Pipe hanging machine load control device and control method

Abstract

The application discloses a kind of hoist pipe machine load control device and control method in the technical field of engineering machinery;Control device includes: sensor assembly, for detecting the upper car platform angle acceleration of hoist pipe machine, boom angle and hoisting weight;Control unit is used to receive the detection data of sensor assembly, compare detection data with set value, judge whether to carry out throw load operation according to comparison result, output operation signal;Actuator, according to the operation signal of control system, start or end throw load action.The application judges the construction state of hoist pipe machine by collecting the data of whole machine state information, compares and analyzes by control unit and controls throw load mechanism, completes anti-overturning throw load action;Make hoist pipe machine can be in the state that vehicle body posture starts to overturn under the condition that load overload, throw load operation is carried out by reasonable control strategy, prevent the accident of vehicle overturning;Make the adaptability of hoist pipe machine to terrain stronger and safer.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery technology, and more specifically, relates to a load control device and control method for a pipe-laying machine. Background Technology

[0002] Pipe-laying machines are specialized equipment used in oil and gas pipeline construction. They are mainly used for laying, aligning, and lowering large-diameter pipes into trenches, and are characterized by their large lifting capacity and ability to travel on flat surfaces under load. As the scale of pipeline construction continues to expand, the construction scenarios become more complex, especially in mountainous areas with steep slopes and loose soil. Pipe-laying machines need to carry pipes under heavy loads during rotation, travel, and pipe laying operations, which can easily lead to vehicle tilting and the possibility of overturning.

[0003] Most existing pipe-laying machines are limited to a small turning area when operating on flat ground. When working on slopes with a gradient greater than 10 degrees, ordinary pipe-laying machines can only lay pipes vertically and cannot transport them back to their original positions, requiring coordination with a pipe-transporting machine. Furthermore, most existing pipe-laying machines lack track extension capabilities, resulting in inconsistent rated loads with varying turning angles. When performing pipe-laying and turning operations on flat ground, there is a risk of overloading and overturning at certain points. Conventional excavators are not specialized lifting equipment and can only perform fixed-angle lifting operations with a relatively horizontal vehicle body. When performing pipe-laying and turning operations on mountainous or sloping terrain, factors such as uneven load distribution and soft soil conditions can cause the vehicle to overturn. Summary of the Invention

[0004] The purpose of this invention is to address the above-mentioned shortcomings by providing a load control device and method for a pipe-laying machine, enabling the pipe-laying machine to perform load shedding operations through a reasonable control strategy when the load is overloaded and the vehicle body begins to tilt, thereby preventing vehicle rollover accidents.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0006] In a first aspect, the present invention provides a load control device for a pipe-laying machine, comprising:

[0007] Sensor components are used to detect the tilt angle and acceleration of the upper platform of the pipe-laying machine, the boom angle, and the lifting weight;

[0008] The control unit is used to receive the detection data from the sensor components, compare the detection data with the set value, determine whether to perform a load dumping operation based on the comparison result, and output an operation signal.

[0009] The actuator starts or stops the load dumping action according to the operation signal of the control unit.

[0010] Furthermore, the sensor assembly includes:

[0011] The platform tilt sensor is installed on the loading platform to detect the tilt angle and acceleration of the loading platform.

[0012] A boom tilt sensor, mounted on the boom, is used to detect the boom angle;

[0013] A pin sensor, mounted on the top of the boom, is used to detect the lifting weight.

[0014] Furthermore, the control unit includes a torque limiter main unit and a vehicle controller.

[0015] The torque limiter host is used to receive the detection data from the sensor assembly, compare the detection data with the set value, determine whether to perform a load dumping operation based on the comparison result, and output an operation command.

[0016] The vehicle controller is used to receive load shedding operation commands and output control signals to the actuators.

[0017] Furthermore, the control unit also includes a torque limiter display screen and control buttons;

[0018] The torque limiter display screen is used to receive signals from the torque limiter host and issue alarm prompts.

[0019] The control button is used by the operator to manually operate the control actuator. After receiving an alarm prompt, the operator can perform manual inspection. If an abnormality is detected, pressing the button will stop the load shedding operation of the control actuator.

