Intelligent anti-overturning loading type automobile crane

Abstract

The invention discloses an intelligent anti-overturning loading type automobile crane, and relates to the technical field of cranes. The present invention comprises: a vehicle; a crane arrangement comprising a rotatable boom mounted on the vehicle; the supporting leg device comprises a right jack and a left jack which are mounted on the vehicle; and the control device is used for calculating the critical working radius of the crane device according to the reaction force of the landing leg device in contact with the ground and implementing safety control according to the calculated critical working radius. The invention provides a loading type automobile crane, and a control device of the loading type automobile crane calculates the critical working radius of a crane device based on the ground contact reaction force of a supporting leg device. And performing safety control related to at least one of the descending operation and the stretching operation of the crane device on the cargo boom on the basis of the calculated critical working radius, so that the overturning of the loading type automobile crane can be suppressed without affecting the operation efficiency of the crane.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to an intelligent anti-overturning loading truck crane. Background Art

[0002] A loader truck crane typically features a crane mechanism and outriggers between the cab and the cargo compartment. During lifting operations, the operator first lifts the vehicle using hydraulic jacks located on the left and right outer ends of the outriggers before proceeding. In other words, cargo is lifted and transported by swinging, extending, retracting, or raising the crane's boom.

[0003] Patent Document 1 discloses an anti-overturning device for preventing overturning accidents on a loader truck crane. This anti-overturning device uses a reaction force detector mounted on the outriggers to reduce the movement of a control valve spool when the reaction force is smaller than when it is larger, thereby continuously reducing the crane's speed. This structure allows the crane to be decelerated or stopped based on the reaction force, without requiring operator intervention, thereby reliably preventing the loader truck crane from overturning.

[0004] Because the crane mechanism of a truck-mounted crane can perform operations such as boom rotation, extension, and boom-bending, the boom can assume a variety of postures. For example, when the boom's posture relative to the boom is close to horizontal, the reaction force of the outriggers on the opposite side of the boom decreases rapidly when the boom is extended. On the other hand, when the boom's posture relative to the boom is close to vertical, the reduction in outrigger reaction force is more gradual even when the boom is extended. In the invention of Patent Document 1, the crane speed is reduced under predetermined conditions to prevent the truck-mounted crane from overturning. However, because the degree of reduction in reaction force varies depending on the boom's posture, when the boom's operation is decelerated for safety reasons, the boom's operation may be rapidly adjusted in conflict with the operator's operation. This results in an unnecessary reduction in crane operating efficiency.

[0005] Therefore, we propose an intelligent anti-overturning loading truck crane to solve the problems raised above.

[0006] The above information disclosed in this background technology is only for enhancing understanding of the background technology of the present invention and therefore it may contain information that does not constitute the prior art that is already known to a person of ordinary skill in the art. Summary of the Invention

[0007] The object of the present invention is to provide an intelligent anti-overturning loading truck crane, which can prevent the loading truck crane from overturning without damaging the crane's operating efficiency.

[0008] To achieve the above-mentioned object, the present invention provides the following technical solution: an intelligent anti-overturning loading truck crane, comprising:

[0009] vehicle;

[0010] a crane device comprising a rotatable boom mounted on a vehicle;

[0011] an outrigger assembly, including a right jack and a left jack mounted on the vehicle;

[0012] The control device calculates the critical working radius of the crane device according to the reaction force between the outrigger device and the ground, and implements safety control according to the calculated critical working radius.

[0013] Preferably, the safety control includes at least one of an adjustment control for adjusting a lowering operation and an extending operation of a boom of the crane apparatus, and a notification control for notifying a user of the crane apparatus of information.

[0014] Preferably, the control device calculates a crane strength performance radius based on the crane strength performance used to determine the rated load of the loading truck crane, and implements safety control based on the smaller of the calculated crane strength performance radius and the critical working radius.

[0015] Preferably, the critical working radius includes a first critical working radius and a second critical working radius smaller than the first critical working radius, wherein the control device implements notification control based on the second critical working radius and implements adjustment control based on the first critical working radius.

[0016] Preferably, the system further comprises a display connected to the control device and displaying the status of the loader truck crane, wherein the control device displays the critical working radius on the display.

[0017] Preferably, the crane device includes a fixed part fixed on the frame, a turntable rotatably arranged on the fixed part, and a boom rotatably arranged on the upper end of the turntable, the support leg device is arranged in the fixed part, the turntable is provided with a winch, a steel wire rope is wound on the winch, the steel wire rope hangs down from the far end of the boom through a pulley provided at the far end of the boom, the hook is fixed to the far end of the steel wire rope, the boom includes a proximal boom, a first intermediate boom, a second intermediate boom and a distal boom that are nested with each other, and the boom is extended and retracted by the power of the boom telescopic brake.

