Logging truck capable of preventing overload overturning and control method thereof

Abstract

The invention provides a felling vehicle capable of preventing overload overturning, the felling vehicle comprises a vehicle frame, a rotating frame, a telescopic frame and a felling accessory, the periphery of the vehicle frame is provided with a first balancing weight, a second balancing weight, a third balancing weight and a fourth balancing weight, and the first balancing weight, the second balancing weight, the third balancing weight and the fourth balancing weight are all movably connected with the vehicle frame; a plane coordinate system X-O-Y is established with the rotating axis of the rotating frame as the original point O, and the gravity centers of the first balancing weight and the third balancing weight are arranged on the X axis and located on the two sides of the vehicle frame; the gravity centers of the second balancing weight and the fourth balancing weight are arranged on the Y axis and located on the two sides of the frame. The frame is further provided with first to fourth driving parts, and the first to fourth driving parts are used for driving the first to fourth balancing weights to move respectively; a driving cabin is arranged on the rotating frame, and first to fourth keys for correspondingly controlling the first to fourth driving parts are arranged in the driving cabin. A driver can adjust the gravity center of the frame through the first to fourth keys to prevent the felling vehicle from overturning.

Description

Technical Field

[0001] The present invention relates to the technical field of logging vehicles, and in particular to an overload-resistant logging vehicle and a control method thereof. Background Art

[0002] In modern forestry management, logging trucks, as key production tools, are becoming increasingly important. Faced with vast forest resources and growing timber demand, traditional manual felling methods are no longer able to meet the requirements of efficient, safe, and environmentally friendly operations. The introduction of logging trucks is an effective response to this challenge.

[0003] In existing technology, logging trucks typically consist of a frame, a turret mounted on the frame, a telescopic frame mounted on the turret, and logging attachments mounted on the telescopic frame. When the telescopic frame is extended to its maximum length and the logging attachments are used to fell trees, maintaining this position for an extended period significantly increases the risk of the logging truck tipping over. Furthermore, when driving on mountainous roads, logging trucks frequently navigate uphill and downhill, which also increases the likelihood of tipping over. Once a logging truck tips over, the driver often lacks effective measures to prevent or mitigate the situation. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a logging truck that is resistant to overload and overturning, so as to solve the problems mentioned in the above background technology section.

[0005] The present invention is achieved through the following technical solutions: A logging vehicle that is resistant to overload and overturning comprises a vehicle frame, a rotating frame rotatably arranged on the vehicle frame, a telescopic frame arranged on the rotating frame, and a logging attachment arranged on the telescopic frame. The frame is provided with a first counterweight block, a second counterweight block, a third counterweight block and a fourth counterweight block respectively around the frame, and the first counterweight block to the fourth counterweight block are all movably connected to the frame; With the rotation axis of the rotating frame as the origin O, a plane coordinate system XOY is established, wherein the centers of gravity of the first counterweight block and the third counterweight block are set on the X axis and located on both sides of the frame; the centers of gravity of the second counterweight block and the fourth counterweight block are set on the Y axis and located on both sides of the frame; The frame is further provided with first to fourth driving members, which are used to drive the first to fourth counterweight blocks to move respectively; The rotating frame is provided with a cockpit, and the cockpit is provided with first to fourth buttons for correspondingly controlling the first to fourth driving members.

[0006] The beneficial effect of the above embodiment is that when the driver finds that the logging truck has signs of overturning, or when overload work is required in an emergency situation, the center of gravity of the frame can be adjusted by the first to fourth buttons to prevent the logging truck from overturning. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 This is a schematic diagram of the movement of the second counterweight and the third counterweight when the telescopic frame rotates to the first quadrant and starts felling wood in the first embodiment of the present invention.

[0008] Figure 2 This is a schematic diagram of the movement direction of the first to fourth counterweights in the first embodiment of the present invention.

[0009] Figure 3 This is a schematic diagram of the movement of the second counterweight and the third counterweight when the telescopic frame rotates to the first quadrant and starts felling wood in the second embodiment of the present invention.

[0010] Figure 4 This is a schematic diagram of the movement direction of the first to fourth counterweights in the second embodiment of the present invention.

[0011] Figure 5 It is a structural diagram for realizing the movement direction of the first to fourth counterweight blocks in the second embodiment.

