Chassis orbit transfer and turntable slewing control method and system, engineering machinery

Abstract

The application provides a chassis track changing and turntable rotating control method and system, and engineering machinery. The chassis track changing and turntable rotating control method comprises the following steps: S10: acquiring track gauge information of a chassis, locking state information of a turntable locking mechanism, and installation information of a counterweight on the turntable; S20: according to the track gauge information, the locking state information, and the installation information of the counterweight, at least one of the following actions is performed: action one: allowing or prohibiting the chassis track changing; wherein when the chassis track changing is allowed, the turntable locking mechanism is in a locking state; action two: allowing or prohibiting the turntable rotating; wherein when the turntable rotating is allowed, the turntable locking mechanism is in an unlocking state. The chassis track changing and turntable rotating control method can effectively reduce or avoid the risk of the engineering machinery tipping over, and improve the safety of work.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a chassis track changing and turntable rotation control method and system, and engineering machinery. Background Technology

[0002] Tracked cranes are a common type of construction machinery. A tracked crane consists of a tracked chassis and a turntable mounted on the chassis. Tracked chassis generally come in two structural forms: fixed gauge and telescopic gauge. Smaller tracked cranes often use telescopic gauge chassis. Under different working conditions, the track frame of the chassis is driven by hydraulic cylinders to move laterally (i.e., track changing movement), thereby switching the tracked chassis between wide and narrow gauge configurations.

[0003] During track-changing and turntable rotation, the track gauge of the tracked chassis and the position of the crane's center of gravity change. Improper operation may cause the crane's center of gravity to exceed the overturning line of the tracked chassis, leading to the crane tipping over. Currently, this safety risk is generally addressed by having personnel (such as the operator) observe and confirm operational safety, but this is insufficient to effectively eliminate the risk. Summary of the Invention

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

[0005] This invention provides a method for chassis track changing and turntable rotation control, including:

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

[0007] S20: Based on the track gauge information, the locking status information, and the counterweight installation information, perform at least one of the following actions:

[0008] Action 1: Allow or prohibit 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: Allow or prohibit the turntable from rotating; wherein, when the turntable is allowed to rotate, the turntable locking mechanism is in the unlocked state.

[0010] Furthermore, the above-mentioned step S20 includes:

[0011] When the chassis is in a wide-rail 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-mentioned 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 tracks and the turntable is prohibited from rotating.

[0014] If the turntable locking mechanism is in the 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 the 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] Obtain the circle containing the center of gravity of the construction machinery and the two lateral overturning lines on the left and right sides of the chassis. Determine the four intersection points of the circle containing the center of gravity and the two lateral overturning lines. The four intersection points are the first intersection point, the second intersection point, the third intersection point, and the fourth intersection point. The first intersection point and the second intersection point are opposite each other to the left and right, and the third intersection point and the fourth intersection point are opposite each other to the left and right.

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

[0018] Furthermore, the above-mentioned step S20 includes:

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

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

[0021] When the chassis is neither in a wide-gauge state nor a narrow-gauge 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 the forced release signal, the restriction prohibiting the turntable from rotating is lifted.

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

[0023] When the chassis is neither in a wide-gauge state nor a narrow-gauge state, if the turntable locking mechanism is in an unlocked state, a locking prompt message is generated. The locking prompt message is used to prompt the operator to lock the turntable locking mechanism.

[0024] Furthermore, the turntable locking mechanism includes a locking part and a docking part that engage in locking, wherein one of the locking part and the docking part is disposed on the turntable and the other is disposed on the chassis;

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

[0026] The installation positions of the locking part and the docking part are defined such that when the rotation angle of the turntable is in the forward angle, the locking part and the docking part are located in the same and / or opposite positions of the turntable, so that when the locking part and the docking part are locked, the rotation angle of the turntable is in the forward angle or the 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 described above, the chassis track changing and turntable rotation control system comprising:

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

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

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

[0031] A track-changing drive device is used to drive the chassis to change tracks;

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

[0033] The control unit is connected to the track gauge detection device, the locking status detection device, the counterweight detection device, the track change drive device, and the slewing drive device, respectively. Upon receiving a chassis track change command and / or a turntable slewing command, the control unit performs at least one of the following actions based on the track gauge information, the locking status information, and the counterweight installation information:

[0034] Action 1: Allow or prohibit the track-changing drive device from driving the chassis to change tracks;

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

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

[0037] The chassis track changing and turntable rotation control method provided by this invention accurately determines whether chassis track changing or turntable rotation operations can be performed based on the chassis track gauge information, the locking status information of the turntable locking mechanism, and the installation information of the counterweight on the turntable. This avoids misjudgment by the staff that could lead to equipment overturning and improves work safety.

