Automatic balancing operation vehicle and working method

Abstract

The invention discloses an automatic balancing operation vehicle and a working method, solves the problem of instability during large-angle operation of the vehicle, and increases the space range of an operation device. According to the technical scheme, the vehicle comprises a vehicle body, a working device, leveling supporting legs, a balance block adjusting device and a controller. The balance block adjusting device is arranged above the vehicle body, and the operation device is arranged above the balance block adjusting device; a leveling supporting leg is further arranged on the vehicle body, a leveling supporting leg hoop is arranged at the end, away from the vehicle body, of the leveling supporting leg, and a hoop pressure sensor is arranged in the leveling supporting leg hoop. The balance block adjusting device comprises a shell, a balance block, a guide rail mechanism and a magnetic device. The guide rail mechanism is arranged in the shell, the balance block is arranged above the guide rail mechanism, and the magnetic device is arranged at the end of the shell. A controller is further arranged above the balance block adjusting device.

Description

Technical Field

[0001] The present invention belongs to the technical field of hoisting vehicles, and particularly relates to an automatically balanced working vehicle and a working method. Background Art

[0002] The statements in this part only provide background technical information related to the present invention and do not necessarily constitute prior art.

[0003] For traditional working vehicles, when performing operations such as hoisting operations, generally only by expanding the leveling outriggers, for the problem of large-space operations, the support points of the outriggers cannot be adjusted in real time for dynamic adjustment, which has certain limitations on the working space of the working device and the hoisting weight, and can only work within a fixed hoisting weight and working range. However, if there are phenomena of illegal operation or non-standard operation, it is very likely to cause potential safety hazards, and the working vehicle has an uncontrollable instability problem, and serious safety accidents will occur in severe cases.

[0004] The prior art publication number CN119018821A discloses a forklift counterweight self-balancing device, which judges the center-of-gravity state of the forklift by sensing the different telescopic amounts of the front and rear independent suspension components of the forklift, and changes the center of gravity of the forklift by changing the liquid in the front and rear counterweight compartments; however, for hoisting working vehicles, there are many influencing factors in their work. The prior art can only solve the problem of counterweight, but cannot control the problem of large-angle balance when the vehicle performs hoisting operations, and cannot increase the space range of the working device and other problems. Summary of the Invention

[0005] In view of the above problems, the present invention provides an automatically balanced working vehicle and a working method, which solve the instability problem during large-angle operation of the vehicle according to the pressure value at the leveling outrigger clamp and the position of the balance block, thereby increasing the space range of the working device, and improving the stability and safety reliability of the vehicle during work.

[0006] To achieve the above object, the present invention is realized by the following technical solutions:

[0007] In a first aspect, the present invention provides an automatically balanced working vehicle, including:

[0008] A vehicle body, a working device, leveling outriggers, a balance block adjusting device, and a controller;

[0009] The balance block adjusting device is arranged above the vehicle body, and the working device is arranged above the balance block adjusting device; the vehicle body is also provided with leveling outriggers, and a leveling outrigger clamp is arranged at the end of the leveling outrigger away from the vehicle body, and a clamp pressure sensor is arranged in the leveling outrigger clamp;

[0010] The balance weight adjusting device includes a housing, a balance weight, a guide rail mechanism and a magnetic force device; the guide rail mechanism is arranged inside the housing, the balance weight is arranged above the guide rail mechanism, and the magnetic force device is arranged at the end of the housing for controlling the balance weight to move along the guide rail mechanism; a controller is further arranged above the balance weight adjusting device for controlling the magnetic force device.

[0011] Further, the balance weight adjusting device is composed of a first balance adjusting device and a second balance adjusting device. The first balance adjusting device is arranged below the second balance adjusting device and is arranged in a cross shape; the structures of the first balance adjusting device and the second balance adjusting device are the same.

[0012] Further, the magnetic force device includes a first electromagnetic device, a second electromagnetic device, a third electromagnetic device and a fourth electromagnetic device. The first electromagnetic device and the second electromagnetic device are arranged at both ends of the first balance adjusting device, and the third electromagnetic device and the fourth electromagnetic device are arranged at both ends of the second balance adjusting device.

