or the high-altitude mechanical overturning monitoring system according to any one of claims 8-11.

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