Chassis orbital transfer and rotary table rotation control method and system and engineering machinery

Abstract

The invention provides a chassis orbital transfer and rotary table rotation control method and system and engineering machinery. The chassis orbital transfer and rotary table rotation control method comprises the steps that S10, track gauge information of a chassis, locking state information of a rotary table locking mechanism and installation information of a balance weight on a rotary table are obtained; s20, according to the track gauge information, the locking state information and the installation information of the balance weight, at least one of the following actions is executed: the first action is that track transfer of the chassis is allowed or forbidden; when orbital transfer of the chassis is allowed, the rotary table locking mechanism is in a locked state; 2, allowing or forbidding the rotary table to rotate; when the rotary table is allowed to rotate, the rotary table locking mechanism is in an unlocking state. The chassis orbital transfer and rotary table rotation control method can effectively reduce or avoid the risk of tipping of the engineering machinery and improve the working safety.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a chassis track changing and turntable rotation control method and system, and engineering machinery. Background Art

[0002] Crawler crane is a common construction machinery. Crawler crane includes crawler chassis and a turntable arranged on the crawler chassis. Crawler chassis generally have two structural forms: fixed gauge and telescopic gauge. Crawler cranes with smaller tonnage often use telescopic gauge crawler chassis. Under different working conditions, the crawler frame of the crawler chassis is driven by the oil cylinder to move laterally (i.e., change track movement), so that the crawler chassis can switch between wide track state and narrow track state.

[0003] During the track change process of the crawler chassis and the rotation process of the turntable, the track gauge of the crawler chassis and the position of the center of gravity of the crane will change. If the operation is improper, the center of gravity of the crane may exceed the overturning line of the crawler chassis, causing the crane to tip over. In response to this safety risk, the safety of the operation is generally observed and confirmed by staff (such as drivers), but it is difficult to effectively eliminate the safety risk. Summary of the invention

[0004] The purpose of the present invention is to provide a chassis track changing and turntable rotation control method and system, and a crane, aiming to solve or at least partially solve the deficiencies of the above-mentioned background technology. The chassis track changing and turntable rotation control method can effectively reduce or avoid the risk of overturning of engineering machinery and improve work safety.

[0005] The present invention provides a chassis track changing and turntable rotation control method, comprising:

[0006] S10: Acquire the track gauge information of the chassis, the locking state information of the turntable locking mechanism, and the installation information of the counterweight on the turntable; wherein the turntable locking mechanism has a locking state and an unlocking state, and when the turntable locking mechanism is in the locking state, the rotation angle of the turntable is in a forward angle or a backward angle;

[0007] S20: Execute at least one of the following actions according to the track gauge information, the locking state information, and the installation information of the counterweight:

[0008] Action 1: allowing or prohibiting the chassis from changing tracks; wherein, when the chassis is allowed to change tracks, the turntable locking mechanism is in a locked state;

[0009] Action 2: allowing or prohibiting the turntable from rotating; wherein, when the turntable is allowed to rotate, the turntable locking mechanism is in an unlocked state.

[0010] Furthermore, the above step S20 includes:

[0011] When the chassis is in a wide track state, if the turntable locking mechanism is in a locked state, the chassis is allowed to change tracks and the turntable is prohibited from rotating; if the turntable locking mechanism is in an unlocked state, the chassis is prohibited from changing tracks and the turntable is allowed to rotate.

[0012] Furthermore, the above step S20 includes:

[0013] When the chassis is in a narrow track state, if the turntable locking mechanism is in a locked state, the chassis is allowed to change track and the turntable is prohibited from rotating;

[0014] If the turntable locking mechanism is in an unlocked state and the counterweight is installed on the turntable, the chassis is prohibited from changing tracks and the turntable is allowed to rotate within a safe rotation angle range; if the turntable locking mechanism is in an unlocked state and the counterweight is not installed on the turntable, the chassis is prohibited from changing tracks and the turntable is allowed to rotate.

[0015] Furthermore, the method for obtaining the safe rotation angle includes:

[0016] Obtaining a circle where the center of gravity of the whole machine is located and two left and right lateral overturning lines of the chassis, and determining four intersection points of the circle where the center of gravity of the whole machine is located and the two lateral overturning lines, wherein the four intersection points are a first intersection point, a second intersection point, a third intersection point and a fourth intersection point, wherein the first intersection point and the second intersection point are opposite to each other on the left and right, and the third intersection point and the fourth intersection point are opposite to each other on the left and right;

[0017] The center of the circle where the center of gravity of the whole machine is located is connected to the first intersection, the second intersection, the third intersection and the fourth intersection respectively, to obtain a first safety boundary line, a second safety boundary line, a third safety boundary line and a fourth safety boundary line respectively, the angle between the first safety boundary line and the second safety boundary line is α, the angle between the third safety boundary line and the fourth safety boundary line is β, and the safe rotation angle includes α and β.

[0018] Furthermore, the above step S20 includes:

[0019] When the chassis is neither in a wide track state nor in a narrow track state, if the turntable locking mechanism is in a locked state, the chassis is allowed to change tracks and the turntable is prohibited from rotating; if the turntable locking mechanism is in an unlocked state, the chassis is prohibited from changing tracks and the turntable is prohibited from rotating.

[0020] Furthermore, the above step S20 also includes:

[0021] When the chassis is neither in a wide track state nor in a narrow track state, if the turntable locking mechanism is in an unlocked state, the chassis is prohibited from changing tracks and the turntable is prohibited from rotating; and based on a forced release signal, the restriction on the turntable rotating is released.

[0022] Furthermore, the above step S20 also includes:

[0023] When the chassis is neither in the wide track state nor in the narrow track state, if the turntable locking mechanism is in the unlocked state, locking prompt information is generated, and the locking prompt information is used to prompt the operator to lock the turntable locking mechanism.