[0013] Further, the guide rail mechanism includes a guide rail and rollers. There are several rollers, and several rollers are evenly arranged on the guide rail, and the rollers can rotate on the guide rail.

[0014] Further, the first balance adjusting device is fixedly connected to the second balance adjusting device; the vehicle body is also fixedly connected to the first balance adjusting device.

[0015] Further, there are four leveling legs, namely a first leveling leg, a second leveling leg, a third leveling leg and a fourth leveling leg. There are also four leveling leg hoops, namely a first leg hoop, a second leg hoop, a third leg hoop and a fourth leg hoop.

[0016] Further, the balance weight is a solid iron block, and a strip-shaped groove is arranged at the lower end of the balance weight, and the strip-shaped groove is used for cooperating with the rollers.

[0017] Further, the second balance adjusting device is rotatably connected to the working device.

[0018] Further, the controller respectively establishes communication connections with the first electromagnetic device, the second electromagnetic device, the third electromagnetic device and the fourth electromagnetic device for controlling the movement of the balance weight; the controller respectively establishes communication connections with the hoop pressure sensors on the four leveling legs for collecting the pressure signals of the leveling legs; the controller is also respectively connected to the working device and the guide rail.

[0019] In a second aspect, the present invention also provides a working method for an automatically balanced working vehicle, and the specific steps include:

[0020] S1. When the vehicle is operating, the pressure values on each leveling support leg are detected by the hoop pressure sensors on the four leveling support legs.

[0021] S2. Control the position of the balance weight according to the hoop pressure value of the leveling support leg. When the hoop pressure value of a certain leveling support leg is less than the set difference from the average value of the total hoop pressure values of the leveling support legs, control the balance weight to move towards the hoop of this leveling support leg.

[0022] S3. The magnetic devices at both ends of the balance weight adjusting device are energized to generate magnetic force to attract the balance weight, realizing the two-way movement of the balance weight; the balance weight moves on the guide rail mechanisms in the first balance adjusting device and the second balance adjusting device; after the balance weight reaches the specified position, the guide rail mechanisms in the first balance adjusting device and the second balance adjusting device are energized to generate magnetic force to attract and fix the balance weight.

[0023] S4. Judge the attitude risk through the pressure value. After the balance weight moves to the position limit, if the hoop pressure value of a certain leveling support leg is less than the set difference from the average value of the hoop pressure values of the leveling support legs, the operation platform stops adjusting towards this attitude direction.

[0024] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0025] The present invention solves the problem of instability during large-angle operation of the vehicle according to the pressure value at the hoop of the leveling support leg and the position of the balance weight, thereby increasing the spatial range of the operation device and improving the stability, safety and reliability during the operation of the vehicle; by adopting the balance weight adjusting device and the controller, the movement of the balance weight can be accurately controlled to ensure the balance state of the vehicle under various working conditions, the support points of the support legs can be adjusted in real time, effectively increasing the spatial range of the operation device to meet different operation requirements; it solves the problem that traditional operation vehicles only adjust the balance by expanding the leveling support legs during hoisting operations, and cannot adjust the support points of the support legs in real time to dynamically adjust the balance, which limits the operation space and hoisting weight of the operation device; the pressure value is detected by the hoop pressure sensor, and the movement of the balance weight is controlled to realize automatic balance operation; it can adapt to different operation environments and working conditions, improve the operation efficiency and quality, and has good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The specification drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0027] Figure 1 It is a schematic diagram of the overall structure of the automatic balance operation vehicle of the present invention;

[0028] Figure 2Schematic structural diagram of the automatic balancing work vehicle of the present invention without a working device installed;

[0029] Figure 3 Internal structural diagram of the first balance adjustment device of the present invention;

[0030] Figure 4 Connection relationship diagram of the controller and accessory components of the present invention.