[0018] Preferably, joystick groups for operating the hydraulic circuit are provided on both the left and right sides of the fixed part. The crane device is hydraulically driven by the hydraulic circuit. The hydraulic circuit includes a hydraulic valve unit, a hydraulic pump, a main oil channel, a return oil channel, a boom telescopic brake to a boom slewing brake, a right jack, a left jack, a right overhang brake and a left overhang brake. The main oil channel connects the hydraulic pump and the hydraulic valve unit, the return oil channel connects the hydraulic valve unit and the oil tank, and the hydraulic pump supplies the hydraulic oil in the oil tank to the hydraulic valve unit.

[0019] Preferably, the hydraulic valve unit includes a boom telescopic control valve, a winch control valve, a boom pitch control valve, a boom slewing control valve, a right jack control valve, a left jack control valve, a right overhang control valve and a left overhang control valve, the boom telescopic control valve is connected to the boom telescopic brake, the winch control valve is connected to the winch hydraulic motor, the boom pitch control valve is connected to the boom pitch brake, the boom slewing control valve is connected to the boom slewing brake, the right jack control valve is connected to the right jack on the right, the left jack control valve is connected to the left jack on the left, the right overhang control valve is connected to the right overhang brake, and the left overhang control valve is connected to the left overhang brake.

[0020] Preferably, the control device is provided with a storage unit, and the input side of the control device is connected to a suspension load information detector, a rotation angle information detector, a length information detector, a pitch angle information detector, a right reaction force information detector, a left reaction force information detector, a right overhang information detector and a left overhang information detector, and the display, alarm device, boom telescopic control valve, winch control valve, boom pitch control valve, boom rotation control valve, right jack control valve, left jack control valve, right overhang control valve and left overhang control valve are connected to the output side of the control device.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present invention provides a loader truck crane, wherein a control device thereof calculates a critical operating radius of the crane device based on a ground contact reaction force of an outrigger device, and implements safety control related to at least one of a lowering operation and an extending operation of a boom by the crane device based on the calculated critical operating radius, thereby suppressing overturning of the loader truck crane without affecting the efficiency of the crane operation.

[0023] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1This is a control flow chart of the critical operating radius of a loading truck crane according to the first embodiment of the present invention;

[0025] Figure 2 A side view of a loader-type truck crane according to the present invention;

[0026] Figure 3 This is a hydraulic circuit diagram of the loading truck crane of the present invention;

[0027] Figure 4 This is a control circuit diagram of the loading truck crane of the present invention;

[0028] Figure 5 Flowchart for collecting current parameters before calculating the critical working radius of a loading truck crane;

[0029] Figure 6 Schematic diagram of the loading truck crane of the present invention when the boom angle is zero;

[0030] Figure 7 A schematic diagram of a loading truck crane of the present invention when the boom has a predetermined luffing angle;

[0031] Figure 8 It is a plan view of the loading truck crane of the present invention.

[0032] Figure 9 This is a control flow chart of a loading truck crane based on a critical operating radius according to the second embodiment of the present invention.

[0033] In the figure: C, loading truck crane;

[0034] 10. Vehicle; B100. Frame; B101. Cab; B102. Cargo box; B103. Front wheel; B104. Rear wheel; B105. Display; B106. Alarm system; B107. Engine;

[0035] B20, crane device; B200, outrigger device; B200a, right jack; B200b, left jack; B200c, right overhang brake; B200d, left overhang brake; B201, fixed part; B202, turntable; B203, boom; B203a, near-end boom; B203b, first intermediate boom; B203c, second intermediate boom; B203d, far-end boom; B205, wire rope; B206, hook; B 210a, boom extension brake; B210b, winch hydraulic motor; B210c, boom pitch brake; B210d, boom slewing brake; B211a, boom extension control valve; B211b, winch control valve; B211c, boom pitch control valve; B211d, boom slewing control valve; B212a, right jack control valve; B212b, left jack control valve; B212c, right overhang control valve; B212d, left overhang control valve;

[0036] B300, storage unit; B301, load information detector; B302, rotation angle information detector; B303, length information detector; B304, pitch angle information detector; B305a, right reaction force information detector; B305b, left reaction force information detector; B306a, right overhang information detector; B306b, left overhang information detector; B307, control device; B310, hydraulic circuit; B311, hydraulic valve unit; B312, oil tank; B313, hydraulic pump; B314, main oil channel; B315, return oil channel; Radi', critical working radius. DETAILED DESCRIPTION

[0037] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0038] First embodiment

[0039] An intelligent anti-overturning loading truck crane includes a vehicle 10, a crane device B20, a leg device B200 and a control device B307.