[0024] Further, the turntable locking mechanism comprises a locking portion and a docking portion that are locked together, one of the locking portion and the docking portion is arranged on the turntable, and the other is arranged on the chassis;

[0025] In the above step S10, when the turntable locking mechanism is in a locked state, the rotation angle of the turntable is at a forward angle or a backward angle, which specifically includes:

[0026] The installation positions of the locking portion and the docking portion are limited so that when the rotation angle of the turntable is at a forward angle, the locking portion and the docking portion are located in the same position and / or opposite positions of the turntable, so that when the locking portion and the docking portion are locked, the rotation angle of the turntable is at a forward angle or a backward angle.

[0027] The present invention also provides a chassis track changing and turntable rotation control system based on the chassis track changing and turntable rotation control method as described above, the chassis track changing and turntable rotation control system comprising:

[0028] A track gauge detection device, used to detect the track gauge information of the chassis;

[0029] A locking state detection device, used to detect the locking state information of the turntable locking mechanism;

[0030] A counterweight detection device, used to detect the installation information of the counterweight on the turntable;

[0031] A track-changing driving device, used for driving the chassis to change tracks;

[0032] A rotary drive device, used for driving the turntable to rotate;

[0033] A control unit is connected to the track gauge detection device, the locking state detection device, the counterweight detection device, the track change drive device and the slewing drive device respectively; the control unit is used to perform at least one of the following actions according to the track gauge information, the locking state information and the installation information of the counterweight after receiving the chassis track change instruction and / or the turntable slewing instruction:

[0034] Action 1: allowing or prohibiting the track-changing driving device from driving the chassis to change tracks;

[0035] Action 2: allowing or prohibiting the rotary drive device from driving the turntable to rotate.

[0036] The present invention also provides an engineering machine, comprising the chassis track changing and turntable rotation control system as described above.

[0037] The chassis track changing and turntable rotation control method provided by the present invention can accurately judge whether the chassis track changing or turntable rotation operation can be performed according to the track gauge information of the chassis, the locking state information of the turntable locking mechanism and the installation information of the counterweight on the turntable, thereby avoiding the overturning of the equipment due to the misjudgment of the staff and improving the safety of the work.

[0038] Moreover, when the chassis is allowed to change track, the turntable locking mechanism is in a locked state, and the turntable is prohibited from rotating; when the turntable is allowed to rotate, the turntable locking mechanism is in an unlocked state, and the chassis is prohibited from changing track. That is, the chassis track change and the turntable rotation will not be carried out at the same time, thereby reducing or avoiding the risk of equipment tipping over.

[0039] At the same time, since the turntable locking mechanism is in a locked state when the chassis is allowed to change track, the rotation angle of the turntable is at a preset forward angle or backward angle at this time, thereby ensuring that the center of gravity of the entire construction machinery is in front of or behind the chassis when the chassis changes track, avoiding tipping over when the chassis switches from a wide track state to a narrow track state due to the center of gravity of the entire construction machinery being in the left or right direction of the chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1a and Figure 1b Schematic diagram of the installation position of the turntable locking mechanism in the embodiment of the present invention; wherein, Figure 1a The lock mechanism of the transfer table is in unlocked state. Figure 1b The transfer table locking mechanism is in the locked state.

[0041] Figure 2 Schematic diagram of the installation position of the counterweight detection device in an embodiment of the present invention.

[0042] Figure 3a and Figure 3b This is a schematic diagram of the installation position of the track gauge detection device in an embodiment of the present invention; wherein: Figure 3a The mid-chassis is in a wide track state. Figure 3b The mid-chassis is in narrow track.

[0043] Figure 4a and Figure 4b Schematic diagram of the relative position relationship between the circle where the center of gravity of the whole machine is located and the lateral overturning line and the longitudinal overturning line of the chassis in the embodiment of the present invention; wherein, Figure 4a The mid-chassis is in a wide track state. Figure 4b The mid-chassis is in narrow track.

[0044] Figure 5 The figure is a schematic diagram of the working process of the chassis track changing and turntable rotation control method in the embodiment of the present invention.

[0045] Figure 6 It is a structural block diagram of the chassis track change and turntable rotation control system in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0047] The terms "first", "second", "third", "fourth" and the like (if any) in the description and claims of the present invention are used to distinguish similar objects and are not necessarily used to describe a particular sequence or order.

[0048] The directional words such as up, down, left, right, front, back, top, bottom, etc. (if any) involved in the specification and claims of the present invention are defined by the positions of the structures in the drawings and the positions of the structures relative to each other, and are only for the clarity and convenience of expressing the technical solution. It should be understood that the use of directional words should not limit the scope of protection claimed in this application.

[0049] like Figures 1a to 6 As shown, an embodiment of the present invention provides a chassis track change and turntable rotation control method for engineering machinery (such as a crawler crane), and the chassis track change and turntable rotation control method includes:

[0050] S10: obtaining the track gauge information of the chassis 1, the locking state information of the turntable locking mechanism 32, and the installation information of the counterweight 4 on the turntable 31; wherein the turntable locking mechanism 32 has a locking state and an unlocking state, and when the turntable locking mechanism 32 is in the locking state, the rotation angle of the turntable 31 is at a preset forward angle or backward angle, and the forward angle and the backward angle are generally opposite angles;

[0051] S20: Execute at least one of the following actions according to the track gauge information, the locking state information and the installation information of the counterweight 4:

[0052] Action 1: allowing or prohibiting the chassis 1 from changing tracks; wherein, when the chassis 1 is allowed to change tracks, the turntable locking mechanism 32 is in a locked state;

[0053] Action 2: allowing or prohibiting the turntable 31 from rotating; wherein, when the turntable 31 is allowed to rotate, the turntable locking mechanism 32 is in an unlocked state;

[0054] When executing the above-mentioned action 1 and the above-mentioned action 2, when the chassis 1 is allowed to change track, the turntable 31 is prohibited from rotating; when the turntable 31 is allowed to rotate, the chassis 1 is prohibited from changing track, that is, the chassis 1 changing track and the turntable 31 rotating will not be carried out at the same time, thereby reducing or avoiding the risk of equipment tipping over (because the change of track of the chassis 1 will cause the track gauge of the chassis 1 to change, and then cause the overturning line of the chassis 1 to shift, and the rotation of the turntable 31 will cause the position of the center of gravity of the entire machine of the engineering machinery to change; if the chassis 1 changes track and the turntable 31 rotates at the same time, it may cause the center of gravity of the entire machine of the engineering machinery to exceed the overturning line of the chassis 1, thereby causing the engineering machinery to tip over. In order to avoid this uncertain risk, the chassis 1 changing track and the turntable 31 rotating cannot be carried out at the same time).