[0038] Furthermore, since the turntable locking mechanism is locked when the chassis is allowed to change tracks, the turntable is prohibited from rotating back at this time; and the turntable locking mechanism is unlocked when the turntable is allowed to rotate back, the chassis is prohibited from changing tracks at this time. That is, the chassis changing tracks and the turntable rotating back will not be carried out at the same time, thereby reducing or avoiding the risk of equipment tipping over.

[0039] Meanwhile, when the chassis is allowed to change tracks, the turntable locking mechanism is in a locked state. At this time, the rotation angle of the turntable is at a preset forward or backward angle, thus ensuring that when the chassis changes tracks, the center of gravity of the construction machinery is in front of or behind the chassis. This prevents the construction machinery from tipping over when the chassis switches from a wide track to a narrow track due to the center of gravity of the construction machinery being in the left or right direction of the chassis. Attached Figure Description

[0040] Figure 1a and Figure 1b This is a schematic diagram showing the installation position of the turntable locking mechanism in an embodiment of the present invention; wherein, Figure 1a The transfer station locking mechanism is in the unlocked state. Figure 1b The transfer station locking mechanism is in the locked state.

[0041] Figure 2 This is a schematic diagram showing 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 showing 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-gauge configuration. Figure 3b The chassis is in a narrow-gauge configuration.

[0043] Figure 4a and Figure 4b This is a schematic diagram illustrating the relative positional relationship between the circle containing the center of gravity of the entire machine and the transverse and longitudinal overturning lines of the chassis in an embodiment of the present invention; wherein, Figure 4a The mid-chassis is in a wide-gauge configuration. Figure 4b The chassis is in a narrow-gauge configuration.

[0044] Figure 5 This is a schematic diagram illustrating the workflow of the chassis track changing and turntable rotation control method in an embodiment of the present invention.

[0045] Figure 6 This is a structural block diagram of the chassis track changing and turntable rotation control system in an embodiment of the present invention. Detailed Implementation

[0046] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0047] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and claims of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

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

[0049] like Figures 1a to 6 As shown, this embodiment of the invention provides a chassis track changing and turntable rotation control method for engineering machinery (e.g., crawler cranes). The chassis track changing and turntable rotation control method includes:

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

[0051] S20: Based on the track gauge information, the locking status information, and the installation information of the counterweight 4, perform at least one of the following actions:

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

[0053] Action 2: Allow or prohibit the rotation of turntable 31; wherein, when the rotation of turntable 31 is allowed, the turntable locking mechanism 32 is in the unlocked state;

[0054] When performing the above actions one and two, if chassis 1 is allowed to change track, turntable 31 is prohibited from rotating; if turntable 31 is allowed to rotate, chassis 1 is prohibited from changing track. That is, chassis 1 changing track and turntable 31 rotating will not occur simultaneously, thereby reducing or avoiding the risk of equipment tipping over (because chassis 1 changing track will cause a change in the track gauge of chassis 1, which will cause the tipping line of chassis 1 to shift, while turntable 31 rotating will cause a change in the position of the overall center of gravity of the construction machinery; if chassis 1 changing track and turntable 31 rotating are carried out simultaneously, the overall center of gravity of the construction machinery may exceed the tipping line of chassis 1, thereby causing the construction machinery to tip over. In order to avoid this uncertain risk, chassis 1 changing track and turntable 31 rotating cannot be carried out simultaneously).

[0055] In step S10 above, the track gauge information includes whether the chassis 1 is in a wide-gauge or narrow-gauge state (the chassis 1 may be in a wide-gauge state, a narrow-gauge state, or neither, meaning the track gauge of the chassis 1 is between a wide-gauge state and a narrow-gauge state). The wide-gauge state generally refers to the track gauge of the chassis 1 when the construction machinery (e.g., a crawler crane) is in working condition, while the narrow-gauge state generally refers to the track gauge of the chassis 1 when the construction machinery is in transport condition. Track change refers to the change in track gauge caused by the lateral extension and retraction of the chassis 1 (when the chassis 1 is a crawler chassis, track change is the change in track gauge caused by the lateral extension and retraction of the crawler chassis's track frame). In this embodiment, the chassis 1 is a telescopic tracked chassis; of course, in other embodiments, the chassis 1 can also be other chassis capable of track change, such as a wheeled chassis.