[0012] Figure 6 A side view of a logging truck.

[0013] The above drawings include the following reference numerals: 01. Vehicle frame; 11. First counterweight; 12. Second counterweight; 13. Third counterweight; 14. Fourth counterweight; 02. Rotating frame; 03. Telescopic frame; 04. Logging attachment; 05. Cockpit; 06. First frame; 07. First drive member. DETAILED DESCRIPTION

[0014] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. It should be noted that the description of these embodiments is intended to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0015] Reference Figures 1 to 6As shown, a logging vehicle that is resistant to overload and overturning comprises a vehicle frame 01, a rotating frame 02 rotatably arranged on the vehicle frame 01, a telescopic frame 03 arranged on the rotating frame 02, and a logging attachment 04 arranged on the telescopic frame 03. The vehicle frame 01 is respectively provided with a first counterweight 11, a second counterweight 12, a third counterweight 13 and a fourth counterweight 14 on all four sides thereof. The first counterweight 11 to the fourth counterweight 14 are all movably connected to the vehicle frame 01. With the rotation axis of the rotating frame 02 as the origin O, a plane coordinate system XOY is established. The first counterweight 11 is a first counterweight 12, a second counterweight 13 and a fourth counterweight 14 are a second counterweight 13 and a fourth counterweight 14. The center of gravity of the first counterweight 11 and the third counterweight 13 is set on the X-axis and is located on both sides of the frame 01; the center of gravity of the second counterweight 12 and the fourth counterweight 14 is set on the Y-axis and is located on both sides of the frame 01; the frame 01 is also provided with a first driving member 07 to a fourth driving member, and the first driving member 07 to the fourth driving member are used to drive the first counterweight 11 to the fourth counterweight 14 to move respectively; a cockpit 05 is provided on the rotating frame 02, and the cockpit 05 is provided with a first button to a fourth button corresponding to the control of the first driving member 07 to the fourth driving member.

[0016] When the driver finds that the logging truck is overloaded and shows signs of overturning, or when the logging truck is traveling on an uphill or downhill road and shows signs of overturning, or when overload is required in emergency situations such as disaster relief, the driver can selectively press the first to fourth buttons to adjust the center of gravity of the frame 01 away from the overturning direction, thereby preventing the logging truck from overturning.

[0017] Reference Figure 1 and Figure 2 The following illustrates the movement directions of the first through fourth counterweights 11, 14 in Example 1 of the present invention. The first and third counterweights 11, 13 are movably connected to the vehicle frame 01 along the Y-axis; the second and fourth counterweights 12, 14 are movably connected to the vehicle frame 01 along the X-axis. This embodiment offers the advantage of adjusting the center of gravity of the vehicle frame 01 by selectively moving the first through fourth counterweights 11, 14 without significantly increasing the overall volume of the vehicle frame 01.

[0018] In the first embodiment, the horizontal translation structure of each counterweight is conventional in the mechanical field, such as by providing a guide rail on the vehicle frame 01, in which the counterweight is slidably mounted, and then driven by a gear on the motor engaging with a rack provided on the counterweight. Therefore, this is not shown in the accompanying drawings of the present invention. The first to fourth counterweights 11 to 14 can be located inside or outside the vehicle frame 01, and the location of the arrangement does not affect the achievement of the purpose of the present invention. In this example, the motor serves as the driving element.

[0019] Reference Figures 3 to 5 As shown, the following are the movement directions of the first to fourth counterweights 11 to 14 in the second embodiment provided by the present invention. The first counterweight 11 and the third counterweight 13 can move along the X-axis in a direction away from or toward the vehicle frame 01; the second counterweight 12 and the fourth counterweight 14 can move along the Y-axis in a direction away from or toward the vehicle frame 01.

[0020] In the second embodiment, in order to realize the movement of the counterweight, refer to Figure 5 As shown, the logging truck further includes a first frame 06, the upper end of which is rotatably connected to the vehicle frame 01. The vehicle frame 01 is provided with a first driving member 07, the output end of which is rotatably connected to the lower end of the first frame 06. A first counterweight 11 is disposed in the lower end of the first frame 06. Thus, the first counterweight 11 can be driven by the first driving member 07 to move away from or toward the rotation axis of the rotating frame 02. Similarly, the second counterweight 12 to the fourth counterweight 14 are connected to the vehicle frame 01 in the same manner as the first counterweight 11. In this embodiment, a hydraulic cylinder, a pneumatic cylinder, or the like can be selected as the driving member.