[0020] Furthermore, the actuator includes a directional valve and a hoist motor clutch;

[0021] The reversing valve receives the operation signal from the control system, causing the hoist motor clutch to disengage and thus release the load.

[0022] Furthermore, the directional valve is an electromagnetic directional valve or a hydraulically controlled directional valve; it is controlled by an electrical signal or a pilot oil circuit.

[0023] In a second aspect, the present invention provides a control method for the load control device of the pipe-laying machine described in the first aspect, comprising:

[0024] Obtain the boom angle and lifting weight of the pipe-laying machine;

[0025] Calculate the current load based on the obtained boom angle and lifting weight of the pipe-laying machine;

[0026] If the current load is greater than the rated load, then detect the tilt angle acceleration of the upper platform of the pipe-laying machine;

[0027] If the tilt angle acceleration of the loading platform exceeds the set value, the pre-operation of load shedding is initiated, and the actuator is controlled to perform the load shedding operation.

[0028] Furthermore, the control method also includes:

[0029] After the load is dropped, the boom angle and the lifted weight are monitored in real time, and the current load is calculated.

[0030] If the current load continues to exceed the rated load within the preset time period, the load dumping operation will continue.

[0031] If the current load remains less than the rated load for a preset time period, the tilt angle acceleration of the upper platform of the pipe-laying machine will be detected.

[0032] If the tilt angle acceleration of the loading platform continues to exceed the set value within a preset time period, the load shedding operation will continue.

[0033] If the tilt angle acceleration of the loading platform remains below the set value for a preset time period, the load shedding action will end.

[0034] Furthermore, the control method also includes:

[0035] An alarm is issued after the load shedding pre-operation is initiated;

[0036] After receiving the alarm, staff will conduct manual inspection. If an abnormality is detected, they will manually operate the control actuator to stop the load shedding.

[0037] Furthermore, the control actuator performs a load dumping operation, including:

[0038] The vehicle controller outputs control signals to the reversing valve;

[0039] The reversing valve reverses the drive of the hoist motor clutch to disengage and perform the load shedding action.

[0040] This invention collects data on the tilt angle and acceleration of the upper platform, the boom angle, and the lifting weight, and sends the data to the control unit. The control unit analyzes and judges the overall working status of the machine. When the vehicle tilts, it makes a load-drop judgment and outputs a control signal to the actuator to realize the rapid descent of the winch to eliminate the impending overturning of the vehicle.

[0041] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0042] This invention judges the construction status of the pipe-laying machine by collecting data on the overall machine status, and uses the control unit to compare and analyze and control the load-throwing mechanism to complete the anti-tipping load-throwing action. This enables the pipe-laying machine to effectively reduce the possibility of tipping over during pipe-laying construction on steep slopes or mountainous conditions, making the pipe-laying machine more adaptable to terrain and safer. It can also be used for construction operations that require lifting and turning on flat ground or slopes.

[0043] This invention utilizes a torque limiter main unit and a vehicle controller for control. The control principle is simple and reliable, not only fulfilling all the functions required for pipe laying construction, but also making it safer than existing pipe laying machines on the market; it is suitable for industrial-scale promotion and application. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the structure of a pipe-laying machine load control device provided in Embodiment 1 of the present invention;

[0045] Figure 2 This is a flowchart illustrating a load control method for a pipe-laying machine provided in Embodiment 3 of the present invention.

[0046] In the diagram: 1. Platform tilt sensor; 2. Boom tilt sensor; 3. Pin sensor; 4. Torque limiter main unit; 5. Torque limiter display screen; 6. Vehicle controller; 7. Electromagnetic directional valve; 8. Winch motor clutch; 9. Control button. Detailed Implementation

[0047] Preferred embodiments of the present invention will now be described in more detail with reference to the accompanying drawings and specific examples.

[0048] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the 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, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0049] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0050] Example 1

[0051] This embodiment provides a load control device for a pipe-laying machine, such as... Figure 1 As shown, it includes platform tilt sensor 1, boom tilt sensor 2, pin shaft sensor 3, torque limiter main unit 4, torque limiter display screen 5, vehicle controller 6, electromagnetic reversing valve 7, winch motor clutch 8, and control button 9.