[0040] like Figure 2 As shown, the crane device B20 is mounted on the frame B100 of the vehicle 10 and is located between the cab B101 and the cargo box B102. The vehicle 10 is symmetrically provided with front wheels B103 and rear wheels B104 in the left-right direction.

[0041] like Figure 2As shown, the crane device B20 includes a fixed portion B201 fixed to the vehicle frame B100, a turntable B202 rotatably provided on the fixed portion B201, and a boom B203 rotatably provided at the upper end of the turntable B202.

[0042] The outrigger assembly B200 is mounted within the fixed portion B201 and extends outwardly in the left and right directions from the fixed portion B201. When viewed from the side, the crane assembly B20 and the outrigger assembly B200 are positioned between the cab B101 and the cargo box B102. The outrigger assembly B200 includes a right jack B200a and a left jack B200b mounted on the vehicle 10.

[0043] The turntable B202 is provided with a winch (not shown) on which a steel wire rope B205 is wound. The steel wire rope B205 is suspended from the distal end of the boom B203 via a pulley provided at the distal end of the boom B203. A hook B206 is fixed to the distal end of the steel wire rope B205. The boom B203 comprises a proximal boom B203a, a first intermediate boom B203b, a second intermediate boom B203c, and a distal boom B203d, which are nested together. The boom B203 is controlled by a boom telescopic brake B210a (see FIG. Figure 3 ) power to extend and retract.

[0044] The left and right sides of the fixed part B201 are provided with a control lever group for operating the hydraulic circuit B310. The crane device B20 is composed of the hydraulic circuit B310 (see Figure 3 ) hydraulic drive. In addition, the fixed part B201 is also provided with a control device B307 that electrically controls the hydraulic circuit B310 and controls the work vehicle.

[0045] Figure 3 Figure 2 shows the hydraulic circuit diagram of the loader truck crane C of this embodiment. The hydraulic circuit B310 of the crane unit B20 includes a hydraulic valve unit B311, a hydraulic pump B313, a main oil channel B314, an oil return channel B315, boom telescopic brakes B210a through B210d, a right jack B200a, a left jack B200b, a right overhang brake B200c, and a left overhang brake B200d.

[0046] Main oil passage B314 connects hydraulic pump B313 and hydraulic valve unit B311, while return oil passage B315 connects hydraulic valve unit B311 and oil tank B312. Hydraulic pump B313 supplies hydraulic oil from oil tank B312 to hydraulic valve unit B311. Boom telescopic brakes B210a through Boom slewing brakes B210d respectively operate the boom B203's pitch, telescopic, and slewing operations, as well as the winch's retraction and extension.

[0047] The boom telescopic brake B210a to the boom slewing brake B210d, the right jack B200a, the left jack B200b, the right overhang brake B200c and the left overhang brake B200d are all connected to the hydraulic valve unit B311.

[0048] The hydraulic pump B313 is connected to the engine B107 of the vehicle 10 via a power take-off (PTO) device and is driven by the engine B107.

[0049] The hydraulic valve unit B311 includes a boom extension and extension control valve B211a, a winch control valve B211b, a boom pitch control valve B211c, a boom rotation control valve B211d, a right jack control valve B212a, a left jack control valve B212b, a right overhang control valve B212c and a left overhang control valve B212d.

[0050] The boom telescopic control valve B211a is connected to the boom telescopic brake B210a, the winch control valve B211b is connected to the winch hydraulic motor B210b, the boom pitch control valve B211c is connected to the boom pitch brake B210c, and the boom slewing control valve B211d is connected to the boom slewing brake B210d.

[0051] The right jack control valve B212a is connected to the right jack B200a on the right side, and the left jack control valve B212b is connected to the left jack B200b on the left side.

[0052] The right overhang control valve B212c is connected to the right overhang brake B200c, and the left overhang control valve B212d is connected to the left overhang brake B200d.

[0053] These switching control valves are connected to joysticks (not shown). The operator manually operates these joysticks to switch the direction and flow of the hydraulic oil supplied from the hydraulic pump B313.

[0054] The control device B307 is also connected to the engine control unit (ECU) of the engine B107 and can control at least the speed of the engine B107. The control device B307 controls the speed of the hydraulic pump B313 by controlling the speed of the engine B107, thereby adjusting the displacement of the hydraulic pump B313.

[0055] Figure 4 FIG. 1 is a control circuit diagram of the loader truck crane C of this embodiment. The storage unit B300 is connected to the control device B307.

