Pipe lifting machine based on excavator chassis and slope pipe lifting safety construction judgment method

Abstract

The application discloses a pipe hoisting machine based on an excavator chassis, which comprises an excavator chassis, an excavator working platform, a pipe hoisting machine working device, a rotating mechanism, a chassis horizontal inclination sensor, a rotating angle detection element, a hoisting arm angle sensor, a pin shaft sensor, an electronic monitor and a controller. The controller is connected with the chassis horizontal inclination sensor, the rotating angle detection element, the hoisting arm angle sensor, the pin shaft sensor and the electronic monitor. The working posture of the whole machine is judged by collecting the data of the horizontal inclination sensor and the rotating angle detection element. The lifting performance table under the current working condition is called according to the hoisting arm angle sensor, the pipe hoisting operation is implemented, the pin shaft sensor feedback data is collected to detect whether the construction is safe under the condition, and whether the pipe hoisting machine working device works is controlled according to the judgment result, so that the safe pipe hoisting construction on the slope is realized. The control principle of the application is simple and reliable, and is suitable for industrialization popularization and application.

Description

Technical Field

[0001] This invention relates to pipe-laying machines, specifically to a pipe-laying machine based on an excavator chassis and a method for judging the safety of pipe-laying construction on ramps. Background Technology

[0002] In recent years, the country's demand for natural gas has been increasing year by year, and the laying of natural gas pipelines has also been increasing year by year. The use of pipe-laying equipment, which plays a key role in pipeline laying, has also been increasing year by year. With the advancement of the natural gas pipeline network, many areas where pipelines are laid are slopes or mountains, and such terrain has brought great difficulties to pipeline laying.

[0003] Pipe-laying machines or excavators are typically used for construction, as detailed below:

[0004] (1) Most pipe-laying machines use a bulldozer chassis as a platform, with the boom and counterweight placed on the sides of the platform respectively. The working direction is always perpendicular to the overall vehicle travel plan. The upper and lower vehicles are designed as a single unit. The upper vehicle cannot rotate horizontally, making it impossible to carry out multi-angle lifting operations in the specified travel direction. If the lifting angle needs to be adjusted, the tracks need to be adjusted to achieve the overall machine angle adjustment. Furthermore, the existing pipe-laying machine force limiter system can only provide safety warnings and restrictions for horizontal ground construction and cannot be applied to mountainous construction conditions.

[0005] (2) Since the excavator can rotate freely in the horizontal direction, it can replace the pipe-lifting machine to transport pipelines in mountainous areas with narrow roads. However, conventional excavators are not professional lifting construction equipment and can only assist in lifting when the vehicle body is relatively horizontal. Without a force limiter control system, construction will pose great safety hazards. Summary of the Invention

[0006] To address the problems existing in the prior art, this invention provides a pipe-laying machine based on an excavator chassis. The excavator structure serves as a platform for pipe-laying operations. The excavator working platform is connected to the excavator chassis via a slewing mechanism, transforming the original pipe-laying machine working device into a pipe-laying machine working device. The pipe-laying machine working device includes: a hook lifting mechanism and a boom luffing mechanism. Luffing is achieved by the extension and retraction of the hydraulic cylinder in the boom luffing mechanism. The hook lifting mechanism includes: a winch device, a boom, a fixed pulley block, a movable pulley block, and a hook. The fixed pulley block is located at the boom head, and the movable pulley block is located inside the hook. A wire rope on the winch device connects the fixed pulley block and the movable pulley block. The lifting and lowering of the pipe is achieved by winding and unwinding the wire rope through the winch device. Simultaneously, by collecting data from a horizontal tilt sensor and a slewing angle detection element, the working posture of the entire machine is determined. Based on the angle sensor installed on the boom, the lifting performance table under the current working conditions is invoked to perform pipe-laying operations. Pin shaft sensor feedback data is collected to detect whether the construction under these conditions is safe.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is: a pipe-laying machine based on an excavator chassis, comprising: an excavator chassis, an excavator work platform, a pipe-laying machine working device, and a slewing mechanism, wherein the excavator work platform is mounted on the excavator chassis via the slewing mechanism, the pipe-laying machine working device is mounted on the excavator work platform, and further comprising:

[0008] Chassis tilt sensor: Installed on the excavator chassis, used to detect the angle between the excavator chassis and the horizontal plane;

[0009] Slewing angle detection element: installed at the connection between the excavator chassis and the excavator working platform, used to measure the slewing angle of the excavator working platform;