[0055] Wherein, in the above-mentioned step S10, the track gauge information includes whether the chassis 1 is in a wide track state or a narrow track state (the chassis 1 may be in a wide track state, may be in a narrow track state, or is neither in a wide track state nor in a narrow track state, that is, at this time, the track gauge of the chassis 1 is between the wide track state and the narrow track state), wherein the wide track state generally refers to the track gauge of the chassis 1 when the engineering machinery (such as a crawler crane) is in a working state, and the narrow track state generally refers to the track gauge of the chassis 1 when the engineering machinery is in a transport state. Track change refers to the track gauge change caused by the lateral telescopic movement of the chassis 1 (when the chassis 1 is a crawler chassis, track change is the track gauge change caused by the lateral telescopic movement of the crawler frame of the crawler chassis). In the present embodiment, the chassis 1 is a crawler chassis with a telescopic track gauge; of course, in other embodiments, the chassis 1 may also be other chassis capable of track change, such as a tire chassis.

[0056] The turntable locking mechanism 32 is used to lock or unlock the turntable 31; when the turntable locking mechanism 32 is in a locked state, the turntable 31 cannot rotate relative to the chassis 1 (i.e., the upper vehicle 3 cannot rotate relative to the chassis 1 at this time); when the turntable locking mechanism 32 is in an unlocked state, the turntable 31 can rotate relative to the chassis 1 (i.e., the upper vehicle 3 can rotate relative to the chassis 1 at this time). The locking state information includes whether the turntable locking mechanism 32 is in a locked state or an unlocked state.

[0057] The installation information of the counterweight 4 includes whether the counterweight 4 is installed on the turntable 31, that is, the mounting information of the counterweight 4. When the counterweight 4 is in the mounted state, the counterweight 4 is installed on the turntable 31; when the counterweight 4 is in the unloaded state, the counterweight 4 is not installed on the turntable 31, that is, the counterweight 4 is removed from the turntable 31.

[0058] Among them, in the above-mentioned step S10, the forward angle and the rearward angle can be set according to actual needs. The forward angle is, for example, 0°±10°, 0°±5°, 0°±1°, 0°, etc., and the rearward angle is, for example, 180°±10°, 180°±5°, 180°±1°, 180°, etc., as long as it is ensured that when the turntable locking mechanism 32 is in the locked state, the center of gravity of the entire machine of the engineering machinery can be roughly in the front-to-back direction X of the chassis 1 (front or rear), so as to avoid the chassis 1 from tipping over when switching from the wide track state to the narrow track state due to the center of gravity of the entire machine of the engineering machinery being in the left-right direction Y of the chassis 1 (left or right). For example, the construction machinery is a crawler crane; when the counterweight 4 is not installed on the turntable 31, the center of gravity of the crawler crane is close to its boom, because when the turntable locking mechanism 32 is in a locked state, the rotation angle of the turntable 31 is at a forward angle or a backward angle, that is, the boom of the crawler crane is in front of or behind the chassis 1, so that the center of gravity of the crawler crane is in front of or behind the chassis 1; when the counterweight 4 is installed on the turntable 31 (the counterweight 4 is generally installed on the rear side of the turntable 31), the center of gravity of the crawler crane is close to the counterweight 4, because when the turntable locking mechanism 32 is in a locked state, the rotation angle of the turntable 31 is at a forward angle or a backward angle, that is, the counterweight 4 is in front of or behind the chassis 1, so that the center of gravity of the crawler crane is in front of or behind the chassis 1.

[0059] Preferably, the forward angle is 0° and the backward angle is 180°; that is, when the turntable locking mechanism 32 is in a locked state, the rotation angle of the turntable 31 is 0° (that is, when the turntable locking mechanism 32 is in a locked state, the turntable 31 is straightened, that is, the turntable 31 rotates to the front) or 180° (that is, when the turntable locking mechanism 32 is in a locked state, the turntable 31 rotates to the rear). For a crawler crane, the boom of the crawler crane is in front of or behind the chassis 1 at this time.

[0060] Furthermore, if Figure 5 As shown, in this embodiment, the above step S20 includes:

[0061] When the chassis 1 is in the wide track state, if the turntable locking mechanism 32 is in the locked state, the chassis 1 is allowed to change track and the turntable 31 is prohibited from rotating; if the turntable locking mechanism 32 is in the unlocked state, the chassis 1 is prohibited from changing track and the turntable 31 is allowed to rotate (generally, the turntable 31 is allowed to rotate 360°).

[0062] Furthermore, if Figure 5 As shown, in this embodiment, the above step S20 also includes:

[0063] When the chassis 1 is in the narrow track state, if the turntable locking mechanism 32 is in the locked state, the chassis 1 is allowed to change track and the turntable 31 is prohibited from rotating; if the turntable locking mechanism 32 is in the unlocked state and the turntable 31 is installed with a counterweight 4, the chassis 1 is prohibited from changing track and the turntable 31 is allowed to rotate within the safe rotation angle range; if the turntable locking mechanism 32 is in the unlocked state and the counterweight 4 is not installed on the turntable 31, the chassis 1 is prohibited from changing track and the turntable 31 is allowed to rotate (generally, the turntable 31 is allowed to rotate 360°).