[0056] The suspension load information detector B301, the rotation angle information detector B302, the length information detector B303, the pitch angle information detector B304, the right reaction force information detector B305a, the left reaction force information detector B305b, the right overhang information detector B306a and the left overhang information detector B306b are connected to the input side of the control device B307.

[0057] The display B105, the alarm device B106, the boom extension and extension control valve B211a, the winch control valve B211b, the boom pitch control valve B211c, the boom rotation control valve B211d, the right jack control valve B212a, the left jack control valve B212b, the right overhang control valve B212c and the left overhang control valve B212d are connected to the output side of the control device B307.

[0058] The suspended load information detector B301 detects the load suspended on the hook B206. In this embodiment, the suspended load information detector B301 includes a differential pressure gauge provided in the boom luffing brake B210c.

[0059] The differential pressure detected by the suspension load information detector B301 is output to the control device B307. The detection method of the suspension load information detector B301 can also be other methods. For example, the suspension load information detector B301 can include a weighing sensor set in the pulley at the far end of the boom B203, or it can include a strain gauge that detects the strain of the boom telescopic brake B210a.

[0060] The rotation angle information detector B302 is used to detect the rotation angle of the boom B203 and is provided at the base of the turntable B202. For example, the rotation angle information detector B302 is a potentiometer or a rotary encoder.

[0061] The length information detector B303 detects the length of the boom B203, for example, a code pay-out length detector. The code pay-out length detector detects the pay-out length of the length measuring rope by detecting the rotation displacement of the rope winder.

[0062] The pitch angle information detector B304 detects the pitch angle θb of the boom B203 and is provided at the base of the boom B203. For example, the pitch angle information detector B304 is a potentiometer, but may also include a rotary encoder.

[0063] The right reaction force information detector B305a detects the reaction force (ground reaction force) acting on the right jack B200a set at the right outer end of the support leg device B200, such as a weighing sensor including a strain gauge or a pressure gauge capable of detecting the pressure inside the jack, but the structure of the right reaction force information detector B305a is not limited to this.

[0064] The left reaction force information detector B305b detects the reaction force (ground reaction force) acting on the left jack B200b set at the left outer end of the support leg device B200, for example, using a weighing sensor with a strain gauge or a pressure gauge capable of detecting the pressure inside the jack, but the left reaction force information detector B305b is not limited to weighing sensors and pressure gauges.

[0065] The right overhang information detector B306a detects whether the right jack B200a of the support leg device B200 is in a predetermined overhang position, such as a proximity switch, but the right overhang information detector B306a is not limited to a proximity switch, and can also be composed of, for example, a coded pay-off length detector.

[0066] The left overhang information detector B306b detects whether the left jack B200b of the support leg device B200 is in a predetermined overhang position, such as a proximity switch, but the left overhang information detector B306b is not limited to a proximity switch, and can also be composed of, for example, a coded pay-off length detector.

[0067] The display B105 shows, for example, the suspended load.

[0068] When the state is a predetermined state, for example, when the load is a suspended load exceeding the rated load, the alarm device B106 notifies the user of the loader truck crane C of the state. In this embodiment, the alarm device B106 is provided outside the cab B101.

[0069] Figure 1 This is a control flow chart of the loader truck crane C based on the critical working radius Radi' according to the first embodiment of the present invention. Figure 5 Flowchart for obtaining current parameters before calculating the critical working radius Radi'.

[0070] Figure 1 The control flow and Figure 5 The acquisition process is executed at a predetermined cycle. Here, the critical working radius Radi' is a standard for adjusting at least one of the lowering operation and the extending operation of the crane device B20 based on the current suspended load weight, the weight of the cargo on the cargo box B102, etc.

[0071] In this embodiment, the critical operating radius Radi' refers to the radius at which the boom pitch angle θb cannot be further reduced, or the radius at which the boom length Lb cannot be further extended. In other words, the critical operating radius Radi' defines the limit of boom operation that increases the operating radius. However, the critical operating radius Radi' is not limited to the definition in this embodiment and can also be a standard for regulating the operation of the crane unit B20.

[0072] like Figure 1As shown, in step T001 (hereinafter referred to as “ T001 ”), the control device B307 obtains current parameters required for calculating the critical working radius Radi′.

[0073] The current parameters are preferably obtained based on, for example Figure 5 The acquisition process shown in the following example is carried out. Figure 5 Before the acquisition process, that is, when the loading truck crane C leaves the factory, the information about the loading truck crane C required to obtain the above parameters is stored in the storage unit B300. Figure 8 Describes an example of stored information.