[0010] Boom angle sensor: Installed on the working device of the pipe-laying machine, used to detect the angle between the working device of the pipe-laying machine and the horizontal plane;

[0011] Pin-shaft sensor: Installed on the working device of the pipe lifting machine, used to measure the weight of the lifted load;

[0012] Electronic monitor: Installed in the cab of the excavator's work platform, it is used by the operator to observe the overall machine information and provides alarm prompts;

[0013] Controller: Connected to the chassis horizontal tilt sensor, slewing angle detection element, boom angle sensor, pin sensor, and electronic monitor, it determines the working posture of the entire machine by collecting data from the horizontal tilt sensor and slewing angle detection element. Based on the boom angle sensor, it calls up the lifting performance table under the current working condition to carry out pipe lifting operations. It also collects feedback data from the pin sensor to detect whether the construction is safe under the condition, and controls whether the pipe lifting machine's working device works based on the judgment result.

[0014] Furthermore, the working device of the pipe lifting machine includes: a hook lifting mechanism and a boom luffing mechanism. The controller controls the operation of the hook lifting mechanism and the boom luffing mechanism. Specifically, a boom angle sensor is installed on the boom in the hook lifting mechanism to detect the angle between the boom and the horizontal plane, and a pin sensor is installed on the top of the boom in the hook lifting mechanism to measure the weight of the lifted object.

[0015] Furthermore, the rotation angle detection element is an element with counting and detection functions.

[0016] Furthermore, the chassis tilt sensor, slewing angle detection element, pin sensor, boom angle sensor, controller, and electronic monitor are connected via a CAN bus.

[0017] A method for judging the safety of pipe laying on slopes using a pipe-laying machine based on an excavator chassis is proposed. When the system is powered on, the controller collects data from the chassis horizontal tilt angle sensor. The data is divided into the tilt angle of the X-axis and the tilt angle of the Y-axis. When the X-axis angle is positive, the left side of the excavator chassis track is higher than the right side, and vice versa. When the Y-axis angle is positive, the drive wheel of the excavator chassis is higher than the idler wheel, and vice versa.

[0018] Furthermore, when -α ≤ X-axis tilt angle ≤ α and -α ≤ Y-axis tilt angle ≤ α, the controller determines that the excavator chassis is approximately in a horizontal position, reads the data from the boom angle sensor, calls the overall machine horizontal lifting performance table to perform the lifting operation, and the pin sensor determines whether the lifted load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook hoisting mechanism are executed normally; if the limit is exceeded, the electronic monitor alarms and limits the luffing action of the boom luffing mechanism and the hoisting action of the hook hoisting mechanism.

[0019] When β≥Y-axis tilt angle>α and θ≥X-axis tilt angle>α, the controller determines that the excavator chassis is at an unworkable angle, the electronic monitor provides a prompt, and limits the lifting action of the hook lifting mechanism 7.

[0020] When -α ≥ Y-axis tilt angle > -β and -α ≤ X-axis tilt angle ≤ α, the controller determines that the excavator chassis is not in a slope construction state, the electronic monitor provides a prompt, and limits the lifting action of the hook lifting mechanism;

[0021] Where α represents the positive direction of the coordinate axis, that is, the angle is not calculated if it is greater than 0° and less than α; -α represents the negative direction of the coordinate axis, that is, the angle is not calculated if it is less than 0° and greater than -α.

[0022] β represents the limiting angle for the positive direction of the coordinate axis; anything greater than β is outside the limit. -β represents the limiting angle for the negative direction of the coordinate axis.

[0023] Angles, i.e., less than -β, are outside the judgment range;

[0024] θ represents the tilt angle of the entire machine on the X-axis, which is any angle between α and β.

[0025] Furthermore, when β ≥ Y-axis tilt angle > α and -α ≤ X-axis tilt angle ≤ α, the controller determines that the excavator chassis is in posture one. The slewing angle detection element detects the slewing angle of the upper vehicle, and the boom angle sensor detects the horizontal angle of the boom. It then determines whether the boom angle exceeds the current limit under the current slope lifting condition. If the boom angle exceeds the design limit, the electronic monitor alarms and restricts the lifting action of the hook. If the boom angle does not exceed the limit, the controller calls the lifting capacity table of posture one to carry out the lifting operation. The pin sensor determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism are executed normally. If the limit is exceeded, the electronic monitor alarms and restricts the luffing action of the boom luffing mechanism and the lifting action of the hook lifting mechanism.