[0064] Specifically, Figure 4a and Figure 4b As shown, the chassis 1 has two lateral rollover lines A that are relatively set at left and right intervals and two longitudinal rollover lines B that are relatively set at front and rear intervals. The lateral rollover lines A extend along the front-to-back direction X, and the two lateral rollover lines A are set in parallel; the longitudinal rollover lines B extend along the left-right direction Y, and the two longitudinal rollover lines B are set in parallel. Generally, the vertical distance from the center O of the circle C where the center of gravity of the entire machine of the engineering machinery is located (the circle C where the center of gravity of the entire machine is located is also the center of gravity circle of the engineering machinery. When the upper vehicle 3 of the engineering machinery rotates, the center of gravity of the entire machine of the engineering machinery will change in a circular area, and the circular area is also the center of gravity circle) to the two lateral rollover lines A is equal, and the vertical distance from the center O of the circle C where the center of gravity of the entire machine of the engineering machinery is located to the two longitudinal rollover lines B is equal.

[0065] When the circle C where the center of gravity of the whole machine of the construction machinery is located exceeds the transverse overturning line A or the longitudinal overturning line B, that is, when the center of gravity of the whole machine of the construction machinery crosses the transverse overturning line A or the longitudinal overturning line B, the construction machinery may overturn. Specifically, when the center of gravity of the whole machine of the construction machinery crosses the transverse overturning line A, the construction machinery will overturn left and right; when the center of gravity of the whole machine of the construction machinery crosses the longitudinal overturning line B, the construction machinery will overturn front and back.

[0066] exist Figure 4a and Figure 4b In the figure, the dotted circle C' represents the circle where the center of gravity of the whole machine of the engineering machinery is located when the counterweight 4 is not installed on the turntable 31, and the solid circle C represents the circle where the center of gravity of the whole machine of the engineering machinery is located when the counterweight 4 is installed on the turntable 31. Generally, when the counterweight 4 is not installed on the turntable 31, the diameter of the circle C' where the center of gravity of the whole machine of the engineering machinery is located is relatively small. When the chassis 1 is in the wide track state and the narrow track state, the circle C' where the center of gravity of the whole machine of the engineering machinery is located will not exceed the transverse overturning line A and the longitudinal overturning line B, that is, the diameter of the circle C' where the center of gravity of the whole machine is located is smaller than the distance L1 between the two transverse overturning lines A and the distance L2 between the two longitudinal overturning lines B. At this time, the engineering machinery generally will not tip over when the turntable 31 rotates 360°.

[0067] When the counterweight 4 is installed on the turntable 31, the center of gravity of the whole machine of the engineering machine will be offset (the counterweight 4 is generally installed on the rear side of the turntable 31, so it will cause the center of gravity of the whole machine of the engineering machine to move backward), and the diameter of the circle C where the center of gravity of the whole machine of the engineering machine is located will increase. When the chassis 1 is in the wide track state, the circle C where the center of gravity of the whole machine of the engineering machine is located will not exceed the lateral overturning line A and the longitudinal overturning line B, that is, the diameter of the circle C where the center of gravity of the whole machine is located is smaller than the distance L1 between the two lateral overturning lines A and the distance L2 between the two longitudinal overturning lines B. At this time, the engineering machine will generally not tip over when the turntable 31 rotates 360°. When the chassis 1 is in the narrow track state, the track gauge of the chassis 1 is shortened, and the distance L1 between the two transverse overturning lines A is reduced (the distance L2 between the two longitudinal overturning lines B remains unchanged). At this time, the diameter of the circle C where the center of gravity of the whole machine is located is greater than the distance L1 between the two transverse overturning lines A. When the turntable 31 rotates to a certain angle, the center of gravity of the whole machine may exceed the transverse overturning line A and tip over to the left or right ( Figure 4b The shaded portion in the figure indicates the area where the center of gravity of the whole machine exceeds the lateral overturning line A and overturns), so the turntable 31 cannot rotate 360°. At this time, the rotation angle of the turntable 31 needs to be limited, that is, the rotation angle of the turntable 31 needs to be limited within a safe rotation angle range.

[0068] Furthermore, if Figure 4b As shown, in this embodiment, the above-mentioned safe rotation angle is the angle between the upper vehicle 3 (turntable 31) and the chassis 1 when the center of gravity of the whole machine of the engineering machinery is located within the two lateral overturning lines A. The method for obtaining the safe rotation angle includes:

[0069] Obtain the circle C where the center of gravity of the whole machine is located (under the condition where the counterweight 4 is installed on the turntable 31) and the left and right lateral overturning lines A of the chassis 1, and determine the four intersection points of the circle C where the center of gravity of the whole machine is located and the two lateral overturning lines A, the four intersection points are respectively the first intersection point D1, the second intersection point D2, the third intersection point D3 and the fourth intersection point D4, wherein the first intersection point D1 and the second intersection point D2 are opposite to each other, and the third intersection point D3 and the fourth intersection point D4 are opposite to each other;

[0070] The center O of the circle C where the center of gravity of the whole machine is located is connected to the first intersection D1, the second intersection D2, the third intersection D3 and the fourth intersection D4, respectively, to obtain the first safety boundary line E1, the second safety boundary line E2, the third safety boundary line E3 and the fourth safety boundary line E4, respectively. The angle between the first safety boundary line E1 and the second safety boundary line E2 is α, and the angle between the third safety boundary line E3 and the fourth safety boundary line E4 is β. The safe rotation angle includes α and β; α and β are generally in a diagonal relationship, and the sizes of the two are generally equal. When the rotation angle of the turntable 31 is limited within the range of α and β, the engineering machinery can be prevented from tipping over left and right.

[0071] Furthermore, if Figure 5 As shown, in this embodiment, the above step S20 also includes:

[0072] When the chassis 1 is neither in a wide track state nor in a narrow track state (for example, when the track gauge cannot be determined), if the turntable locking mechanism 32 is in a locked state, the chassis 1 is allowed to change tracks and the turntable 31 is prohibited from rotating; if the turntable locking mechanism 32 is in an unlocked state, the chassis 1 is prohibited from changing tracks and the turntable 31 is prohibited from rotating, thereby avoiding tipping due to the change of tracks of the chassis 1 or the rotation of the turntable 31 when the track gauge cannot be determined. Therefore, at this time, the turntable locking mechanism 32 needs to be switched to a locked state to allow the chassis 1 to perform the track change action.