[0056] The turntable locking mechanism 32 is used to lock or unlock the turntable 31. When the turntable locking mechanism 32 is in the 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 the 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 the locked state or the 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] In step S10 above, the forward angle and the backward angle can be set according to actual needs. For example, the forward angle is 0°±10°, 0°±5°, 0°±1°, 0°, etc., and the backward angle is 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 construction machinery can be roughly located in the front-rear X direction (front or rear) of the chassis 1, so as to avoid the construction machinery tipping over when the chassis 1 switches from the wide rail state to the narrow rail state because the center of gravity of the construction machinery is located in the left-right Y direction (left or right) of the chassis 1. 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. Since the turntable locking mechanism 32 is in the locked state, the rotation angle of the turntable 31 is in the forward or backward angle, that is, the boom of the crawler crane is in front of or behind the chassis 1, thus 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. Since the turntable locking mechanism 32 is in the locked state, the rotation angle of the turntable 31 is in the forward or backward angle, that is, the counterweight 4 is in front of or behind the chassis 1, thus 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 the locked state, the rotation angle of the turntable 31 is 0° (that is, when the turntable locking mechanism 32 is in the locked state, the turntable 31 is aligned, that is, the turntable 31 rotates to the front) or 180° (that is, when the turntable locking mechanism 32 is in the locked state, the turntable 31 rotates to the rear). For a crawler crane, at this time the crane boom is in front of or behind the chassis 1.

[0060] Furthermore, such as Figure 5 As shown, in this embodiment, the above-mentioned step S20 includes:

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

[0062] Furthermore, such as Figure 5 As shown, in this embodiment, the above-mentioned step S20 further includes:

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

[0064] Specifically, such as Figure 4a and Figure 4b As shown, chassis 1 has two lateral overturning lines A spaced apart from each other and two longitudinal overturning lines B spaced apart from each other. The lateral overturning lines A extend in the front-to-back direction X, and the two lateral overturning lines A are parallel to each other; the longitudinal overturning lines B extend in the left-to-right direction Y, and the two longitudinal overturning lines B are parallel to each other. Generally, the vertical distance from the center O of the circle C where the center of gravity of the construction machinery is located (the circle C where the center of gravity of the construction machinery is located is also the center of gravity circle of the construction machinery. When the upper vehicle 3 of the construction machinery rotates, the center of gravity of the construction machinery will change within a circular area, which is also the center of gravity circle) to the two lateral overturning lines A is equal, and the vertical distance from the center O of the circle C where the center of gravity of the construction machinery is located to the two longitudinal overturning lines B is equal.

[0065] When the circle C containing the center of gravity of the construction machinery exceeds the lateral overturning line A or the longitudinal overturning line B, the construction machinery may tip over. Specifically, when the center of gravity of the construction machinery crosses the lateral overturning line A, the construction machinery will tip over to the left or right; when the center of gravity of the construction machinery crosses the longitudinal overturning line B, the construction machinery will tip over forward or backward.

[0066] exist Figure 4a and Figure 4b In the diagram, the dashed circle C' represents the circle containing the center of gravity of the construction machinery when the counterweight 4 is not installed on the turntable 31, while the solid circle C represents the circle containing the center of gravity of the construction machinery 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' containing the center of gravity of the construction machinery is relatively small. Whether the chassis 1 is in a wide-rail or narrow-rail configuration, the circle C' containing the center of gravity of the construction machinery will not exceed the lateral overturning line A and the longitudinal overturning line B. That is, the diameter of the circle C' containing the center of gravity is smaller than the distance L1 between the two lateral overturning lines A and the distance L2 between the two longitudinal overturning lines B. Under these conditions, the construction machinery generally will not overturn when it rotates 360° on the turntable 31.

