Dumper anti-rolling dynamic control system and method and dumper
By installing a dynamic anti-roll control system of weighing sensors and controllers on the dump truck, detecting and adjusting the expansion and contraction of the lifting cylinder, the problem of unstable and easy rolling when the heavy-duty dump truck is unloaded on rugged roads is solved, and the problem of unstable and easy rolling is achieved. Safe and stable transportation.
Patent Information
- Application Number
- CN202411304976.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-19
- Publication Date
- 2024-12-27
AI Technical Summary
When heavy-duty dump trucks unload goods on rugged roads, the vehicle body is unstable due to the blockage of the material at the rear of the cargo box, which is prone to danger of rolling backwards.
An anti-roll dynamic control system including a weighing sensor and a controller is adopted to detect the stress of the front and rear wheels and adjust the expansion and contraction of the lifting cylinder to ensure that the force under the rear wheel is less than the preset value and avoid the body from tilting.
It effectively avoids the risk of dump trucks rolling backwards during unloading, improves body stability, and ensures safe transportation.
Smart Images
Figure CN119189841A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of dump truck control, and in particular relates to a dump truck anti-rollover dynamic control system, method and dump truck. Background Art
[0002] Dump trucks are widely used engineering vehicles in production. The hydraulic lifting system of the cargo box makes unloading easier, making them an absolute leader in the transportation of earth, sand and gravel, construction materials, coal and other goods. Dump trucks are the absolute protagonists, especially in large construction sites such as construction sites and mining areas.
[0003] However, since heavy-duty dump trucks mostly work in construction sites, mountainous areas, open-pit mining sites and other operating areas with rugged roads, the unloading environment for heavy-duty dump trucks is poor. The dump truck that overturns backwards uses the lifting cylinder to lift the cargo box to dump the materials. Due to the different sizes of materials, the unloading area of the cargo box tailgate is blocked, causing the body of the truck to become unstable and prone to rolling backwards. Summary of the invention
[0004] In view of the above problems existing in the prior art, the present invention provides a dump truck anti-rollover dynamic control system, method and dump truck, which can dynamically regulate the dump truck to avoid the danger of backward tipping.
[0005] To achieve the above object, the technical solution provided by the present invention is as follows:
[0006] In the first aspect, the present application provides a dynamic control system for preventing a dump truck from rolling over, comprising a frame, a detection unit and a controller. A cargo box is arranged above the frame, one end of the cargo box is hinged to the frame, and the other end is connected to the frame through a lifting cylinder. Two sets of front and rear wheels are arranged below the frame. The detection unit comprises a weighing sensor. The frame is connected to the wheels through the weighing sensor. The weighing sensor is connected to a signal input end of the controller, and a signal output end of the controller is connected to the lifting cylinder. The controller controls the extension and retraction amount of the lifting cylinder through the force conditions fed back by the weighing sensor.
[0007] Optionally, the cargo box is hinged to the rear end of the frame, and the weighing sensor includes a first weighing sensor arranged between the front wheel and the frame and a second weighing sensor arranged between the rear wheel and the frame, the first weighing sensor is used to detect the force condition of the front wheel; the second weighing sensor is used to detect the force condition of the rear wheel.
[0008] Optionally, the controller is based on the force value F fed back by the first weighing sensor. a and the force value F fed back by the second load cell b Adjust the extension and retraction of the lifting cylinder to make F b <Default value K, Fa 、F b The relationship between and S is:
[0009] ;
[0010] In the formula, F a is the force value fed back by the first load cell at the front wheel, F b is the force value fed back by the second load cell at the rear wheel, R is the initial length of the lifting cylinder, s is the extension amount of the lifting cylinder, A is the angle between the line connecting the extension end of the lifting cylinder and the hinge point and the frame, L c L is the distance between the center of the hinge point between the cargo box and the frame and the connection point between the lifting cylinder and the frame. d L is the distance between the telescopic end of the telescopic cylinder and the center of the hinge point between the cargo box and the frame. a is the horizontal distance between the center of gravity and the front wheel, L g L is the horizontal distance between the center of gravity and the midpoint of the hinge between the cargo box and the frame. f is the distance between the two wheels.