[0073] Among them, under certain working conditions, when the turntable locking mechanism 32 is in the unlocked state, the rotation angle of the turntable 31 is at a forward angle or a backward angle. At this time, there is no need to rotate the turntable 31, and the turntable locking mechanism 32 can be directly switched to the locked state.

[0074] Under certain working conditions, when the turntable locking mechanism 32 is in an unlocked state, the rotation angle of the turntable 31 may not be a forward angle or a backward angle (for example, 30°). Since the turntable 31 is prohibited from rotating at this time, the rotation angle of the turntable 31 cannot be returned to the forward angle or the backward angle to lock the turntable locking mechanism 32. Therefore, for this special working condition, it can be solved by forced release: after receiving the forced release signal, based on the forced release signal, the restriction on the prohibition of the turntable 31 from rotating is released, so that the turntable 31 can be rotated to its rotation angle at a forward angle or a backward angle, and then the turntable locking mechanism 32 is switched to a locked state, and the chassis 1 is allowed to perform a track change action. Among them, after the restriction on the prohibition of the turntable 31 from rotating is released, according to the actual working conditions, the turntable 31 can be allowed to rotate 360°, or the turntable 31 can be allowed to rotate within a safe rotation angle range.

[0075] Furthermore, if Figure 5 As shown, in this embodiment, the above step S20 also includes:

[0076] When the chassis 1 is neither in the wide track state nor in the narrow track state, if the turntable locking mechanism 32 is in the unlocked state, a locking prompt message is generated, which is used to prompt the operator (such as the driver or other staff) to lock the turntable locking mechanism 32.

[0077] Specifically, the locking prompt information can be played in the form of voice broadcast through a broadcasting device (not shown in the figure, such as a speaker), or can be displayed in the form of text or icons through a display device (not shown in the figure, such as a vehicle computer, a meter, etc.). In this embodiment, the turntable locking mechanism 32 is a manually operated locking mechanism, and manual operation is required when locking or unlocking the turntable locking mechanism 32.

[0078] In another embodiment, the turntable locking mechanism 32 may also be a mechanically driven locking mechanism, for example, driven to lock or unlock by a motor, etc. When the chassis 1 is neither in the wide track state nor in the narrow track state, if the turntable locking mechanism 32 is in the unlocked state, the turntable locking mechanism 32 may be controlled to automatically switch to the locked state, and then the chassis 1 is allowed to perform the track change action.

[0079] Further, in this embodiment, in the above step S10, when the turntable locking mechanism 32 is in the locked state, the rotation angle of the turntable 31 is at a forward angle or a backward angle, which specifically includes:

[0080] The installation position of the turntable locking mechanism 32 is limited so that when the turntable locking mechanism 32 is in a locked state, the rotation angle of the turntable 31 is at a forward angle or a backward angle.

[0081] Specifically, the installation position of the turntable locking mechanism 32 is not limited to the front or rear side of the turntable 31, but can also be the left side, right side, etc. of the turntable 31, as long as the rotation angle of the turntable 31 is at a forward angle or a backward angle when the turntable locking mechanism 32 is in a locked state.

[0082] Furthermore, if Figure 1a and Figure 1b As shown, in this embodiment, the turntable locking mechanism 32 includes a locking portion 32A and a docking portion 32B, one of which is disposed on the turntable 31, and the other is disposed on the chassis 1 (specifically disposed on the vehicle frame 12); the locking portion 32A and the docking portion 32B can be locked and matched. In the above step S10, when the turntable locking mechanism 32 is in the locked state, the rotation angle of the turntable 31 is at a forward angle or a backward angle, specifically including:

[0083] The installation positions of the locking portion 32A and the docking portion 32B are limited so that when the rotation angle of the turntable 31 is at a forward angle, the locking portion 32A and the docking portion 32B are located at the same position and / or opposite position of the turntable 31, so that when the locking portion 32A and the docking portion 32B are locked, the rotation angle of the turntable 31 is at a forward angle or a backward angle.

[0084] For example, when the turntable 31 is aligned (that is, when the rotation angle of the turntable 31 is at a forward angle), the locking portion 32A and the docking portion 32B are located at the same position of the turntable 31, for example, the locking portion 32A and the docking portion 32B are both located at the front side or rear side or the left front side or the right front side or the left side or the right side or the left rear side or the right rear side of the turntable 31; or, the locking portion 32A and the docking portion 32B are located at opposite positions of the turntable 31, for example, one of the locking portion 32A and the docking portion 32B is located at the front side of the turntable 31 and the other is located at the rear side of the turntable 31, or one of the locking portion 32A and the docking portion 32B is located at the left front side of the turntable 31 and the other is located at the right rear side of the turntable 31, etc.

[0085] Meanwhile, the number of the locking part 32A and the docking part 32B is not limited to one each, and can also be two or more each, and the number of the two can be the same or different. For example, the number of the locking part 32A and the docking part 32B are both one, and the locking part 32A and the docking part 32B are both located at the front side of the turntable 31; or, the number of the locking part 32A and the docking part 32B are both two, and the two locking parts 32A are respectively located at the front side and the rear side of the turntable 31, and the two docking parts 32B are respectively located at the front side and the rear side of the turntable 31; or, the number of the locking part 32A is one, and the number of the docking parts 32B is two, and the locking part 32A is located at the front side of the turntable 31, and the two docking parts 32B are respectively located at the front side and the rear side of the turntable 31, etc. The above are just some feasible solutions. Of course, the locking portion 32A and the docking portion 32B can also be arranged in other ways, as long as the rotation angle of the turntable 31 is at a forward angle or a backward angle when the locking portion 32A and the docking portion 32B are locked.