[0074] Figure 8 for Figure 1 A schematic plan view of a loading truck crane C is shown. In this schematic view, Figure 8 As shown in the coordinate axis, the cab B101 is located on the upper side of the paper and the cargo box B102 is located on the lower side of the paper.

[0075] Figure 8 The outrigger assembly B200 is shown in a state where it is fully extended to the left and right. The right jack B200a is grounded at the grounding position GR, and the left jack B200b is grounded at the grounding position GL.

[0076] The left and right center axes of the loader truck crane C are set as reference positions Sp. Figure 8 The state in which the boom B203 is rotated from the reference position Sp about the rotation center Oc by the boom rotation angle θ is shown.

[0077] For example, the storage unit B300 stores the strength rated load Wstr for each working radius Radi of the boom B203.

[0078] For example, the storage unit B300 stores the distance Xd between the rotation center Oc of the crane device B20 and the pair of rear wheels B104 in the front-rear direction.

[0079] For example, the storage unit B300 stores the right overturning line La1 and the left overturning line Lb1. Figure 8 Indicated by dotted lines, they are calculated and stored by the control device B307.

[0080] For example, the right rollover line La1 is defined as a horizontal line connecting the ground contact position GR of the right jack B200a and the center position Ob of the rear wheel line Lc in the vehicle width direction. The left rollover line Lb1 is defined as a horizontal line connecting the ground contact position GL of the left jack B200b and the center position Ob of the rear wheel line Lc in the vehicle width direction.

[0081] As another method, the right rollover line La1 and the left rollover line Lb1 may also be defined as lines connecting, for example, the ground contact position GR or the ground contact position GL and any other point on the rear wheel line Lc.

[0082] For example, the storage unit B300 stores the position and length of the rear wheel line Lc. The rear wheel line Lc is a straight line that passes through the center of the pair of rear wheels B104 and is parallel to the vehicle width direction when the loader truck crane C is viewed from above the vehicle, and exists between the rear wheels B104 in the vehicle width direction.

[0083] For example, storage unit B300 stores a safety factor N, which is the ratio of the tipping load Wtip of the loader truck crane C to the rated total load Wrate. The tipping load Wtip is the lifting load at the tipping limit of the loader truck crane C. The relationship between the tipping load Wtip, the rated total load Wrate, and the safety factor N is expressed by the following expression 1. Here, the safety factor N is a constant greater than or equal to 1, determined by the specifications of the loader truck crane C.

[0084] Wtip=N×Wrate Expression (1)

[0085] For example, the storage unit B300 stores a distance X1 between the rotation center Oc and the ground contact position GR in the front-rear direction, and a distance X4 between the rotation center Oc and the ground contact position GL in the front-rear direction.

[0086] For example, the storage unit B300 stores a distance Y1 between the turning center Oc and the ground contact position GR in the vehicle width direction, and a distance Y4 between the turning center Oc and the ground contact position GL in the vehicle width direction. For example, the storage unit B300 stores a distance l4 between the ground contact position GL and the right rollover line La1, and a distance l1 between the ground contact position GR and the left rollover line Lb1.

[0087] Next, we will refer to Figure 5 Describe the process of obtaining the parameters required to calculate the critical working radius Radi'.

[0088] like Figure 5 As shown, the control device B307 obtains the suspension load Tload in T101. The suspension load Tload is calculated and obtained by the control device B307 based on the information from the suspension load information detector B301.

[0089] At T102, the control device B307 obtains the center of gravity position of each component that makes up the upper component assembly of the loader truck crane C. The upper component assembly includes the turntable B202, the boom-luffing brake B210c, and the boom B203. The upper component assembly may also include components fixed to the turntable B202, the boom-luffing brake B210c, or the boom B203. The center of gravity position of each component that makes up the upper component assembly can be obtained from the storage unit B300.

[0090] At T103, the control device B307 acquires the boom rotation angle θ. The control device B307 acquires the boom rotation angle θ based on the information from the rotation angle information detector B302.

[0091] At this point, the control device B307 determines the opposite overturning jack based on the acquired boom rotation angle θ. The opposite overturning jack is one of the right jack B200a and the left jack B200b. This jack is located opposite the boom B203 in the vehicle width direction, relative to the vehicle width center axis of the loader truck crane C. The vehicle width center axis is the axis that passes through the vehicle width center of the loader truck crane C and is parallel to the fore-aft direction.