[0067] When the counterweight 4 is installed on the turntable 31, it will cause the center of gravity of the construction machinery to shift (the counterweight 4 is generally installed on the rear side of the turntable 31, thus causing the center of gravity of the construction machinery to shift backward), and the diameter of the circle C containing the center of gravity of the construction machinery will increase. When the chassis 1 is in the wide-rail state, the circle C containing the center of gravity of the construction machinery will not exceed the transverse overturning line A and the longitudinal overturning line B, that is, the diameter of the circle C containing the center of gravity of the machinery 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 construction machinery will generally not overturn when the turntable 31 rotates 360°. When chassis 1 is in a narrow-track state, the track gauge of chassis 1 is shortened, and the distance L1 between the two transverse overturning lines A decreases (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 certain angles, the center of gravity of the construction machinery may exceed the transverse overturning line A and cause it to tip over to the left or right. Figure 4b The shaded area in the diagram represents the area where the machine's center of gravity exceeds the lateral overturning line A and causes it to tip over. Therefore, the turntable 31 cannot rotate 360°. In this case, the rotation angle of the turntable 31 needs to be limited, that is, the rotation angle of the turntable 31 needs to be limited to a safe rotation angle range.

[0068] Furthermore, such as Figure 4b As shown, in this embodiment, the aforementioned safe turning angle is the angle between the upper vehicle 3 (turntable 31) and the chassis 1 when the center of gravity of the construction machinery is within the two lateral overturning lines A. The method for obtaining this safe turning angle includes:

[0069] Obtain the circle C where the center of gravity of the construction machinery is located (under the condition that the counterweight 4 is installed on the turntable 31) and the two lateral overturning lines A on the left and right sides of the chassis 1. Determine the four intersection points of the circle C where the center of gravity of the machinery is located and the two lateral overturning lines A. The four intersection points are the first intersection point D1, the second intersection point D2, the third intersection point D3 and the fourth intersection point D4. The first intersection point D1 and the second intersection point D2 are opposite each other on the left and right sides, and the third intersection point D3 and the fourth intersection point D4 are opposite each other on the left and right sides.

[0070] Connect the center O of circle C, where the center of gravity of the entire machine lies, to the first intersection point D1, the second intersection point D2, the third intersection point D3, and the fourth intersection point 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. 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 diagonally related, and their magnitudes are generally equal. When the rotation angle of the turntable 31 is limited to the range of α and β, the lateral tilting of the construction machinery can be prevented.

[0071] Furthermore, such as Figure 5 As shown, in this embodiment, the above-mentioned step S20 further includes:

[0072] When chassis 1 is neither in a wide-gauge nor a narrow-gauge state (for example, when the gauge cannot be determined), if the turntable locking mechanism 32 is in the locked state, chassis 1 is allowed to change tracks and turntable 31 is prohibited from rotating. If the turntable locking mechanism 32 is in the unlocked state, chassis 1 is prohibited from changing tracks and turntable 31 is prohibited from rotating. This avoids overturning caused by chassis 1 changing tracks or turntable 31 rotating when the gauge cannot be determined. Therefore, at this time, turntable locking mechanism 32 needs to be switched to the locked state to allow chassis 1 to perform track changing action.

[0073] In certain operating conditions, when the turntable locking mechanism 32 is in the unlocked state, the rotation angle of the turntable 31 is in the forward or 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] In certain operating conditions, when the turntable locking mechanism 32 is in the unlocked state, the rotation angle of the turntable 31 may not be a forward or backward angle (e.g., 30°). Since the turntable 31 is prohibited from rotating at this time, it is impossible to correct the rotation angle of the turntable 31 to a forward or backward angle to lock the turntable locking mechanism 32. Therefore, for this special operating condition, a forced release method can be used to solve the problem: after receiving a forced release signal, the restriction prohibiting the turntable 31 from rotating is released based on the forced release signal, so that the turntable 31 can rotate to a forward or backward angle, and then the turntable locking mechanism 32 is switched to the locked state, allowing the chassis 1 to perform track changing actions. After the restriction prohibiting the turntable 31 from rotating is released, depending on the actual operating 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, such as Figure 5 As shown, in this embodiment, the above-mentioned step S20 further includes:

[0076] When the chassis 1 is neither in the wide rail state nor the narrow rail state, if the turntable locking mechanism 32 is in the unlocked state, a locking prompt message is generated. This locking prompt message 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 message can be played via a broadcasting device (not shown, such as a speaker) in the form of voice announcement, or displayed via a display device (not shown, such as a vehicle infotainment system, instrument panel, etc.) in the form of text or icons. In this embodiment, the turntable locking mechanism 32 is a manually operated locking mechanism, requiring manual operation to lock or unlock it.