[0086] Specifically, in this embodiment, the locking portion 32A is arranged on the turntable 31, and the docking portion 32B is arranged on the chassis 1. The locking portion 32A includes a guide sleeve 321 and a fixing pin 322. The guide sleeve 321 is fixed on the turntable 31, and the fixing pin 322 is located in the guide sleeve 321 and can move along the axial direction of the guide sleeve 321 (up and down); the docking portion 32B includes a support 324 that can be plugged with the fixing pin 322. A handle 323 is provided on the fixing pin 322. By operating the handle 323, the fixing pin 322 can be moved up and down, so that the fixing pin 322 is plugged into or disengaged from the hole on the support 324 to achieve locking or unlocking. Of course, in other embodiments, the turntable locking mechanism 32 can also be other structural forms.

[0087] like Figures 1a to 3b and Figure 6 As shown, an embodiment of the present invention further provides a chassis track changing and turntable rotation control system based on the chassis track changing and turntable rotation control method as described above, and the chassis track changing and turntable rotation control system includes:

[0088] A track gauge detection device 14, used to detect the track gauge information of the chassis 1;

[0089] A locking state detection device 33, used to detect the locking state information of the turntable locking mechanism 32;

[0090] A counterweight detection device 41, used to detect installation information of the counterweight 4 on the turntable 31;

[0091] The track change driving device 13 is used to drive the chassis 1 to change the track;

[0092] A rotary drive device 34, used for driving the turntable 31 to rotate;

[0093] The control unit 5 is connected to the track gauge detection device 14, the locking state detection device 33, the counterweight detection device 41, the track change drive device 13 and the rotation drive device 34 respectively. The control unit 5 can receive the track gauge information detected by the track gauge detection device 14, the locking state information detected by the locking state detection device 33 and the installation information of the counterweight 4 detected by the counterweight detection device 41. The control unit 5 is used to perform at least one of the following actions according to the track gauge information, the locking state information and the installation information of the counterweight 4 after receiving the chassis track change instruction and / or the turntable rotation instruction (the chassis track change instruction can be generated by the driver through operations such as turning on the chassis track change button; the turntable rotation instruction can be generated by the driver through operations such as operating the turntable rotation operating lever), according to the track gauge information, the locking state information and the installation information of the counterweight 4:

[0094] Action 1: allowing or prohibiting the track-changing driving device 13 to drive the chassis 1 to change tracks; wherein, when the control unit 5 allows the track-changing driving device 13 to drive the chassis 1 to change tracks, the locking state detection device 33 needs to detect that the turntable locking mechanism 32 is in a locked state;

[0095] Action 2: allowing or prohibiting the rotary drive device 34 to drive the turntable 31 to rotate; wherein, when the control unit 5 allows the rotary drive device 34 to drive the turntable 31 to rotate, the locking state detection device 33 needs to detect that the turntable locking mechanism 32 is in the unlocked state.

[0096] Furthermore, in this embodiment, when the track gauge detection device 14 detects that the chassis 1 is in a wide track state, if the locking state detection device 33 detects that the turntable locking mechanism 32 is in a locked state, the control unit 5 allows the track change drive device 13 to drive the chassis 1 to change tracks and prohibits the slewing drive device 34 from driving the turntable 31 to rotate; if the locking state detection device 33 detects that the turntable locking mechanism 32 is in an unlocked state, the control unit 5 prohibits the track change drive device 13 from driving the chassis 1 to change tracks and allows the slewing drive device 34 to drive the turntable 31 to rotate.

[0097] When the track gauge detection device 14 detects that the chassis 1 is in a narrow track state, if the locking state detection device 33 detects that the turntable locking mechanism 32 is in a locked state, the control unit 5 allows the track change drive device 13 to drive the chassis 1 to change tracks and prohibits the slewing drive device 34 from driving the turntable 31 to rotate; if the locking state detection device 33 detects that the turntable locking mechanism 32 is in an unlocked state, and the counterweight detection device 41 detects that a counterweight 4 is installed on the turntable 31, the control unit 5 prohibits the track change drive device 13 from driving the chassis 1 to change tracks, and allows the slewing drive device 34 to drive the turntable 31 to rotate within a safe rotation angle range; if the locking state detection device 33 detects that the turntable locking mechanism 32 is in an unlocked state, and the counterweight detection device 41 detects that the counterweight 4 is not installed on the turntable 31, the control unit 5 prohibits the track change drive device 13 from driving the chassis 1 to change tracks, and allows the slewing drive device 34 to drive the turntable 31 to rotate. The value of the safety rotation angle may be pre-calculated according to different working conditions and then stored in the control unit 5, or the control unit 5 may calculate the value according to the above-mentioned method for obtaining the safety rotation angle in combination with the actual working conditions.

[0098] When the track gauge detection device 14 detects that the chassis 1 is neither in the wide track state nor in the narrow track state, if the locking state detection device 33 detects that the turntable locking mechanism 32 is in the locked state, the control unit 5 allows the track change drive device 13 to drive the chassis 1 to change tracks and prohibits the slewing drive device 34 from driving the turntable 31 to rotate; if the locking state detection device 33 detects that the turntable locking mechanism 32 is in the unlocked state, the control unit 5 prohibits the track change drive device 13 from driving the chassis 1 to change tracks and prohibits the slewing drive device 34 from driving the turntable 31 to rotate, and when the control unit 5 receives the forced release signal, the control unit 5 releases the restriction on the rotation of the turntable 31; at the same time, the control unit 5 can also generate a locking prompt information, which is used to prompt the operator to lock the turntable locking mechanism 32.

[0099] Furthermore, if Figure 6 As shown, in this embodiment, the chassis track change and turntable rotation control system also includes a forced unlocking switch 6, which is connected to the control unit 5. The forced unlocking switch 6 is used to generate a forced release signal and send the forced release signal to the control unit 5. The forced unlocking switch 6 can be set in the cockpit. The forced unlocking switch 6 can be a physical switch or a virtual switch, and can specifically be a control element such as a button, a knob, or a virtual key. After the operator turns on the forced unlocking switch 6, a forced release signal is generated and sent to the control unit 5. After receiving the forced release signal, the control unit 5 releases the restriction on prohibiting the turntable 31 from rotating.