[0092] Specifically, when the detection value of the swing angle information detector B302 determines that the boom B203 is swinging toward the right side of the vehicle, the control device B307 sets the left jack B200b as the opposite-side overturning jack. On the other hand, when the detection value of the swing angle information detector B302 determines that the boom B203 is swinging toward the left side of the vehicle, the control device B307 sets the right jack B200a as the opposite-side overturning jack.

[0093] The control device B307 determines the rollover reference line based on the detection value of the rotation angle information detector B302. The rollover reference line is a line in the vehicle width direction parallel to the right rollover line La1 or the left rollover line Lb1 and in the same direction as the boom B203.

[0094] Specifically, when the detection value of the swing angle information detector B302 determines that the boom B203 is swinging toward the right side of the vehicle, the control device B307 sets the right rollover line La1 as the rollover reference line. On the other hand, when the detection value of the swing angle information detector B302 determines that the boom B203 is swinging toward the left side of the vehicle, the control device B307 sets the left rollover line Lb1 as the rollover reference line.

[0095] At T104, the control device B307 obtains the jack reaction force. Specifically, the control device B307 obtains the right jack reaction force PF1 of the right jack B200a based on the reaction force information from the right reaction force information detector B305a. Furthermore, the control device B307 obtains the left jack reaction force PF4 of the left jack B200b based on the reaction force information from the left reaction force information detector B305b.

[0096] In T105, the control device B307 obtains the total weight of the upper component group and the suspended load (hereinafter referred to as "upper weight Uwei"). The upper weight Uwei is preferably determined by the following expression 2.

[0097] Uwei=Thoad+Wbm+Wecy+Wsle Expression (2)

[0098] Figure 7 This is a schematic diagram of the boom B203 of the loading truck crane C having a predetermined pitch angle (i.e., boom pitch angle θb). The parameters in Expression 2 are defined as follows. These parameters can be obtained from the storage unit B300 and also in Figure 7 Shown in.

[0099] Uwei: upper weight

[0100] Tlaod: Suspended load

[0101] Wbm: weight of boom B203

[0102] Wecy: Weight of the boom luffing brake B210c

[0103] Wsle: Weight of turntable B202

[0104] At T106, the control device B307 obtains the center of gravity of the upper component assembly and the suspended load (hereinafter referred to as the "upper center of gravity Ugra"). More specifically, the upper center of gravity Ugra is the horizontal distance from the rotation center Oc of the boom B203 to the center of gravity of the upper component assembly and the suspended load. The upper center of gravity Ugra is preferably obtained by the following expression 3.

[0105] Ugra=(Tload×Radi+Wbm×Rlmb+Wecy×Rlsle) / Uwei Expression (3)

[0106] The parameters in Expression 3 are defined as follows. These parameters can be obtained from the storage unit B300 and also Figure 7 Shown in.

[0107] Ugra: Upper center of gravity

[0108] Radi: working radius

[0109] Rlbm: Horizontal distance between the slewing center Oc and the center of gravity of the boom B203

[0110] Rlecy: Horizontal distance between the slewing center Oc and the center of gravity of the boom luffing brake B210c

[0111] Rlsle: Horizontal distance between the rotation center Oc and the center of gravity of turntable B202

[0112] The working radius Radi is preferably defined by Expression 4 below.

[0113] Radi=Lb×cosθb-Lbh×sinθb-L Expression (4)

[0114] The parameters in Expression 4 are defined as follows. These parameters can be obtained from the storage unit B300 and also Figure 7 Shown in.

[0115] Radi: working radius

[0116] Lb: length of boom B203

[0117] θb: Pitch angle of crane arm B203

[0118] Lbh: The vertical distance from the root of the boom B203 to the point of action of the suspended load when the boom B203 is horizontal

[0119] L: The distance between the mounting fulcrum of the boom B203 and the rotation center Oc of the turntable B202

[0120] In T107, the control device B307 calculates and obtains the jack reaction force generated by the upper weight Uwei. The jack reaction force includes the jack reaction force PF1 of the right jack B200a. u And the jack reaction force PF4u of the left jack B2006. Next, a method for calculating the jack reaction force by the upper weight Uwei will be described.

[0121] First, in Expressions 5 to 7 described later, the thrust load (tons) applied to the upper part Uwei to the steering center Oc is defined as Ft, the moment of the upper part Uwei around the X-axis is defined as Mx (tons·meters), and the moment of the upper part Uwei around the Y-axis is defined as My (tons·meters).

[0122] Ft=Uwei Expression (5)

[0123] Mx=Uwei×Ugra×sinθ Expression (6)

[0124] My=Uwei×Ugra×cosθ Expression (7)

[0125] Furthermore, the reaction force coefficient S of Ft, Mx, and My is defined by the following formula 8.