[0011] Optionally, it also includes a first distance detector, the output end of the first distance detector is connected to the signal input end of the controller, the first distance sensor is arranged at the telescopic end of the lifting cylinder, and the first distance sensor is used to detect the distance between the telescopic end of the telescopic cylinder and the center of the hinge point of the cargo box and the frame.
[0012] Optionally, a second distance sensor is also included, which is used to detect the horizontal distance between the midpoint of the hinge point between the cargo box and the frame and the front wheel, and the distance between the midpoint of the hinge point between the cargo box and the frame and the connection point between the lifting cylinder and the frame.
[0013] Optionally, the horizontal distance L between the center of gravity and the front wheel when the cargo box is not raised a Obtained by the following formula:
[0014] ;
[0015] In the formula, F a0 F is the force value fed back by the first load cell when the cargo box is not lifted. b0 L is the force value fed back by the second weighing sensor when the cargo box is not lifted. f is the distance between the two wheels.
[0016] In a second aspect, the present application further provides a dump truck anti-rollover dynamic control method, which adopts the control system described in the first aspect and includes the following steps:
[0017] First, when the cargo box is not lifted, the center of gravity position of the frame and cargo box is detected;
[0018] Then, the lifting cylinder is stationary, and the horizontal distance L between the midpoint of the hinge point between the cargo box and the frame and the front wheel is obtained. a +L g , the distance between the two wheels is L f , the initial length R of the lifting cylinder and the distance L between the midpoint of the hinge point between the cargo box and the frame and the connection point between the lifting cylinder and the frame c , the angle A between the line connecting the telescopic end of the lifting cylinder and the hinge point and the frame, and the force value F fed back by the first weighing sensor a0 and the force value F fed back by the second load cell b0 ; Force F on rear wheel b The load-bearing safety threshold is set, which is recorded as K; the acquired information is transmitted to the controller;
[0019] The sensor is based on the formula Calculate the horizontal distance L between the center of gravity and the front wheel a ; Then calculate the horizontal distance L between the center of gravity and the midpoint of the hinge point between the cargo box and the frame g ;
[0020] After that, the controller controls the lifting cylinder to extend, and during the process, the distance between the telescopic end of the telescopic cylinder and the center of the hinge point between the cargo box and the frame, the force conditions of the front wheels and the rear wheels are continuously detected and transmitted to the controller; the controller calculates the force value F according to the feedback of the first load cell. a and the force value F fed back by the second load cell b Adjust the extension and contraction of the lifting cylinder s, and adjust F by adjusting the extension and contraction of the lifting cylinder b <The preset value K is OK;
[0021] The relationship between Fa, Fb and S is:
[0022] ;
[0023] Where, L y is the total length of the lifting cylinder, is the cargo box lifting angle, G is the vehicle body gravity; F a is the force value fed back by the first load cell at the front wheel, F b is the force value fed back by the second load cell at the rear wheel, R is the initial length of the lifting cylinder, s is the extension amount of the lifting cylinder, A is the angle between the line connecting the extension end of the lifting cylinder and the hinge point and the frame, L c L is the distance between the center of the hinge point between the cargo box and the frame and the connection point between the lifting cylinder and the frame. d L is the distance between the telescopic end of the telescopic cylinder and the center of the hinge point between the cargo box and the frame. a is the horizontal distance between the center of gravity and the front wheel, L gL is the horizontal distance between the center of gravity and the midpoint of the hinge between the cargo box and the frame. f is the distance between the two wheels.
[0024] In a third aspect, the present application also provides a dump truck, comprising the dump truck anti-rollover dynamic control system described in the first aspect.
[0025] Compared with the prior art, this application has at least the following beneficial effects:
[0026] The present invention detects the stress of the front and rear wheels of the dump truck through a weighing sensor, and can sense the state of the vehicle body. During the unloading process of the cargo box, the materials are accumulated at the rear of the cargo box, and the vehicle body has a tendency to flip backward. By setting the safety stress threshold at the rear wheel, the controller then adjusts the stress value F according to the feedback of the first weighing sensor. a and the force value F fed back by the second load cell b Adjust the extension and retraction of the lifting cylinder to make F b < preset value K, which can ensure that there is no backward rolling accident during the lifting process. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0028] Figure 1 This is a schematic diagram of the structure of a dump truck anti-rollover dynamic control system in an embodiment of the present application;
[0029] Figure 2 This is a schematic diagram of the structure of the dump truck in the lifting state in the embodiment of the present application;
[0030] Description of reference numerals:
[0031] 1. Vehicle frame; 2. Cargo box; 3. Wheels; 4. Lifting cylinder; 5. First weighing sensor; 6. Second weighing sensor. DETAILED DESCRIPTION
[0032] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use.