[0100] Furthermore, if Figure 6As shown, in this embodiment, the chassis track change and turntable rotation control system further includes a prompt device 7, which is connected to the control unit 5, and is used to receive and execute the locking prompt information sent by the control unit 5. The prompt device 7 can be a broadcasting device (such as a speaker) or a display device (such as a vehicle computer, a meter), etc.

[0101] Furthermore, if Figure 3a and Figure 3b As shown, in this embodiment, the track gauge detection device 14 includes a wide track detection element 141 and a narrow track detection element 142. The wide track detection element 141 is used to generate a wide track signal when the chassis 1 is in a wide track state, and the narrow track detection element 142 is used to generate a narrow track signal when the chassis 1 is in a narrow track state. The control unit 5 senses that the chassis 1 is in a wide track state after receiving the wide track signal, and senses that the chassis 1 is in a narrow track state after receiving the narrow track signal. When the control unit 5 receives neither the wide track signal nor the narrow track signal, it determines that the chassis 1 is neither in a wide track state nor in a narrow track state. Of course, in other embodiments, the track gauge detection device 14 can also be other structural forms, for example, the track gauge detection device 14 is a device that can directly detect the distance between the crawler frames 11 on both sides of the chassis 1.

[0102] Furthermore, if Figure 3a and Figure 3b As shown, in this embodiment, the chassis 1 is a crawler chassis, and the chassis 1 includes a frame 12, crawler frames 11 located on the left and right sides of the frame 12, and a track-changing drive device 13. The track-changing drive device 13 is connected to the crawler frames 11 on both sides at the same time. The track-changing drive device 13 is used to drive the crawler frames 11 on both sides to telescopically move left and right to change tracks. The track-changing drive device 13 can specifically be a cylinder, etc. The track gauge detection device 14 is arranged on the frame 12. The specific structure and working principle of the crawler chassis and the track gauge detection device 14 can be referred to the prior art, which will not be repeated here.

[0103] Furthermore, if Figure 1a and Figure 1bAs shown, in this embodiment, the locking state detection device 33 can be arranged on the turntable locking mechanism 32. For example, the locking state detection device 33 can be a contact switch, and the locking state detection device 33 is arranged on the fixing pin 322. When the fixing pin 322 moves downward and is plugged into the hole on the support 324, the locking state detection device 33 contacts the support 324, thereby being triggered and generating a locking signal, and then transmitting the locking signal to the control unit 5; when the fixing pin 322 moves upward and disengages from the hole on the support 324, the locking state detection device 33 separates from the support 324, and at this time the locking state detection device 33 generates an unlocking signal and transmits it to the control unit 5 (or, the locking state detection device 33 is arranged on the support 324, and when the fixing pin 322 moves downward and is plugged into the hole on the support 324, the locking state detection device 33 contacts the fixing pin 322, thereby being triggered and generating a locking signal; when the fixing pin 322 moves upward and disengages from the hole on the support 324, the locking state detection device 33 separates from the fixing pin 322, and at this time the locking state detection device 33 generates an unlocking signal). Of course, the locking state detection device 33 can also be arranged in other positions and forms.

[0104] Furthermore, if Figure 2 As shown, in this embodiment, the counterweight detection device 41 can be arranged on the rear side of the turntable 31. The counterweight detection device 41 can be specifically a contact switch. When the counterweight 4 is mounted on the rear side of the turntable 31, the counterweight detection device 41 contacts the counterweight 4 and generates a mounting signal, and then transmits the mounting signal to the control unit 5. When the counterweight 4 is removed from the turntable 31, the counterweight detection device 41 is separated from the turntable 31 and generates a de-loading signal, and then transmits the de-loading signal to the control unit 5. Of course, the counterweight detection device 41 can also adopt other setting positions and setting forms.

[0105] Furthermore, in this embodiment, the slewing drive device 34 can be specifically a hydraulic motor, which transmits power to the slewing reducer, and the slewing reducer transmits power to the gear of the slewing support 2, thereby driving the turntable 31 (the upper vehicle 3) to rotate. The specific structure and principle of the slewing drive device 34 can be referred to the prior art, and will not be repeated here.

[0106] Furthermore, in this embodiment, the control unit 5 may be an existing controller in the engineering machinery, or may be an additional control device.

[0107] The embodiment of the present invention further provides an engineering machine, comprising the above-mentioned chassis track change and turntable rotation control system. The engineering machine may specifically be a crawler crane or the like.

[0108] Furthermore, in this embodiment, the engineering machine further comprises a chassis 1 and a superstructure 3 disposed on the chassis 1, wherein the superstructure 3 comprises a turntable 31, and the turntable 31 is rotatably connected to the chassis 1 via a slewing bearing 2. The chassis 1 is a crawler chassis of telescopic track type.

[0109] The chassis track changing and turntable rotation control method provided in the embodiment of the present invention can accurately judge whether the chassis 1 can be changed or the turntable 31 can be rotated according to the track gauge information of the chassis 1, the locking state information of the turntable locking mechanism 32 and the installation information of the counterweight 4 on the turntable 31, thereby avoiding the overturning of the equipment due to the staff's misjudgment and improving the safety of work.

[0110] Moreover, when the chassis 1 is allowed to change track, the turntable locking mechanism 32 is in a locked state, and the turntable 31 is prohibited from rotating; when the turntable 31 is allowed to rotate, the turntable locking mechanism 32 is in an unlocked state, and the chassis 1 is prohibited from changing track. That is, the chassis 1 changing track and the turntable 31 rotating will not proceed at the same time, thereby reducing or avoiding the risk of equipment tipping over.