[0021] Furthermore, the frame 01 is provided with a spirit level and a processor. When the spirit level detects that the frame 01 overturns beyond a set angle, a signal is transmitted to the processor. The processor receives the signal and controls the first drive member 07 to the fourth drive member, and adjusts the center of gravity of the frame 01 by selectively moving the first counterweight block 11 to the fourth counterweight block 14.

[0022] The cooperation between the level meter and the processor can realize automatic adjustment of the counterweight to prevent the logging truck from overturning. For example, when the preset overturning angle is 35°, when the level meter detects that the frame 01 tilts more than 35°, it is judged that the logging truck has the risk of overturning, and the overturning direction is judged by the level meter. Figure 2 As shown, when the logging truck overturns in the direction of the Y-axis arrow, the first counterweight 11 and the fourth counterweight 14 move in the opposite direction of the overturning, thereby adjusting the center of gravity of the frame 01 to prevent the logging truck from overturning. Figure 4 As shown, when the logging truck overturns in the direction of the Y-axis arrow, the second counterweight 12 moves in the opposite direction of the overturning, thereby adjusting the center of gravity of the frame 01 to prevent the logging truck from overturning.

[0023] On the other hand, when the first counterweight 11 to the fourth counterweight 14 move in the motion mode of the first embodiment of the present invention, the present invention provides a control method for a logging truck that prevents overload and overturning, comprising the following steps: S1. With the rotation axis of the rotating frame 02 as the origin O, establish a plane coordinate system XOY, with the center of gravity of the first counterweight 11 and the third counterweight 13 set on the X-axis and arranged symmetrically about the origin, and the center of gravity of the second counterweight 12 and the fourth counterweight 14 set on the Y-axis and arranged symmetrically about the origin; S2. Obtain the quadrant area in the plane coordinate system where the telescopic frame 03 is located during operation, and then the counterweight block located at the diagonal position begins to move in a direction away from the logging attachment 04.

[0024] Reference Figure 1 As shown, when the driver is ready to operate the telescopic frame 03 to rotate to the first quadrant and start felling work, the second counterweight 12 and the third counterweight 13 can be moved to the third quadrant in advance, that is, by adjusting the counterweight to move it away from the felling attachment 04, the center of gravity of the frame 01 is adjusted to prevent the felling truck from overturning.

[0025] Further, refer to Figure 2 As shown, the method further includes step S3. In step S3, the X-axis points toward the front of the logging truck. When the logging truck is traveling along the X-axis and on a downhill section, the second counterweight 12 and the fourth counterweight 14 are translated toward the third and fourth quadrants, respectively. When the logging truck is traveling along the X-axis and on an uphill section, the second counterweight 12 and the fourth counterweight 14 are translated toward the first and second quadrants, respectively. When the logging truck is traveling on a road with a steep slope, the above operations enable the logging truck to safely climb the slope.

[0026] Further, refer to Figure 1 As shown, when the center of gravity of the two counterweights is coaxial with the axis of the telescopic frame 03 during operation, the anti-overturning effect can be most effectively achieved. Therefore, based on the above principles, and when the movement of the first to fourth counterweights 11 to 14 adopts the movement mode of the first embodiment of the present invention, then: In step S2, the displacement of the counterweight moving along the X-axis direction is Obtained by the following formula:

[0027] In step S2, the displacement of the counterweight on the Y axis Obtained by the following formula:

[0028] Where, It indicates that the maximum rated grabbing weight of the logging attachment 04 in the working position is obtained according to the load map pre-stored in the logging vehicle.

[0029] Indicates the telescopic length of the telescopic frame 03 when it is in the working position.

[0030] represents the angle between the telescopic frame 03 and the X axis; This can be obtained through the angle encoder installed on the logging vehicle.

[0031] Indicates the preset proportional coefficient; It is an experience value, used for adjustment and The weight ratio between them.

[0032] Indicates the weight of the counterweight moving along the Y axis, that is, the weight of the first counterweight 11 or the third counterweight 13 to be adjusted. In order to maintain balance, the weights of the first counterweight 11 to the fourth counterweight 14 are set equal.