[0033] Example 1
[0034] like Figure 1 As shown, a dump truck anti-rollover dynamic control system includes a frame 1, a detection unit and a controller. A cargo box 2 is arranged above the frame 1. One end of the cargo box 2 is hinged to the frame 1, and the other end is connected to the frame 1 through a lifting cylinder 4. Two front and rear sets of wheels 3 are arranged below the frame 1. The detection unit includes a weighing sensor. The frame 1 is connected to the wheels 3 through the weighing sensor. The weighing sensor is connected to the signal input end of the controller. The signal output end of the controller is connected to the lifting cylinder 4. The controller controls the extension and retraction of the lifting cylinder 4 through the force feedback from the weighing sensor.
[0035] The front and rear wheel forces fed back by the load cell can sense the vehicle body state, and then adjust the extension and contraction amount of the lifting cylinder 4 to make F b < preset value K, thereby ensuring that no backward rollover accident occurs during the lifting process.
[0036] Example 2
[0037] The difference between this embodiment and the embodiment is that: it also includes a first distance sensor and a second distance sensor, the signal output ends of the first distance sensor and the second distance sensor are both connected to the signal input end of the controller, the first distance sensor is arranged at the telescopic end of the lifting cylinder 4, and the first distance sensor is used to detect the distance between the telescopic end of the telescopic cylinder and the center of the hinge point of the cargo box 2 and the frame 1; the second distance sensor is used to detect the horizontal distance between the midpoint of the hinge point of the cargo box 2 and the frame 1 and the front wheel, and the distance between the midpoint of the hinge point of the cargo box 2 and the frame 1 and the connection point of the lifting cylinder 4 and the frame 1.
[0038] The cargo box 2 is hinged to the rear end of the frame 1, and the weighing sensor includes a first weighing sensor 5 arranged between the front wheel 3 and the frame 1 and a second weighing sensor 6 arranged between the rear wheel 3 and the frame 1. The first weighing sensor 5 is used to detect the force condition of the front wheel 3; the second weighing sensor 6 is used to detect the force condition of the rear wheel 3.
[0039] The weighing sensor used in this application is the existing technology, which generally adopts a pressure sensor. The working principle is: when the pressure on the weighing sensor changes, the output current changes, and then the real-time force value is displayed through a signal method such as a transmitter or an instrument.
[0040] Horizontal distance L between the center of gravity and the front wheel when the cargo box is not raised a Obtained by the following formula:
[0041] ;
[0042] In the formula, F a0 F is the force value fed back by the first load cell when the cargo box is not lifted.b0 L is the force value fed back by the second weighing sensor when the cargo box is not lifted. f is the distance between the two wheels.
[0043] Then the horizontal distance between the midpoint of the hinge point between the cargo box 2 and the frame 1 and the front wheel is -L a The horizontal distance L between the center of gravity and the midpoint of the hinge point between the cargo box and the frame can be obtained. g .
[0044] The controller calculates the force value F according to the feedback of the first weighing sensor 5. a and the force value F fed back by the second weighing sensor 6 b Adjust the extension and retraction of the lifting cylinder 4, and adjust the extension and retraction of the lifting cylinder to make F b <Default value K, F a 、F b The relationship between and s is obtained through the following relationship:
[0045]
[0046]
[0047]
[0048]
[0049] From formula (1) to formula (4), we can get:
[0050] F a 、F b The relationship between and s is:
[0051]
[0052] Where, L y is the total length of the lifting cylinder, is the cargo box lifting angle, G is the vehicle body gravity; F a is the force value fed back by the first load cell at the front wheel, F b is the force value fed back by the second load cell at the rear wheel, R is the initial length of the lifting cylinder, s is the extension amount of the lifting cylinder, A is the angle between the line connecting the extension end of the lifting cylinder and the hinge point and the frame, L c L is the distance between the center of the hinge point between the cargo box and the frame and the connection point between the lifting cylinder and the frame. d L is the distance between the telescopic end of the telescopic cylinder and the center of the hinge point between the cargo box and the frame. a is the horizontal distance between the center of gravity and the front wheel, L g L is the horizontal distance between the center of gravity and the midpoint of the hinge between the cargo box and the frame. f is the distance between the two wheels.