[0126] S=Y1x(Xd-X4)+Y4x(X1-Xd) Expression (8)

[0127] The parameters in expression 8 are defined again as follows. These parameters can be obtained from storage unit B300. Figure 3 shown.

[0128] Xd: The distance between the front and rear turning center Oc and the rear wheel pair B104

[0129] X1: Distance between the front-rear steering center Oc and the ground contact position GR

[0130] X4: Distance between the front and rear turning center Oc and the ground contact point GL

[0131] YI: Distance between the vehicle width direction turning center Oc and the ground contact position GR

[0132] Y4: Distance between the vehicle width direction turning center Oc and the ground contact position GL

[0133] From Expression 8, F(PF1), Mx(PF1) and My(PF1) are defined by the following Equations 9 to 11.

[0134] F(PF1)=-XdxY4 / S Expression (9)

[0135] Mx(PF1)=(X4-xd) / S Expression (10)

[0136] My(PF1)=Y4 / S Expression (11)

[0137] From Equations 9 to 11, the jack reaction force PFlu (tons) generated by the upper weight Uwei on the right jack B200a is obtained by the following Equation 12.

[0138] PFlu=Ft×F(PF1)−Mx×Mx(PF1)+My×My(PF1)=Uwei×F(PF1)−Uwei×Ugra×sinθ×Mx(PF1)−Uwei×Ugra×cosθ×My(PF1)=Uwei×(F(PF1))−Ugra×sinθ×Mx(PF1)−Ugra×cosθ×My(PF1) Expression (12)

[0139] Furthermore, from Expression 8, F(PF4), Mx(PF4), and My(PF4) are defined by the following Expressions 13 to 15.

[0140] F(PF4)=Xd×Y1 / S Expression (13)

[0141] Mx(PF4)=(Xd-X1) / S Expression (14)

[0142] My(PF4)=-Y1 / S Expression (15)

[0143] From Equations 13 to 15, the jack reaction force PR4u (tons) generated by the left jack B200b due to the upper weight Uwei can be obtained from the following Equation 16.

[0144] PF4u=Ft×F(PF4)-Mx×Mx(PF4)+My×My(PF4)=Uwei×F(PF4)-Uwei×Ugra×sinθ×Mx(PF4)-Uwei×Ugra×cosθ×My(PF4)=Uwei×(F(PF4)-Ugra×sinθ×Mx(PF4)-Ugra×cosθ×My(PF4)) Expression(16)

[0145] In S108, the control device B307 calculates and obtains the jack reaction force due to the low weight of the lower component assembly. The lower component assembly includes the vehicle 10, the outrigger assembly B200, the fixed portion B201, and the cargo on the cargo box B102. Therefore, the lower weight is the sum of the weight of the vehicle 10, the outrigger assembly B200, the fixed portion B201, and the cargo on the cargo box B102.

[0146] Since the weight of the cargo is unknown, the lower weight cannot be determined directly. Therefore, in this embodiment, the jack reaction force due to the lower weight is obtained by subtracting the jack reaction force obtained by the upper weight Uwei obtained in T107 from the jack reaction force obtained in T104.

[0147] The PF11 reaction force of the right jack B200a is calculated and obtained by the following expression 17 due to its lower weight.

[0148] PF11=PF1-PFlu Expression (17)

[0149] Due to the low weight, a jack reaction force PF41 of the left jack B200b is calculated by the following expression 18.

[0150] PF41=PE4-PF4u Expression (18)

[0151] In S109, the control device B307 calculates and obtains the moment generated by the low weight around the overturning line (hereinafter referred to as "stabilizing moment"). Since the overturning line includes two lines, the right overturning line Lal and the left overturning line Lbl, the stabilizing moment is calculated for each line separately.

[0152] The stabilizing moment SMOMr (ton·m) around the right overturning line Lal is calculated and obtained by the following formula 19.

[0153] SMOMr=PF41×14 Expression (19)

[0154] The parameters in expression 19 are again defined as follows: These parameters can be obtained from storage unit B300. These parameters are also defined as Figure 8 shown.

[0155] 14: Distance from the ground contact point GL to the right rollover line Lal

[0156] A stabilizing moment SMOMI (ton-meter) around the left overturning line Lbl is calculated by the following equation 20.

[0157] SMOM1=PF11×11 Expression (20)

[0158] The parameters in expression B20 are defined again as follows. These parameters can be obtained from storage unit B300. These parameters are also defined as follows Figure 8 shown.