[0031] In the figure: 1, vehicle body; 2, first balance adjustment device; 3, working device; 4, second balance adjustment device; 5, controller; 6, first electromagnetic device; 7, second electromagnetic device; 8, third electromagnetic device; 9, fourth electromagnetic device; 10, first leveling leg; 11, second leveling leg; 12, third leveling leg; 13, fourth leveling leg; 14, balance weight; 15, guide rail; 16, roller. Detailed implementation mode

[0032] It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0033] It should be noted that the terms used herein are only for describing specific implementation modes and are not intended to limit the exemplary implementation modes of the present invention. As used herein, unless the present invention clearly states otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof;

[0034] In order to solve the above technical problems, the present invention provides an automatic balancing work vehicle, as Figures 1 - 4 shown; including: vehicle body 1, working device 3, leveling legs, balance weight 14 adjustment device, controller 5; the balance weight 14 adjustment device is arranged above the vehicle body 1, and the working device 3 is arranged above the balance weight 14 adjustment device; leveling legs are also arranged on the vehicle body 1, and a leveling leg hoop is arranged at one end of the leveling leg away from the vehicle body 1, and a hoop pressure sensor is arranged in the leveling leg hoop; the balance weight 14 adjustment device includes a housing, a balance weight 14, a guide rail 15 mechanism, and a magnetic force device; the guide rail 15 mechanism is arranged inside the housing, the balance weight 14 is arranged above the guide rail 15 mechanism, and the magnetic force device is arranged at the end of the housing for controlling the movement of the balance weight 14 along the guide rail 15 mechanism; a controller 5 is also arranged above the balance weight 14 adjustment device for controlling the magnetic force device.

[0035] The balance weight 14 adjusting device is composed of a first balance adjusting device 2 and a second balance adjusting device 4. The first balance adjusting device 2 is arranged below the second balance adjusting device 4 and is arranged in a cross shape; the structures of the first balance adjusting device 2 and the second balance adjusting device 4 are the same.

[0036] The first balance adjusting device 2 and the second balance adjusting device 4 are fixedly connected; the vehicle body 1 and the first balance adjusting device 2 are also fixedly connected.

[0037] There are four leveling legs, namely a first leveling leg 10, a second leveling leg 11, a third leveling leg 12 and a fourth leveling leg 13. There are four leveling leg hoops, namely a first leg hoop, a second leg hoop, a third leg hoop and a fourth leg hoop; there are also four hoop pressure sensors, namely a first hoop sensor, a second hoop sensor, a third hoop sensor and a fourth hoop sensor.

[0038] The balance weight 14 is a solid iron block. A strip-shaped groove is provided at the lower end of the balance weight 14, and the strip-shaped groove is used to cooperate with the roller 16.

[0039] The second balance adjusting device 4 and the working device 3 are rotatably connected.

[0040] The magnetic device is composed of a first electromagnetic device 6, a second electromagnetic device 7, a third electromagnetic device 8 and a fourth electromagnetic device 9. The controller 5 respectively establishes communication connections with the first electromagnetic device 6, the second electromagnetic device 7, the third electromagnetic device 8 and the fourth electromagnetic device 9 to control the movement of the balance weight 14; the controller 5 respectively establishes communication connections with the hoop pressure sensors on the four leveling legs to collect the pressure signals of the leveling legs; the controller 5 is also respectively connected to the working device 3 and the guide rail 15 to control the emergency stop of the working device 3 in case of danger and at the same time control the balance weight 14 to stop moving.

[0041] The first electromagnetic device 6, the second electromagnetic device 7, the third electromagnetic device 8 and the fourth electromagnetic device 9 generate magnetic force through energization to attract the balance block 14, so as to achieve the purpose of controlling the directional movement of the balance block 14. Wherein, a balance block 14 is provided inside each of the first balance adjustment device 2 and the second balance adjustment device 4, and the movement trajectories are cross-alternating with each other. When the balance blocks 14 in the first balance adjustment device 2 and the second balance adjustment device 4 reach the designated positions respectively, the balance blocks 14 are fixed in position by generating magnetic force attraction through energizing the guide rails 15 in the first balance adjustment device 2 and the second balance adjustment device 4. The working vehicle can control the large-angle balance during vehicle operation according to the pressure value at the clamp of the leveling outrigger and the position of the balance block 14, thereby greatly increasing the space range of the working device 3 and improving the balance stability of the vehicle during operation.