[0026] Furthermore, when θ ≥ absolute value of X-axis tilt angle > α and -α ≤ Y-axis tilt angle ≤ α, if the X-axis tilt angle is positive, the lower vehicle is determined to be in posture two. The slewing angle detection element detects the slewing angle of the upper vehicle, and the boom angle sensor detects the horizontal angle of the boom and determines whether it exceeds the boom angle limit under the current ramp lifting condition. If the boom angle exceeds the design limit, the electronic monitor alarms and restricts the lifting action of the hook; if the boom angle does not exceed the limit, the controller calls the lifting capacity table of posture two to carry out the lifting operation. The pin sensor determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism are executed normally; if it exceeds the limit, the electronic monitor alarms and limits the luffing of the boom luffing mechanism. The lifting action of the crane and the hook hoisting mechanism is as follows: If the X-axis tilt angle is negative, it is determined that the lower vehicle is in posture three. The slewing angle detection element detects the slewing angle of the upper vehicle, and the boom angle sensor detects the horizontal angle of the boom and determines whether it exceeds the boom angle limit under the current slope lifting condition. If the boom angle exceeds the design limit, the electronic monitor alarms and restricts the lifting action of the hook. If the boom angle does not exceed the limit, the controller calls the lifting capacity table of posture three to carry out the lifting operation. The pin sensor determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook hoisting mechanism are executed normally. If the limit is exceeded, the electronic monitor alarms and restricts the luffing action of the boom luffing mechanism and the lifting action of the hook hoisting mechanism.

[0027] Furthermore, when the Y-axis tilt angle is ≥β or the X-axis tilt angle is ≥θ, the controller determines that the excavator chassis is currently in a slope that exceeds the allowable lifting range, and the electronic monitor prompts and limits the luffing action of the boom luffing mechanism and the lifting action of the hook hoisting mechanism.

[0028] The beneficial effects of this invention are: the use of an excavator chassis enables pipe-laying construction on steep slopes or mountainous terrain, making the excavator more adaptable to terrain and safer. It can also be used for construction operations requiring fixed upper and lower vehicle angles. By judging the excavator's construction status using data collected from the chassis status information, and by collecting data from the upper vehicle slewing angle and boom horizontal angle sensors to retrieve the lifting performance table for that posture, and by comparing the data collected by the pin shaft sensor with the retrieved parameter table, safe pipe-laying construction on slopes can be achieved. This not only fulfills all the functions required for pipe-laying construction but also makes it safer than existing pipe-laying machines on the market. The control principle of this invention is simple and reliable, making it suitable for industrial-scale promotion and application. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the system structure of the present invention;

[0030] Figure 2 This is a schematic diagram of the installation structure of the chassis tilt sensor and rotation angle detection element of the present invention;

[0031] Figure 3 for Figure 2 A partially enlarged structural diagram of section I;

[0032] Figure 4 for Figure 2 A partially enlarged structural diagram of section II;

[0033] Figure 5 This is a structural diagram of an excavator;

[0034] Figure 6 for Figure 5 A partially enlarged structural diagram of section III;

[0035] Figure 7 for Figure 5 A partially enlarged structural diagram of section IV;

[0036] Figure 8 This is a schematic diagram of the control flow of the present invention;

[0037] Figure 9 This is a schematic diagram of the horizontal orientation;

[0038] Figure 10 This is a schematic diagram of the posture.

[0039] Figure 11 Schematic diagrams for posture 2 and posture 3;

[0040] In the diagram: 1. Chassis horizontal tilt sensor; 2. Slewing angle detection element; 3. Boom angle sensor; 4. Pin sensor; 5. Controller; 6. Electronic monitor; 7. Hook lifting mechanism; 8. Boom luffing mechanism. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of the invention.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention.

[0043] like Figure 1-7 As shown, a pipe-laying machine based on an excavator chassis includes: an excavator chassis, an excavator work platform, a pipe-laying machine working device, and a slewing mechanism. The excavator work platform is mounted on the excavator chassis via the slewing mechanism, and the pipe-laying machine working device is mounted on the excavator work platform. The pipe-laying machine working device includes: a hook lifting mechanism and a boom luffing mechanism. Luffing action is achieved by the extension and retraction of a hydraulic cylinder in the boom luffing mechanism. The hook lifting mechanism includes: a winch device, a boom, a fixed pulley block, a movable pulley block, and a hook. The fixed pulley block is located at the boom head. The winch device is mounted on the excavator work platform. The boom is hinged to the excavator work platform. Luffing action is achieved by controlling the boom through the boom luffing mechanism. The movable pulley block is located inside the hook. A wire rope on the winch device connects the fixed pulley block and the movable pulley block. The lifting and lowering of the pipe is achieved by winding and unwinding the wire rope through the winch device.