[0078] In another embodiment, the turntable locking mechanism 32 can also be a mechanically driven locking mechanism, such as locking or unlocking via a motor. When the chassis 1 is neither in a wide-rail state nor a narrow-rail state, if the turntable locking mechanism 32 is in the unlocked state, the turntable locking mechanism 32 can be controlled to automatically switch to the locked state, and then the chassis 1 can be allowed to perform the track-changing action.

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

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

[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 or right side of the turntable 31, as long as the turntable locking mechanism 32 is in the locked state and the rotation angle of the turntable 31 is in the forward or backward angle.

[0082] Furthermore, such as Figure 1a and Figure 1b As shown, in this embodiment, the turntable locking mechanism 32 includes a locking part 32A and a docking part 32B. One of the locking part 32A and the docking part 32B is disposed on the turntable 31, and the other is disposed on the chassis 1 (specifically, on the frame 12). The locking part 32A and the docking part 32B can lock together. In the above S10 step, when the turntable locking mechanism 32 is in the locked state, the rotation angle of the turntable 31 is either a forward angle or a backward angle, specifically including:

[0083] The mounting positions of the locking part 32A and the docking part 32B are defined such that when the rotation angle of the turntable 31 is in the forward angle, the locking part 32A and the docking part 32B are located in the same and / or opposite positions of the turntable 31, so that when the locking part 32A and the docking part 32B are locked, the rotation angle of the turntable 31 is in the forward angle or the backward angle.

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

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

[0086] Specifically, in this embodiment, the locking part 32A is disposed on the turntable 31, and the docking part 32B is disposed on the chassis 1. The locking part 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 inside the guide sleeve 321 and can move (up and down) along the axial direction of the guide sleeve 321. The docking part 32B includes a support 324 that can be inserted and engaged with the fixing pin 322. The fixing pin 322 is provided with a handle 323. By operating the handle 323, the fixing pin 322 can be moved up and down, thereby allowing the fixing pin 322 to be inserted into or disengaged from the hole on the support 324, thus achieving locking or unlocking. Of course, in other embodiments, the turntable locking mechanism 32 can also have other structural forms.

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

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

[0089] The locking status detection device 33 is used to detect the locking status information of the turntable locking mechanism 32;

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

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

[0092] Rotary drive unit 34 is used to drive the rotary table 31 to rotate.

[0093] The control unit 5 is connected to the track gauge detection device 14, the locking status detection device 33, the counterweight detection device 41, the track change drive device 13, and the slewing drive device 34, respectively. The control unit 5 can receive track gauge information detected by the track gauge detection device 14, locking status information detected by the locking status detection device 33, and installation information of the counterweight 4 detected by the counterweight detection device 41. Upon receiving a chassis track change command and / or a turntable slewing command (the chassis track change command can be generated by the driver activating the chassis track change button, etc.; the turntable slewing command can be generated by the driver manipulating the turntable slewing lever, etc.), the control unit 5 performs at least one of the following actions based on the track gauge information, locking status information, and installation information of the counterweight 4:

[0094] Action 1: Allow or prohibit the track-changing drive device 13 from driving the chassis 1 to change tracks; wherein, when the control unit 5 allows the track-changing drive 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 the locked state.

[0095] Action 2: Allow or prohibit the rotary drive device 34 from driving 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 must 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-changing 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-changing 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 slewing 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 no counterweight 4 is installed on the turntable 31, the control unit 5 prohibits the track-changing 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 safe rotation angle can be pre-calculated and stored in the control unit 5 according to different working conditions, or it can be calculated by the control unit 5 according to the above-mentioned method of obtaining the safe 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 a wide track state nor 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, 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. Moreover, when the control unit 5 receives a forced release signal, the control unit 5 releases the restriction prohibiting the turntable 31 from rotating. At the same time, the control unit 5 can also generate a locking prompt message, which is used to prompt the operator to lock the turntable locking mechanism 32.

[0099] Furthermore, such as Figure 6 As shown, in this embodiment, the chassis track changing and turntable rotation control system also includes a forced unlocking switch 6. The forced unlocking switch 6 is connected to the control unit 5 and 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 located in the driver's cab and can be a physical switch or a virtual switch, specifically a button, knob, virtual button, or other control element. After the operator turns on the forced unlocking switch 6, a forced release signal is generated and sent to the control unit 5. Upon receiving the forced release signal, the control unit 5 releases the restriction prohibiting the turntable 31 from rotating.