[0042] A guide rail 15 mechanism is provided in the housing, and its main function is to provide guidance for the movement of the balance block 14; the guide rail 15 mechanism includes a guide rail 15 and rollers 16. There are several rollers 16, and several rollers 16 are evenly arranged on the guide rail 15, and the rollers 16 can rotate on the guide rail 15; a plurality of rollers 16 are respectively arranged on the guide rail 15 mechanism, and the function of the rollers 16 is to make the movement of the balance block 14 more labor-saving; the balance block 14 can move directionally under the cooperation of the guide rail 15 mechanism and the rollers 16.

[0043] The first electromagnetic device 6 and the second electromagnetic device 7 are arranged at both ends of the first balance adjustment device 2, and the third electromagnetic device 8 and the fourth electromagnetic device 9 are arranged at both ends of the second balance adjustment device 4; wherein, the purpose of attracting the balance block 14 is achieved by energizing and de-energizing the first electromagnetic device 6, the second electromagnetic device 7, the third electromagnetic device 8 and the fourth electromagnetic device 9. When the balance block 14 reaches the designated position, the energization of the guide rail 15 can be controlled to attract the balance block 14, so as to fix the balance block 14 without relative sliding.

[0044] As Figure 3 Shown is the schematic diagram of the moving direction of the balance block 14. When the pressure value detected by a certain bottom pressure sensor among the clamps of the first leveling outrigger 10, the second leveling outrigger 11, the third leveling outrigger 12 and the fourth leveling outrigger 13 is less than 15% of the average value of the pressure values of all leveling outrigger clamps, the balance block 14 will move towards the direction close to the clamp of this leveling outrigger. Among them, the balance block 14 in the first balance block 14 adjustment device can move back and forth, and the balance block 14 in the second balance block 14 adjustment device can move left and right, forming a cross-combined movement mode.

[0045] The present invention also provides a working method for an automatic balance working vehicle, and the specific steps include:

[0046] S1. When the vehicle is operating, the pressure values on each leveling support leg are detected by the hoop pressure sensors on the four leveling support legs;

[0047] S2. Control the position of the balance weight 14 according to the hoop pressure value of the leveling support leg. When the hoop pressure value of a certain leveling support leg is less than the set difference of the average value of the total hoop pressure value of the leveling support leg, control the balance weight 14 to move towards the hoop of this leveling support leg;

[0048] S3. The magnetic devices at both ends of the balance weight 14 adjusting device are energized to generate magnetic force to attract the balance weight 14, realizing the bidirectional movement of the balance weight 14; the balance weight 14 moves on the guide rail 15 mechanism in the first balance adjusting device 2 and the second balance adjusting device 4; after the balance weight 14 reaches the designated position, the guide rail 15 mechanism in the first balance adjusting device 2 and the second balance adjusting device 4 is energized to generate magnetic force to attract and fix the balance weight 14;

[0049] S4. Judge the attitude risk through the pressure value. After the balance weight 14 moves to the position limit, if the hoop pressure value of a certain leveling support leg is less than the set difference of the average value of the hoop pressure value of the leveling support leg, the operation platform stops adjusting towards this attitude direction.

[0050] Although the specific implementation manners of the present invention are described above in conjunction with the accompanying drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that based on the technical solution of the present invention, various modifications or deformations that can be made by those skilled in the art without creative efforts are still within the protection scope of the present invention.