[0033] Similarly, on the other hand, when the first counterweight 11 to the fourth counterweight 14 move in the motion mode of the second embodiment of the present invention, the present invention provides a control method for a logging truck that prevents overload and overturning, comprising the following steps: N1. With the rotation axis of the rotating frame 02 as the origin O, establish a plane coordinate system XOY. The centers of gravity of the first counterweight 11 and the third counterweight 13 are set on the X-axis and are arranged symmetrically about the origin. The centers of gravity of the second counterweight 12 and the fourth counterweight 14 are set on the X-axis and are arranged symmetrically about the origin. N2. Obtain the quadrant area in the plane coordinate system where the telescopic frame 03 is located during operation, and then the counterweight block located at the diagonal position begins to move in a direction away from the vehicle frame 01.

[0034] Reference Figure 3 As shown, when the driver is ready to manipulate the telescopic frame 03 to rotate to the first quadrant and start felling work, the second counterweight 12 and the third counterweight 13 can be moved away from the frame 01 in advance, that is, by adjusting the counterweight to move it away from the felling attachment 04, the center of gravity of the frame 01 is adjusted to prevent the felling truck from overturning.

[0035] Further, refer to Figure 4 As shown, the system further includes step N3. N3: The X-axis points toward the front of the logging truck. When the logging truck is traveling along the X-axis and on a downhill section, the second counterweight 12 moves along the X-axis and away from the vehicle frame 01. When the logging truck is traveling along the X-axis and on an uphill section, the fourth counterweight 14 moves along the X-axis and away from the vehicle frame 01. These operations enable the logging truck to safely climb a steep slope.

[0036] Further, refer to Figure 3 As shown, when the center of gravity of the two counterweights is coaxial with the axis of the telescopic frame 03 during operation, the anti-overturning effect can be most effectively achieved. Therefore, based on the above principles, and when the movement of the first to fourth counterweights 11 to 14 adopts the movement mode of the second embodiment of the present invention, then: In step N2, the displacement L of the counterweight block on the X-axis X Obtained by the following formula:

[0037] In step N2, the displacement L of the counterweight block on the Y axis is Y Obtained by the following formula:

[0038] Where, It indicates that the maximum rated grabbing weight of the logging attachment 04 in the working position is obtained according to the load map pre-stored in the logging vehicle.

[0039] Indicates the telescopic length of the telescopic frame 03 when it is in the working position.

[0040] represents the angle between the telescopic frame 03 and the X axis; This can be obtained through the angle encoder installed on the logging vehicle.

[0041] Indicates the preset proportional coefficient; It is an experience value, used for adjustment and The weight ratio between them.

[0042] Indicates the weight of the counterweight located on the X-axis; that is, the weight of the adjusted first counterweight 11 or the third counterweight 13. In order to maintain balance, the weights of the first counterweight 11 to the fourth counterweight 14 are set equal.

[0043] Indicates the distance between the edge of the frame 01 and the origin in the X-axis direction.

[0044] Indicates the distance between the edge of the frame 01 and the origin in the Y-axis direction.

[0045] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0046] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more of the features.

[0047] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A logging vehicle that can prevent overload and overturning, comprising a vehicle frame, a rotating frame rotatably arranged on the vehicle frame, a telescopic frame arranged on the rotating frame, and a logging attachment arranged on the telescopic frame, characterized in that: The first counterweight block, the second counterweight block, the third counterweight block and the fourth counterweight block are respectively arranged around the frame, and the first counterweight block to the fourth counterweight block are all movably connected to the frame; Taking the rotation axis of the rotating frame as the origin O, a plane coordinate system XOY is established, the center of gravity of the first counterweight block and the third counterweight block is set on the X axis and located on both sides of the frame; the center of gravity of the second counterweight block and the fourth counterweight block is set on the Y axis and located on both sides of the frame; The frame is further provided with a first driving member to a fourth driving member, and the first driving member to the fourth driving member are respectively used to drive the first counterweight block to the fourth counterweight block to move; The rotating frame is provided with a cockpit, and the cockpit is provided with first to fourth buttons corresponding to controlling the first to fourth driving members.

2. The overload-proof logging vehicle according to claim 1, characterized in that: The first counterweight block and the third counterweight block are movably connected to the vehicle frame along the Y-axis direction; the second counterweight block and the fourth counterweight block are movably connected to the vehicle frame along the X-axis direction.