[0100] Furthermore, such as Figure 6As shown, in this embodiment, the chassis track changing and turntable rotation control system also includes a prompting device 7. The prompting device 7 is connected to the control unit 5 and is used to receive and execute locking prompt information sent by the control unit 5. The prompting device 7 can specifically be an audio device (e.g., a horn) or a display device (e.g., a vehicle infotainment system, instrument panel), etc.

[0101] Furthermore, such as 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 generates a wide track signal when the chassis 1 is in a wide track state, and the narrow track detection element 142 generates a narrow track signal when the chassis 1 is in a narrow track state. After receiving the wide track signal, the control unit 5 senses that the chassis 1 is in a wide track state. After receiving the narrow track signal, the control unit 5 senses that the chassis 1 is in a narrow track state. When neither a wide track signal nor a narrow track signal is received, the control unit 5 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 have other structural forms. For example, the track gauge detection device 14 can be a device that can directly detect the distance between the track frames 11 on both sides of the chassis 1.

[0102] Furthermore, such as Figure 3a and Figure 3b As shown, in this embodiment, the chassis 1 is a tracked chassis, which includes a frame 12, track 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 track frames 11 on both sides and is used to drive the track frames 11 on both sides to move left and right to change tracks. The track-changing drive device 13 can be a hydraulic cylinder or the like. The track gauge detection device 14 is mounted on the frame 12. The specific structure and working principle of the tracked chassis and the track gauge detection device 14 can be found in the prior art and will not be described in detail here.

[0103] Furthermore, such as Figure 1a and Figure 1bAs shown, in this embodiment, the locking state detection device 33 can be installed on the turntable locking mechanism 32. For example, the locking state detection device 33 can be a contact switch. The locking state detection device 33 is mounted on the fixing pin 322. When the fixing pin 322 moves downward and inserts 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, which is then transmitted 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. At this time, the locking state detection device 33 generates an unlocking signal and transmits it to the control unit 5. (Alternatively, the locking state detection device 33 is mounted on the support 324. When the fixing pin 322 moves downward and inserts 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. At this time, the locking state detection device 33 generates an unlocking signal.) Of course, the lock status detection device 33 can also be set in other locations and in other forms.

[0104] Furthermore, such as Figure 2 As shown, in this embodiment, the counterweight detection device 41 can be located on the rear side of the turntable 31. Specifically, the counterweight detection device 41 can be a contact switch. When the counterweight 4 is installed on the rear side of the turntable 31, the counterweight detection device 41 contacts the counterweight 4 and generates a loading signal, which is then transmitted to the control unit 5. When the counterweight 4 is removed from the turntable 31, the counterweight detection device 41 separates from the turntable 31 and generates a release signal, which is then transmitted to the control unit 5. Of course, the counterweight detection device 41 can also be installed in other locations and in other configurations.

[0105] Furthermore, in this embodiment, the rotary drive device 34 can specifically be a hydraulic motor. The hydraulic motor transmits power to the rotary reducer, which then transmits the power to the gears of the slewing bearing 2, thereby driving the turntable 31 (upper carriage 3) to rotate. The specific structure and principle of the rotary drive device 34 can be found in existing technology and will not be elaborated here.

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

[0107] This invention also provides an engineering machinery, including the aforementioned chassis track changing and turntable rotation control system. Specifically, this engineering machinery can be a crawler crane, etc.

[0108] Furthermore, in this embodiment, the engineering machinery also includes a chassis 1 and a supercar 3 mounted on the chassis 1. The supercar 3 includes a turntable 31, which is rotatably connected to the chassis 1 via a slewing bearing 2. The chassis 1 is a telescopic tracked chassis.

[0109] The chassis track changing and turntable rotation control method provided in this embodiment of the invention accurately determines whether the chassis 1 can change track or the turntable 31 can rotate based on the track gauge information of the chassis 1, the locking status information of the turntable locking mechanism 32, and the installation information of the counterweight 4 on the turntable 31. This avoids misjudgment by the staff that could cause the equipment to tip over, thus improving the safety of the work.

[0110] Furthermore, since the turntable locking mechanism 32 is locked when the chassis 1 is allowed to change tracks, the turntable 31 is prohibited from rotating at this time; and the turntable locking mechanism 32 is unlocked when the turntable 31 is allowed to rotate, the chassis 1 is prohibited from changing tracks at this time. That is, the chassis 1 changing tracks and the turntable 31 rotating will not occur simultaneously, thereby reducing or avoiding the risk of equipment tipping over.