[0044] The safety assessment system for excavator ramp pipe-laying construction also includes:

[0045] Chassis tilt sensor, slewing angle detection element, boom angle sensor, pin sensor, controller, electronic monitor, hook lifting mechanism, boom luffing mechanism;

[0046] The chassis tilt sensor 1 is installed on the excavator chassis to detect the angle between the excavator chassis and the horizontal plane.

[0047] A slewing angle detection element 2 is installed at the connection between the excavator chassis and the excavator working platform to measure the slewing angle of the excavator working platform. The slewing angle detection element can also be other elements with counting and detection functions.

[0048] The boom angle sensor 3 is installed on the boom to detect the angle between the boom and the horizontal plane;

[0049] The pin sensor 4 is mounted on the top of the boom in a hinged manner to measure the weight of the lifted load.

[0050] The electronic monitor 6 is installed in the cab, allowing the driver to observe overall machine information and receive alarm notifications.

[0051] The chassis tilt sensor, slewing angle detection element 2, pin shaft sensor 3, boom angle sensor 3, controller 5, and electronic monitor 6 are interconnected via CAN bus, or other forms of communication interconnection.

[0052] like Figure 8 As shown, a method for judging the safety of pipe laying on slopes using a pipe-laying machine based on an excavator chassis is described. When the system is powered on, the controller 5 collects data from the chassis horizontal tilt sensor 1. This data includes the tilt angles of the X-axis and Y-axis. When the X-axis angle is positive, the left track of the excavator chassis is higher than the right track; conversely, a negative X-axis angle indicates that the left track is lower than the right track. When the Y-axis angle is positive, the drive wheel of the excavator chassis is higher than the idler wheel; conversely, the idler wheel is higher than the drive wheel.

[0053] like Figure 9 As shown, when -α≤X-axis tilt angle≤α and -α≤Y-axis tilt angle≤α, the controller 5 determines that the excavator chassis is approximately in a horizontal position, reads the data from the boom angle sensor 3, calls the overall machine horizontal lifting performance table to perform the lifting operation, and the pin sensor 4 determines whether the lifted load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism 7 are executed normally; if the limit is exceeded, the electronic monitor 6 alarms and limits the luffing action of the boom luffing mechanism 8 and the lifting action of the hook lifting mechanism 7.

[0054] When β≥Y-axis tilt angle>α and θ≥X-axis tilt angle>α, the controller 5 determines that the excavator chassis is at an unworkable angle, the electronic monitor 6 provides a prompt, and limits the lifting action of the hook lifting mechanism 7.

[0055] When -α ≥ Y-axis tilt angle > -β and -α ≤ X-axis tilt angle ≤ α, the controller 5 determines that the excavator chassis is not in a slope construction state, the electronic monitor 6 provides a prompt, and limits the lifting action of the hook lifting mechanism 7.

[0056] like Figure 10As shown, when β≥Y-axis tilt angle>α and -α≤X-axis tilt angle≤α, controller 5 determines that the excavator chassis is in posture one. The slewing angle detection element 2 detects the slewing angle of the upper vehicle, and the boom angle sensor 3 detects the horizontal angle of the boom and determines whether it exceeds the boom angle limit under the current slope lifting state. If the boom angle exceeds the design limit, the electronic monitor 6 alarms and restricts the lifting action of the hook. If the boom angle does not exceed the limit, controller 5 calls the lifting capacity table of posture one to carry out the lifting operation. The pin sensor 4 determines whether the lifted load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism 7 are executed normally. If the limit is exceeded, the electronic monitor 6 alarms and restricts the luffing action of the boom luffing mechanism 8 and the lifting action of the hook lifting mechanism 7.