[0111] At the same time, since the turntable locking mechanism 32 is in a locked state when the chassis 1 is allowed to change track, the rotation angle of the turntable 31 is at a preset forward angle or backward angle, thereby ensuring that the center of gravity of the entire construction machinery is in front of or behind the chassis 1 when the chassis 1 changes track, avoiding the chassis 1 from tipping over when it switches from a wide track state to a narrow track state due to the center of gravity of the entire construction machinery being in the left and right direction of the chassis 1.

[0112] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A chassis track change and turntable rotation control method, characterized in that: include: S10: Acquire the track gauge information of the chassis, the locking state information of the turntable locking mechanism, and the installation information of the counterweight on the turntable; Wherein, the turntable locking mechanism has a locking state and an unlocking state. When the turntable locking mechanism is in the locking state, the rotation angle of the turntable is at a forward angle or a backward angle; S20: Execute at least one of the following actions according to the track gauge information, the locking state information, and the installation information of the counterweight: Action 1: allowing or prohibiting the chassis from changing tracks; wherein, when the chassis is allowed to change tracks, the turntable locking mechanism is in a locked state; Action 2: allowing or prohibiting the turntable from rotating; wherein, when the turntable is allowed to rotate, the turntable locking mechanism is in an unlocked state.

2. The chassis track change and turntable rotation control method according to claim 1, characterized in that: The above-mentioned S20 step includes: When the chassis is in a wide track state, if the turntable locking mechanism is in a locked state, the chassis is allowed to change tracks and the turntable is prohibited from rotating; if the turntable locking mechanism is in an unlocked state, the chassis is prohibited from changing tracks and the turntable is allowed to rotate.

3. The chassis track change and turntable rotation control method according to claim 1, characterized in that: The above-mentioned S20 step includes: When the chassis is in a narrow track state, if the turntable locking mechanism is in a locked state, the chassis is allowed to change track and the turntable is prohibited from rotating; If the turntable locking mechanism is in an unlocked state and the counterweight is installed on the turntable, the chassis is prohibited from changing tracks and the turntable is allowed to rotate within a safe rotation angle range; if the turntable locking mechanism is in an unlocked state and the counterweight is not installed on the turntable, the chassis is prohibited from changing tracks and the turntable is allowed to rotate.

4. The chassis track change and turntable rotation control method according to claim 3, characterized in that: The method for obtaining the safe rotation angle includes: Obtaining a circle where the center of gravity of the whole machine is located and two left and right lateral overturning lines of the chassis, and determining four intersection points of the circle where the center of gravity of the whole machine is located and the two lateral overturning lines, wherein the four intersection points are a first intersection point, a second intersection point, a third intersection point and a fourth intersection point, wherein the first intersection point and the second intersection point are opposite to each other on the left and right, and the third intersection point and the fourth intersection point are opposite to each other on the left and right; The center of the circle where the center of gravity of the whole machine is located is connected to the first intersection, the second intersection, the third intersection and the fourth intersection respectively, to obtain a first safety boundary line, a second safety boundary line, a third safety boundary line and a fourth safety boundary line respectively, the angle between the first safety boundary line and the second safety boundary line is α, the angle between the third safety boundary line and the fourth safety boundary line is β, and the safe rotation angle includes α and β.

5. The chassis track change and turntable rotation control method according to claim 1, characterized in that: The above step S20 includes: When the chassis is neither in a wide track state nor in a narrow track state, if the turntable locking mechanism is in a locked state, the chassis is allowed to change tracks and the turntable is prohibited from rotating; if the turntable locking mechanism is in an unlocked state, the chassis is prohibited from changing tracks and the turntable is prohibited from rotating.

6. The chassis track change and turntable rotation control method according to claim 5, characterized in that: The above step S20 also includes: When the chassis is neither in a wide track state nor in a narrow track state, if the turntable locking mechanism is in an unlocked state, the chassis is prohibited from changing tracks and the turntable is prohibited from rotating; and based on a forced release signal, the restriction on the turntable rotating is released.

7. The chassis track change and turntable rotation control method according to claim 5, characterized in that: The above step S20 also includes: When the chassis is neither in the wide track state nor in the narrow track state, if the turntable locking mechanism is in the unlocked state, locking prompt information is generated, and the locking prompt information is used to prompt the operator to lock the turntable locking mechanism.

8. The chassis track change and turntable rotation control method according to any one of claims 1 to 7, characterized in that: The turntable locking mechanism comprises a locking portion and a docking portion for locking cooperation, one of the locking portion and the docking portion is arranged on the turntable, and the other is arranged on the chassis; In the above step S10, when the turntable locking mechanism is in a locked state, the rotation angle of the turntable is at a forward angle or a backward angle, which specifically includes: The installation positions of the locking portion and the docking portion are limited so that when the rotation angle of the turntable is at a forward angle, the locking portion and the docking portion are located in the same position and / or opposite positions of the turntable, so that when the locking portion and the docking portion are locked, the rotation angle of the turntable is at a forward angle or a backward angle.

9. A chassis track change and turntable rotation control system based on the chassis track change and turntable rotation control method according to any one of claims 1 to 8, characterized in that: The chassis track change and turntable rotation control system includes: A track gauge detection device, used to detect the track gauge information of the chassis; A locking state detection device, used to detect the locking state information of the turntable locking mechanism; A counterweight detection device, used to detect the installation information of the counterweight on the turntable; A track-changing driving device, used for driving the chassis to change tracks; A rotary drive device, used for driving the turntable to rotate; A control unit is connected to the track gauge detection device, the locking state detection device, the counterweight detection device, the track change drive device and the slewing drive device respectively; the control unit is used to perform at least one of the following actions according to the track gauge information, the locking state information and the installation information of the counterweight after receiving the chassis track change instruction and / or the turntable slewing instruction: Action 1: allowing or prohibiting the track-changing driving device from driving the chassis to change tracks; Action 2: allowing or prohibiting the rotary drive device from driving the turntable to rotate.

10. An engineering machine, characterized in that: It includes the chassis track change and turntable rotation control system as described in claim 9.

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