[0052] In this embodiment, the platform tilt sensor 1 is installed on the upper platform to detect the angle and angular acceleration between the upper platform and the horizontal ground, i.e., the tilt angle acceleration of the upper platform; the boom tilt sensor 2 is installed on the boom to detect the angle between the boom and the horizontal plane, i.e., the boom angle; and the pin sensor 3 is installed on the top of the boom in a hinged manner to measure the weight of the lifted load, i.e., the lifting weight.

[0053] In this embodiment, the platform tilt sensor 1, boom tilt sensor 2, pin sensor 3, torque limiter host 4, torque limiter display screen 5, and vehicle controller 6 are interconnected via a CAN bus. The torque limiter host 4 collects data from the above sensors, compares it with set values, determines whether to perform a load shedding operation based on the comparison result, and outputs an operation command to the vehicle controller 6. The vehicle controller 6 outputs a control electrical signal to the solenoid directional valve. Simultaneously, the torque limiter host 4 sends a signal to the torque limiter display screen 5, which receives the signal and issues an alarm prompt.

[0054] In this embodiment, the electromagnetic reversing valve 7, under the control of the vehicle controller 6, controls the opening and closing of the winch motor clutch 8 to perform load shedding or end load shedding.

[0055] The control button 9 described in this embodiment is used by the operator to manually operate the control actuator. After receiving an alarm prompt, the operator can perform manual inspection. If an abnormality is detected, the operator can press the button to control the actuator to stop the load shedding operation.

[0056] Example 2

[0057] This embodiment provides a load control device for a pipe-laying machine. A hydraulically controlled directional valve is used instead of the electromagnetic directional valve 7 in Embodiment 1 as the actuator. The vehicle controller 6 controls the hydraulically controlled directional valve to switch directions through a hydraulic pilot circuit, thereby controlling the opening and closing of the hoisting motor clutch 8; other aspects are the same as in Embodiment 1.

[0058] Example 3

[0059] This embodiment provides a load control method for a pipe-laying machine, including:

[0060] Obtain the boom angle and lifting weight of the pipe-laying machine;

[0061] If the lifting weight is greater than the rated load corresponding to the current boom angle, then the tilt angle acceleration of the upper platform of the pipe-laying machine is detected.

[0062] If the tilt angle acceleration of the loading platform exceeds the set value, the pre-operation of load shedding is initiated, and the actuator is controlled to perform the load shedding operation.

[0063] The pipe-laying machine load control method described in this embodiment is implemented using the pipe-laying machine load control device described in Embodiment 1. In conjunction with Embodiment 1, the control method described in this embodiment is as follows: Figure 2 As shown, the specific steps include:

[0064] S1. The torque limiter host 4 collects the boom angle through the boom tilt sensor 2;

[0065] S2, The torque limiter host 4 collects the lifting weight through the pin sensor 3;

[0066] S3. The torque limiter host 4 calculates the current load β based on the collected boom angle and lifting weight, and compares it with the stored rated load table; if the current load β is less than the rated load, the operation ends.

[0067] S4. If the current load β is greater than the rated load, the tilt angle acceleration α of the upper platform is collected by the platform tilt angle sensor 1; if the collected tilt angle acceleration α of the upper platform is less than the set value, the operation ends.

[0068] S5. If the collected tilt angle acceleration α of the upper platform is greater than the set value, the torque limiter host 4 enters the load dumping pre-operation and sends a signal to the vehicle controller 6. The vehicle controller 6 outputs a control signal to the electromagnetic reversing valve 7. The electromagnetic reversing valve 7 is energized for a duration of c seconds, causing the winch motor clutch 8 to disengage.

[0069] S6. The torque limiter host 4 continuously monitors the boom angle and lifting weight in real time, and calculates the current load β. If the current load β is greater than the rated load for c1 seconds, the electromagnetic reversing valve 7 is energized for c seconds. If the current load β is less than the rated load for c1 seconds, the platform tilt angle acceleration α is collected by the platform tilt angle sensor 1.

[0070] S7. If the tilt angle acceleration α of the upper platform is greater than the set value for c2 seconds, the electromagnetic reversing valve 7 will be energized for c seconds; if the tilt angle acceleration α of the upper platform is less than the set value for c2 seconds, the electromagnetic reversing valve 7 will be de-energized and the load shedding action will end.