[0057] like Figure 11 As shown, when θ ≥ absolute value of X-axis tilt angle > α and -α ≤ Y-axis tilt angle ≤ α, if the X-axis tilt angle is positive, the lower vehicle is determined to be in posture two. The slewing angle detection element 2 detects the slewing angle of the upper vehicle, and the boom angle sensor 3 detects the horizontal angle of the boom and determines whether it exceeds the boom angle limit under the current ramp lifting state. If the boom angle exceeds the design limit, the electronic monitor 6 alarms and restricts the lifting action of the hook; if the boom angle does not exceed the limit, the controller 5 calls the lifting capacity table of posture two to carry out the lifting operation, and the pin sensor 4 determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism 7 are executed normally; if it exceeds the limit, the electronic monitor 6 alarms and restricts the luffing action of the boom luffing mechanism 8. The lifting action of the hook lifting mechanism 7 is as follows: If the X-axis tilt angle is negative, it is determined that the lower vehicle is in posture three. The slewing angle detection element 2 detects the slewing angle of the upper vehicle, and the boom angle sensor 3 detects the horizontal angle of the boom and determines whether it exceeds the boom angle limit under the current slope lifting state. If the boom angle exceeds the design limit, the electronic monitor 6 alarms and restricts the lifting action of the hook; if the boom angle does not exceed the limit, the controller 5 calls the lifting capacity table of posture three to carry out the lifting operation. The pin sensor 4 determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism 7 are executed normally; if the limit is exceeded, the electronic monitor 6 alarms and restricts the luffing action of the boom luffing mechanism 8 and the lifting action of the hook lifting mechanism 7.

[0058] When the Y-axis tilt angle is greater than or equal to β or the X-axis tilt angle is greater than or equal to θ, the controller 5 determines that the excavator chassis is currently in a slope that exceeds the allowable lifting range, and the electronic monitor 6 prompts and limits the luffing action of the boom luffing mechanism 8 and the lifting action of the hook hoisting mechanism 7.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A pipe-laying machine based on an excavator chassis, characterized in that, include: The excavator chassis, excavator work platform, pipe-laying machine working device, and slewing mechanism are included. The excavator work platform is mounted on the excavator chassis via the slewing mechanism, and the pipe-laying machine working device is mounted on the excavator work platform. The system also includes: Chassis tilt sensor: Installed on the excavator chassis, used to detect the angle between the excavator chassis and the horizontal plane; Slewing angle detection element: installed at the connection between the excavator chassis and the excavator working platform, used to measure the slewing angle of the excavator working platform; Boom angle sensor: Installed on the working device of the pipe-laying machine, used to detect the angle between the working device of the pipe-laying machine and the horizontal plane; Pin-shaft sensor: Installed on the working device of the pipe lifting machine, used to measure the weight of the lifted load; Electronic monitor: Installed in the cab of the excavator's work platform, it is used by the operator to observe the overall machine information and provides alarm prompts; Controller: Connected to chassis horizontal tilt sensor, slewing angle detection element, boom angle sensor, pin sensor, and electronic monitor, it determines the working posture of the whole machine by collecting data from the horizontal tilt sensor and slewing angle detection element. Based on the boom angle sensor, it calls up the lifting performance table under the current working condition, performs pipe lifting operation, and collects pin sensor feedback data to detect whether the construction is safe under the condition. Based on the judgment result, it controls whether the pipe lifting machine's working device works. The working device of the pipe lifting machine includes a hook lifting mechanism and a boom luffing mechanism. The controller controls the operation of the hook lifting mechanism and the boom luffing mechanism. Specifically, a boom angle sensor is installed on the boom in the hook lifting mechanism to detect the angle between the boom and the horizontal plane, and a pin sensor is installed on the top of the boom in the hook lifting mechanism to measure the weight of the lifted object.

2. The pipe-laying machine based on an excavator chassis according to claim 1, characterized in that, The rotation angle detection element is an element with counting and detection functions.

3. The pipe-laying machine based on an excavator chassis according to claim 1, characterized in that, The chassis tilt sensor, slewing angle detection element, pin sensor, boom angle sensor, controller, and electronic monitor are connected via CAN bus.

4. The method for judging the safety of slope pipe laying construction using a pipe-laying machine based on an excavator chassis according to claim 1, characterized in that, When the system is powered on, the controller will collect data from the chassis tilt sensor. The information is divided into the tilt angle of the X-axis and the tilt angle of the Y-axis. When the X-axis angle is positive, the left side of the excavator chassis track is higher than the right side, and vice versa. When the Y-axis angle is positive, the excavator chassis drive wheel is higher than the idler wheel, and vice versa.