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

[0112] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling chassis track changing and turntable rotation, characterized in that, include: S10: Obtain the chassis track gauge information, the locking status information of the turntable locking mechanism, and the installation information of the counterweight on the turntable; The turntable locking mechanism has a locked state and an unlocked state. When the turntable locking mechanism is in the locked state, the rotation angle of the turntable is either a forward angle or a backward angle. S20: Based on the track gauge information, the locking status information, and the counterweight installation information, perform at least one of the following actions: Action 1: Allow or prohibit 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: Allow or prohibit the turntable from rotating; wherein, when the turntable is allowed to rotate, the turntable locking mechanism is in the unlocked state; The above S20 step includes: When the chassis is in a wide-rail 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.

2. The chassis track changing and turntable rotation control method as described in claim 1, characterized in that, The above 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 tracks and the turntable is prohibited from rotating. If the turntable locking mechanism is in the 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 the 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.

3. The chassis track changing and turntable rotation control method as described in claim 2, characterized in that, The method for obtaining the safe rotation angle includes: Obtain the circle containing the center of gravity of the construction machinery and the two lateral overturning lines on the left and right sides of the chassis. Determine the four intersection points of the circle containing the center of gravity and the two lateral overturning lines. The four intersection points are the first intersection point, the second intersection point, the third intersection point, and the fourth intersection point. The first intersection point and the second intersection point are opposite each other to the left and right, and the third intersection point and the fourth intersection point are opposite each other to the left and right. Connect the center of the circle containing the center of gravity of the whole machine to the first intersection point, the second intersection point, the third intersection point, and the fourth intersection point respectively to obtain the first safety boundary line, the second safety boundary line, the third safety boundary line, and the fourth safety boundary line. The angle between the first safety boundary line and the second safety boundary line is α, and the angle between the third safety boundary line and the fourth safety boundary line is β. The safe rotation angle includes α and β.

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

5. The chassis track changing and turntable rotation control method as described in claim 4, characterized in that, The above-mentioned step S20 also includes: When the chassis is neither in a wide-gauge state nor a narrow-gauge 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 the forced release signal, the restriction prohibiting the turntable from rotating is lifted.

6. The chassis track changing and turntable rotation control method as described in claim 4, characterized in that, The above-mentioned step S20 also includes: When the chassis is neither in a wide-gauge state nor a narrow-gauge state, if the turntable locking mechanism is in an unlocked state, a locking prompt message is generated. The locking prompt message is used to prompt the operator to lock the turntable locking mechanism.

7. The chassis track changing and turntable rotation control method as described in any one of claims 1-6, characterized in that, The turntable locking mechanism includes a locking part and a docking part that engage in locking. One of the locking part and the docking part is disposed on the turntable, and the other is disposed on the chassis. In step S10 above, when the turntable locking mechanism is in the locked state, the rotation angle of the turntable is either a forward angle or a backward angle, specifically including: The installation positions of the locking part and the docking part are defined such that when the rotation angle of the turntable is in the forward angle, the locking part and the docking part are located in the same and / or opposite positions of the turntable, so that when the locking part and the docking part are locked, the rotation angle of the turntable is in the forward angle or the backward angle.

8. A chassis track changing and turntable rotation control system based on the chassis track changing and turntable rotation control method as described in any one of claims 1-7, characterized in that, The chassis track changing and turntable rotation control system includes: Track gauge detection device, used to detect the track gauge information of the chassis; A locking status detection device is used to detect the locking status information of the turntable locking mechanism; The counterweight detection device is used to detect the installation information of the counterweight on the turntable; A track-changing drive device is used to drive the chassis to change tracks; A rotary drive device for driving the turntable to rotate; The control unit is connected to the track gauge detection device, the locking status detection device, the counterweight detection device, the track change drive device, and the slewing drive device, respectively. Upon receiving a chassis track change command and / or a turntable slewing command, the control unit performs at least one of the following actions based on the track gauge information, the locking status information, and the counterweight installation information: Action 1: Allow or prohibit the track-changing drive device from driving the chassis to change tracks; Action 2: Allow or prohibit the rotary drive device from driving the turntable to rotate.

9. An engineering machinery, characterized in that, Includes the chassis track changing and turntable rotation control system as described in claim 8.

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