[0071] In step S5 above, the torque limiter host 4 enters the pre-load release operation and simultaneously sends a signal to the torque limiter display screen 5. Upon receiving the signal, the torque limiter display screen 5 issues an alarm prompt. After receiving the alarm prompt, the operator performs manual inspection. If an abnormality is detected, the operator manually presses the control button 9 to de-energize the solenoid directional valve 7 and end the load release action; otherwise, the solenoid directional valve 7 remains energized for c seconds.

[0072] The specific values ​​of c seconds, c1 seconds, and c2 seconds mentioned in this embodiment can be set and adjusted according to actual usage.

[0073] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and principles of the described embodiments, and these modifications and variations should also be considered within the scope of protection of the present invention.

Claims

1. A load control device for a pipe-laying machine, characterized in that, include: Sensor components are used to detect the tilt angle and acceleration of the upper platform of the pipe-laying machine, the boom angle, and the lifting weight; The control unit receives detection data from the sensor components, compares the detection data with a set value, determines whether to perform a load shedding operation based on the comparison result, and outputs an operation signal. The control unit includes a torque limiter main unit and a vehicle controller. The torque limiter main unit receives detection data from the sensor components, compares the detection data with a set value, determines whether to perform a load shedding operation based on the comparison result, and outputs an operation command. The vehicle controller receives the load shedding operation command and outputs a control signal to the actuator. The actuator is used to start or stop the load dumping action according to the operation signal of the control unit.

2. The load control device for the pipe-laying machine according to claim 1, characterized in that, The sensor assembly includes: The platform tilt sensor is installed on the loading platform to detect the tilt angle and acceleration of the loading platform. A boom tilt sensor, mounted on the boom, is used to detect the boom angle; A pin sensor, mounted on the top of the boom, is used to detect the lifting weight.

3. The load control device for the pipe-laying machine according to claim 1, characterized in that, The control unit also includes a torque limiter display screen and control buttons; The torque limiter display screen is used to receive signals from the torque limiter host and issue alarm prompts. The control button is used to manually operate the control actuator to end the load dumping operation.

4. The load control device for the pipe-laying machine according to claim 1, characterized in that, The actuator includes a reversing valve and a hoisting motor clutch; The reversing valve receives the operation signal from the control system, causing the hoist motor clutch to disengage and thus release the load.

5. The load control device for the pipe-laying machine according to claim 4, characterized in that, The reversing valve is either an electromagnetic reversing valve or a hydraulically controlled reversing valve.

6. A control method for the load control device of a pipe-laying machine according to any one of claims 1 to 5, characterized in that, include: Obtain the boom angle and lifting weight of the pipe-laying machine; Calculate the current load based on the obtained boom angle and lifting weight of the pipe-laying machine; If the current load is greater than the rated load, then detect the tilt angle acceleration of the upper platform of the pipe-laying machine; If the tilt angle acceleration of the loading platform exceeds the set value, the pre-operation of load shedding is initiated, and the actuator is controlled to perform the load shedding operation. After the load is dropped, the boom angle and the lifted weight are monitored in real time, and the current load is calculated. If the current load continues to exceed the rated load within the preset time period, the load dumping operation will continue. If the current load remains less than the rated load for a preset time period, the tilt angle acceleration of the upper platform of the pipe-laying machine will be detected. If the tilt angle acceleration of the loading platform continues to exceed the set value within a preset time period, the load shedding operation will continue. If the tilt angle acceleration of the loading platform remains below the set value for a preset time period, the load shedding action will end.

7. The control method of the pipe-laying machine load control device according to claim 6, characterized in that, The control method further includes: An alarm is issued after the load shedding pre-operation is initiated; After receiving the alarm, staff will conduct manual inspection. If an abnormality is detected, they will manually operate the control actuator to stop the load shedding.

8. The control method of the pipe-laying machine load control device according to claim 6, characterized in that, The control actuator performs a load dumping operation, including: The vehicle controller outputs control signals to the reversing valve; The reversing valve reverses the drive of the hoist motor clutch to disengage and perform the load shedding action.

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