5. The method for judging the safety of slope pipe laying construction using a pipe-laying machine based on an excavator chassis according to claim 4, characterized in that, When -α ≤ X-axis tilt angle ≤ α and -α ≤ Y-axis tilt angle ≤ α, the controller determines that the excavator chassis is approximately in a horizontal position, reads the data from the boom angle sensor, calls the overall machine horizontal lifting performance table to perform the lifting operation, and the pin sensor determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook hoisting mechanism are executed normally; if the limit is exceeded, the electronic monitor will alarm and limit the luffing action of the boom luffing mechanism and the hoisting action of the hook hoisting mechanism. When β≥Y-axis tilt angle>α and θ≥X-axis tilt angle>α, the controller determines that the excavator chassis is at an unworkable angle, the electronic monitor provides a prompt, and limits the lifting action of the hook lifting mechanism; When -α ≥ Y-axis tilt angle > -β and -α ≤ X-axis tilt angle ≤ α, the controller determines that the excavator chassis is not in a slope construction state, the electronic monitor provides a prompt, and limits the lifting action of the hook lifting mechanism; Where α represents the positive direction of the coordinate axis, that is, the angle is not calculated if it is greater than 0° and less than α; -α represents the negative direction of the coordinate axis, that is, the angle is not calculated if it is less than 0° and greater than -α. β represents the limiting angle for the positive direction of the coordinate axis; anything greater than β is outside the limit. -β represents the limiting angle for the negative direction of the coordinate axis. Angles, i.e., less than -β, are outside the judgment range; θ represents the tilt angle of the entire machine on the X-axis, which is any angle between α and β.

6. The method for judging the safety of slope pipe laying construction using a pipe-laying machine based on an excavator chassis according to claim 4, characterized in that, When β ≥ Y-axis tilt angle > α and -α ≤ X-axis tilt angle ≤ α, the controller determines that the excavator chassis is in posture one. The slewing angle detection element detects the slewing angle of the upper vehicle, and the boom angle sensor detects the horizontal angle of the boom. It then determines whether the boom angle exceeds the current limit under the current slope lifting condition. If the boom angle exceeds the design limit, the electronic monitor alarms and restricts the lifting action of the hook. If the boom angle does not exceed the limit, the controller calls the lifting capacity table of posture one to carry out the lifting operation. The pin sensor determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism are executed normally. If the limit is exceeded, the electronic monitor alarms and restricts the luffing action of the boom luffing mechanism and the lifting action of the hook lifting mechanism.

7. The method for judging the safety of slope pipe laying construction using a pipe-laying machine based on an excavator chassis according to claim 4, characterized in that, When θ ≥ absolute value of X-axis tilt angle > α and -α ≤ Y-axis tilt angle ≤ α, if the X-axis tilt angle is positive, the lower vehicle is determined to be in posture two. The slewing angle detection element detects the slewing angle of the upper vehicle, and the boom angle sensor detects the horizontal angle of the boom and determines whether it exceeds the boom angle limit under the current ramp lifting condition. If the boom angle exceeds the design limit, the electronic monitor alarms and restricts the lifting action of the hook; if the boom angle does not exceed the limit, the controller calls the lifting capacity table of posture two to carry out the lifting operation. The pin sensor determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook lifting mechanism are executed normally; if it exceeds the limit, the electronic monitor alarms and restricts the luffing action of the boom luffing mechanism. The lifting action of the hook hoisting mechanism is as follows: If the X-axis tilt angle is negative, it is determined that the lower vehicle is in posture three. The slewing angle detection element detects the slewing angle of the upper vehicle, and the boom angle sensor detects the horizontal angle of the boom and determines whether it exceeds the boom angle limit under the current slope lifting condition. If the boom angle exceeds the design limit, the electronic monitor alarms and restricts the lifting action of the hook; if the boom angle does not exceed the limit, the controller calls the lifting capacity table of posture three to carry out the lifting operation. The pin sensor determines whether the load exceeds the current lifting weight limit. If it does not exceed the limit, the lifting and lowering actions of the hook hoisting mechanism are executed normally; if the limit is exceeded, the electronic monitor alarms and restricts the luffing action of the boom luffing mechanism and the lifting action of the hook hoisting mechanism.

8. The method for judging the safety of slope pipe laying construction using a pipe-laying machine based on an excavator chassis according to claim 4, characterized in that, When the Y-axis tilt angle is greater than or equal to β or the X-axis tilt angle is greater than or equal to θ, the controller determines that the excavator chassis is currently in a slope that exceeds the allowable lifting range. The electronic monitor then prompts and limits the luffing action of the boom luffing mechanism and the lifting action of the hook hoisting mechanism.

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