[0053] The present application also provides a dump truck anti-rollover dynamic control method, which adopts the above control system and includes the following steps:
[0054] First, when the cargo box 2 is not lifted, the center of gravity position of the frame and the cargo box as a whole is detected;
[0055] Then, the lifting cylinder 4 is kept still, and the horizontal distance La+Lg between the midpoint of the hinge point between the cargo box 2 and the frame 1 and the front wheel and the distance L between the two wheels 3 are obtained. f , the initial length R of the lifting cylinder 4 and the distance L between the center of the hinge point between the cargo box 2 and the frame 1 and the connection point between the lifting cylinder 4 and the frame 1 c , the angle A between the line connecting the telescopic end of the lifting cylinder 4 and the hinge point and the frame 1, and the force value F fed back by the first weighing sensor a0 and the force value F fed back by the second load cell b0 ; Force F on rear wheel b The load-bearing safety threshold is set, which is recorded as K; the acquired information is transmitted to the controller;
[0056] The sensor is based on the formula Calculate the horizontal distance L between the center of gravity and the front wheel a ; Then calculate the horizontal distance L between the center of gravity and the midpoint of the hinge point between the cargo box and the frame g ;
[0057] Afterwards, the controller controls the lifting cylinder 4 to extend, and during the process, the force conditions of the front wheel 3 and the rear wheel 3 are continuously detected and transmitted to the controller; the controller calculates the force value F according to the feedback of the first weighing sensor 5. a and the force value F fed back by the second weighing sensor 6 b Adjust the extension and contraction of the lifting cylinder 4 to adjust F b <The preset value K is OK;
[0058] F a 、F b The relationship between and s is:
[0059]
[0060] Where, L y is the total length of the lifting cylinder, is the cargo box lifting angle, G is the vehicle body gravity; F a is the force value fed back by the first load cell at the front wheel, F b is the force value fed back by the second load cell at the rear wheel, R is the initial length of the lifting cylinder, s is the extension amount of the lifting cylinder, A is the angle between the line connecting the extension end of the lifting cylinder and the hinge point and the frame, L cL is the distance between the center of the hinge point between the cargo box and the frame and the connection point between the lifting cylinder and the frame. d L is the distance between the telescopic end of the telescopic cylinder and the center of the hinge point between the cargo box and the frame. a is the horizontal distance between the center of gravity and the front wheel, L g L is the horizontal distance between the center of gravity and the midpoint of the hinge between the cargo box and the frame. f is the distance between the two wheels.
[0061] The present application also provides a dump truck, comprising the above-mentioned dump truck anti-rollover dynamic control system.
[0062] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.
[0063] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.
Claims
1. A dump truck anti-rollover dynamic control system, characterized in that: It includes a frame, a detection unit and a controller. A cargo box is arranged above the frame. One end of the cargo box is hinged to the frame, and the other end is connected to the frame through a lifting cylinder. Front and rear two sets of wheels are arranged under the frame. The detection unit includes a weighing sensor. The frame is connected to the wheels through the weighing sensor. The weighing sensor is connected to the signal input end of the controller. The signal output end of the controller is connected to the lifting cylinder. The controller controls the extension and retraction amount of the lifting cylinder through the force feedback from the weighing sensor.
2. The dump truck anti-rollover dynamic control system according to claim 1, characterized in that: The cargo box is hinged to the rear end of the frame, and the weighing sensor includes a first weighing sensor arranged between the front wheel and the frame and a second weighing sensor arranged between the rear wheel and the frame. The first weighing sensor is used to detect the force condition of the front wheel; the second weighing sensor is used to detect the force condition of the rear wheel.