Claims

1. An automatic balancing working vehicle, characterized in that: include: Vehicle body, working device, leveling legs, balance block adjustment device, controller; The balancing block adjustment device is arranged above the vehicle body, and the working device is arranged above the balancing block adjustment device; the vehicle body is also provided with a leveling leg, and a leveling leg clamp is arranged at one end of the leveling leg away from the vehicle body, and a clamp pressure sensor is arranged in the leveling leg clamp; The balancing block adjustment device includes a shell, a balancing block, a guide rail mechanism and a magnetic device; the guide rail mechanism is arranged inside the shell, the balancing block is arranged above the guide rail mechanism, and the magnetic device is arranged at the end of the shell for controlling the balancing block to move along the guide rail mechanism; a controller is also arranged above the balancing block adjustment device for controlling the magnetic device.

2. An automatic balancing working vehicle as claimed in claim 1, characterized in that: The balancing block adjustment device is composed of a first balancing adjustment device and a second balancing adjustment device. The first balancing adjustment device is arranged below the second balancing adjustment device and are arranged in a cross shape. The first balancing adjustment device and the second balancing adjustment device have the same structure.

3. An automatic balancing working vehicle as claimed in claim 2, characterized in that: The magnetic device consists of a first electromagnetic device, a second electromagnetic device, a third electromagnetic device and a fourth electromagnetic device. The first electromagnetic device and the second electromagnetic device are arranged at both ends of the first balance adjustment device, and the third electromagnetic device and the fourth electromagnetic device are arranged at both ends of the second balance adjustment device.

4. An automatic balancing working vehicle as claimed in claim 2, characterized in that: The guide rail mechanism comprises a guide rail and rollers. There are a plurality of rollers, and the plurality of rollers are evenly arranged on the guide rail, and the rollers can rotate on the guide rail.

5. The automatic balancing working vehicle according to claim 2, characterized in that: The first balance adjustment device is fixedly connected to the second balance adjustment device; the vehicle body is also fixedly connected to the first balance adjustment device.

6. An automatic balancing working vehicle as claimed in claim 3, characterized in that: There are four leveling legs, namely the first leveling leg, the second leveling leg, the third leveling leg and the fourth leveling leg. There are also four leveling leg clamps, namely the first leg clamp, the second leg clamp, the third leg clamp and the fourth leg clamp.

7. An automatic balancing working vehicle as claimed in claim 4, characterized in that: The balancing block is a solid iron block, and a strip-shaped groove is arranged at the lower end of the balancing block, and the strip-shaped groove is used to cooperate with the roller.

8. An automatic balancing working vehicle as claimed in claim 6, characterized in that: The second balance adjustment device is rotatably connected to the operating device.

9. The automatic balancing working vehicle according to claim 6, characterized in that: The controller establishes communication connections with the first electromagnetic device, the second electromagnetic device, the third electromagnetic device and the fourth electromagnetic device respectively, so as to control the movement of the balancing block; the controller establishes communication connections with the clamp pressure sensors on the four leveling legs respectively, so as to collect the pressure signals of the leveling legs; the controller is also connected with the working device and the guide rail respectively.

10. A method for operating an automatic balancing vehicle according to any one of claims 1 to 9, characterized in that: The steps include: S1. When the vehicle is in operation, the pressure value on each leveling leg is detected by the clamp pressure sensor on the four leveling legs; S2. Control the position of the balancing block according to the pressure value of the leveling leg clamp. When the pressure value of a certain leveling leg clamp is less than the set difference of the average value of the total pressure value of the leveling leg clamp, control the balancing block to move toward the direction of the leveling leg clamp; S3. The magnetic devices at both ends of the balancing block adjustment device are energized to generate magnetic force to attract the balancing block, thereby realizing bidirectional movement of the balancing block; the balancing block moves on the guide rail mechanisms in the first balancing adjustment device and the second balancing adjustment device; after the balancing block reaches the specified position, the guide rail mechanisms in the first balancing adjustment device and the second balancing adjustment device are energized to generate magnetic force to attract and fix the balancing block; S4. The posture risk is judged by the pressure value. After the balance block moves to the position limit, if the pressure value of a leveling leg clamp is less than the set difference of the average pressure value of the leveling leg clamp, the work platform stops adjusting in the direction of the posture.

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