3. The overload-resistant logging vehicle according to claim 1, characterized in that: The first counterweight block and the third counterweight block can move along the X-axis in a direction away from or close to the frame; the second counterweight block and the fourth counterweight block can move along the Y-axis in a direction away from or close to the frame.

4. A logging vehicle that prevents overload and overturning according to any one of claims 1 to 3, characterized in that: The frame is provided with a level and a processor. When the level detects that the frame overturns beyond a set angle, a signal is transmitted to the processor. The processor receives the signal and controls the first driving member to the fourth driving member, and adjusts the center of gravity of the frame by selectively moving the first counterweight block to the fourth counterweight block.

5. A method for controlling a logging vehicle, characterized in that: The structure of the logging vehicle is an overload-proof logging vehicle as claimed in claim 2, and the control method thereof comprises the following steps: S1. With the rotation axis of the rotating frame as the origin O, a plane coordinate system XOY is established, the center of gravity of the first counterweight block and the third counterweight block is set on the X-axis, and they are arranged symmetrically along the origin, and the center of gravity of the second counterweight block and the fourth counterweight block is set on the Y-axis, and they are arranged symmetrically along the origin; S2. Obtain the quadrant area in the plane coordinate system where the telescopic frame is located when in operation, and then the counterweight block located at the diagonal position starts to move in a direction away from the logging attachment.

6. The control method of a logging vehicle according to claim 5, characterized in that: The step S3 is also included, S3. The X-axis points to the front direction of the logging truck. When the logging truck travels along the X-axis direction and is in a downhill section, the second counterweight block and the fourth counterweight block translate toward the third quadrant and the fourth quadrant respectively; when the logging truck travels along the X-axis direction and is in an uphill section, the second counterweight block and the fourth counterweight block translate toward the first quadrant and the second quadrant respectively.

7. The control method of a logging vehicle according to claim 5, characterized in that: In step S2, the displacement of the counterweight moving along the X-axis direction is Obtained by the following formula: In step S2, the displacement of the counterweight block on the Y axis is Obtained by the following formula: In the formula, Indicates that the maximum rated grab weight of the logging attachment in the working position is obtained according to the load map pre-stored in the logging vehicle; Indicates the telescopic length of the telescopic frame when it is in the working position; represents the angle between the telescopic frame and the X-axis; Indicates the preset proportionality factor; Indicates the weight of the counterweight moving along the Y axis.

8. A method for controlling a logging vehicle, characterized in that: The structure of the logging vehicle is an overload-proof logging vehicle as claimed in claim 3, and the control method thereof comprises the following steps: N1. With the rotation axis of the rotating frame as the origin O, a plane coordinate system XOY is established, the center of gravity of the first counterweight block and the third counterweight block is set on the X-axis, and they are arranged symmetrically along the origin, and the center of gravity of the second counterweight block and the fourth counterweight block is set on the X-axis, and they are arranged symmetrically along the origin; N2. Obtain the quadrant area in the plane coordinate system where the telescopic frame is located when in operation, and then the counterweight block located at the diagonal position begins to move in a direction away from the frame.

9. The control method of a logging vehicle according to claim 8, characterized in that: Also includes step N3, N3. The X-axis points to the front direction of the logging truck. When the logging truck is traveling along the X-axis and is on a downhill section, the second counterweight moves along the X-axis and in a direction away from the frame; when the logging truck is traveling along the X-axis and is on an uphill section, the fourth counterweight moves along the X-axis and in a direction away from the frame.

10. The control method of a logging vehicle according to claim 8, characterized in that: In step N2, the displacement of the counterweight block on the X-axis Obtained by the following formula: In step N2, the displacement L of the counterweight block on the Y axis Y Obtained by the following formula: In the formula, Indicates that the maximum rated grab weight of the logging attachment in the working position is obtained according to the load map pre-stored in the logging vehicle; Indicates the telescopic length of the telescopic frame when it is in the working position; represents the angle between the telescopic frame and the X-axis; Indicates the preset proportionality factor; Indicates the weight of the counterweight located on the X-axis; Indicates the distance from the edge of the frame to the origin in the X-axis direction; Indicates the distance between the edge of the frame and the origin in the Y-axis direction.

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