3. The dump truck anti-rollover dynamic control system according to claim 2, characterized in that: The controller calculates the force value F according to the feedback of the first weighing sensor. a and the force value F fed back by the second load cell b Adjust the extension and retraction of the lifting cylinder to make F b <Default value K, F a 、F b The relationship between and S is: ; In the formula, F a is the force value fed back by the first load cell at the front wheel, F b is the force value fed back by the second load cell at the rear wheel, R is the initial length of the lifting cylinder, s is the extension amount of the lifting cylinder, A is the angle between the line connecting the extension end of the lifting cylinder and the hinge point and the frame, L c L is the distance between the center of the hinge point between the cargo box and the frame and the connection point between the lifting cylinder and the frame. d L is the distance between the telescopic end of the telescopic cylinder and the center of the hinge point between the cargo box and the frame. a is the horizontal distance between the center of gravity and the front wheel, L g L is the horizontal distance between the center of gravity and the midpoint of the hinge between the cargo box and the frame. f is the distance between the two wheels.
4. The dump truck anti-rollover dynamic control system according to claim 1, characterized in that: It also includes a first distance detector, the output end of which is connected to the signal input end of the controller, and the first distance sensor is arranged at the telescopic end of the lifting cylinder. The first distance sensor is used to detect the distance between the telescopic end of the telescopic cylinder and the center of the hinge point between the cargo box and the frame.
5. The anti-rollover dynamic control system for detecting dump trucks according to claim 3 is characterized in that: It also includes a second distance sensor, which is used to detect the horizontal distance between the midpoint of the cargo box and the frame hinge point and the front wheel, and the distance between the midpoint of the cargo box and the frame hinge point and the connection point between the lifting cylinder and the frame.
6. The dump truck anti-rollover dynamic control system according to claim 5, characterized in that: Horizontal distance L between the center of gravity and the front wheel when the cargo box is not raised a It is obtained by the following formula: ； In the formula, F a0 F is the force value fed back by the first load cell when the cargo box is not lifted. b0 L is the force value fed back by the second weighing sensor when the cargo box is not lifted. f is the distance between the two wheels.
7. A dump truck anti-rollover dynamic control method, characterized in that: The control system according to any one of claims 1 to 5 is characterized in that it comprises the following steps: First, when the cargo box is not lifted, the center of gravity position of the frame and cargo box is detected; Then, the lifting cylinder is stationary, and the horizontal distance L between the midpoint of the hinge point between the cargo box and the frame and the front wheel is obtained. a +L g 、The distance between the two wheels L f , the initial length R of the lifting cylinder and the distance L between the midpoint of the hinge point between the cargo box and the frame and the connection point between the lifting cylinder and the frame c , the angle A between the line connecting the telescopic end of the lifting cylinder and the hinge point and the frame, and the force value F fed back by the first weighing sensor a0 and the force value F fed back by the second load cell b0 ; Force F on rear wheel b The load-bearing safety threshold is set, which is recorded as K; the acquired information is transmitted to the controller; The sensor is based on the formula Calculate the horizontal distance L between the center of gravity and the front wheel a ; Then calculate the horizontal distance L between the center of gravity and the midpoint of the hinge point between the cargo box and the frame g ; After that, the controller controls the lifting cylinder to extend, and during the process, the distance between the telescopic end of the telescopic cylinder and the center of the hinge point between the cargo box and the frame, the force conditions of the front wheels and the rear wheels are continuously detected and transmitted to the controller; the controller calculates the force value F according to the feedback of the first load cell. a and the force value F fed back by the second load cell b Adjust the extension and contraction of the lifting cylinder s, and adjust F by adjusting the extension and contraction of the lifting cylinder b <The preset value K is OK; The relationship between Fa, Fb and S is: ; Where, L y is the total length of the lifting cylinder, is the cargo box lifting angle, G is the vehicle body gravity; F a is the force value fed back by the first load cell at the front wheel, F b is the force value fed back by the second load cell at the rear wheel, R is the initial length of the lifting cylinder, s is the extension amount of the lifting cylinder, A is the angle between the line connecting the end of the lifting cylinder extension end and the hinge point and the frame, L c L is the distance between the center of the hinge point between the cargo box and the frame and the connection point between the lifting cylinder and the frame. d L is the distance between the telescopic end of the telescopic cylinder and the center of the hinge point between the cargo box and the frame. a is the horizontal distance between the center of gravity and the front wheel, L g L is the horizontal distance between the center of gravity and the midpoint of the hinge between the cargo box and the frame. f is the distance between the two wheels.
8. A dump truck, characterized in that: The invention comprises the dump truck anti-rollover dynamic control system as described in any one of claims 1 to 6.