[0159] 11: Distance from the ground contact position GR to the left rollover line Lb1

[0160] Next, refer to Figure 1 In T002, the control device B307 calculates the critical working radius based on the current parameters. In this embodiment, the critical working radius Radi'1 for the lowering operation is calculated. In the following description, the critical working radius Radi'1 for the lowering operation is calculated. Figure 8 The boom B203 is shown in the figure as being on the right.

[0161] Figure 6 Schematic diagram showing the situation when the boom B203 has a variable angle of 0 in the loading truck crane C of this embodiment. Figure 6 As shown, when the critical working radius Radi' is obtained, the coordinates of the point of application of the suspended load Tload and the center of gravity of the boom that bears the weight of the boom are determined as follows. Note that these coordinates may be stored in the storage unit B300.

[0162] BL: In Figure 6 On the paper, the distance from the root of the boom B203 to the point where the suspended load acts in the left direction is the boom length.

[0163] BH: In Figure 6 On the paper, the distance from the root of the boom B203 to the point where the suspended load acts in the vertical direction is

[0164] BGX: Figure 6 On the paper, the distance from the base of the boom B203 to the center of gravity of the boom in the left and right directions is

[0165] BGZ: In Figure 6 On the paper, the vertical distance from the root of the boom B203 to the center of gravity of the boom

[0166] The current chip load Wtip' is the value obtained by multiplying the suspension load Tload by the safety factor N, as shown in Equation 21.

[0167] Wrip′=Tload×N Expression (21)

[0168] Furthermore, when the critical working radius of the lowering operation is Radi'1 and the luffing angle is θb', the horizontal distance RIbm'1 between the slewing center Oc and the center of gravity of the boom B203 satisfies the following relationship.

[0169] Radi'1=BL×cosθb′-BHxsinθb′-L Expression (22)

[0170] Ribm′1=BGX×cosθb′-BGZ×sinθb′-L Expression (23)

[0171] In addition, the current upper weight Uwei'1 and the upper center of gravity Ugra'1 are expressed by the following expressions.

[0172] Uwei′1=Wiip′+Wbm+Wecy+Wsle Expression (24)

[0173] Ugra'1=(Wtip'×Radi'1+Whm×Rlbm'1+Wecy×Rlecy+Wsle×Risle) / Uwei'1Expression (25)

[0174] In this embodiment, since the critical working radius radi'1 of the lowering operation is the radius that determines that the boom lifting angle θb cannot be further reduced, when the critical working radius radi'1 of the lowering operation is met, in the current state, the torque generated by the upper weight is equal to the stabilizing torque SMOMr in the current state, and the following formula 26 is established.

[0175] Uwei′1×(Ugra′l×cosβ-XLI1)=SMOMr Expression (26)

[0176] The parameters in expression 26 are defined as follows. These parameters can be obtained from storage unit B300. Figure 8 shown.

[0177] β: The angle formed by the vertical line drawn from the turning center Oc to the right overturning line Lal and the current state of the boom B203 on the horizontal plane

[0178] XLI1: The distance from the center of rotation Oc to the right overturning line Lal in the horizontal plane

[0179] The distance from the right overturning line Lal on θb' is calculated as the lifting angle at the critical working radius Radi'1 of the lowering operation. The lifting angle that satisfies the above expressions 21 to 26 is used to calculate the critical working radius Radi'1 of the lowering operation.

[0180] Next, at T003, the control device B307 determines whether the user of the loader truck crane C has selected a lowering operation. If the user has selected a lowering operation, the control device B307 proceeds to T004. If the user has not selected a lowering operation, the control device B307 proceeds to T005.

[0181] At T004, the control device B307 implements safety control based on the critical working radius Radi'1. This safety control includes, for example, at least one of control for adjusting the lowering operation of the boom B203 (adjustment control) and control for notifying the user of the heavy-duty truck crane C of information (notification control). Specifically, during the safety control, the control device B307 adjusts the speed of the lowering operation or disables the lowering operation when the critical working radius Radi'1 is approached. The user is notified using the alarm device B106 connected to the control device B307, or an alarm is displayed on the display B105 connected to the control device B307.

[0182] At T005 , the control device B307 ends the operation flow without adjusting the operation of the crane device B20 .

[0183] Second embodiment

[0184] Figure 9 : is a flow chart for calculating the critical working radius Radi' of the loader truck crane C according to the second embodiment of the present invention. The difference between the loader truck crane C according to the second embodiment and the loader truck crane C according to the first embodiment is Figure 9 The method of calculating the critical working radius Radi in the flowchart T012 and the branching method in T013. Description of the same components as those of the first embodiment, such as the configuration of the loader truck crane C, will be omitted.

[0185] In step T012, the control device B307 calculates the critical working radius Radi'2 of the current extension operation. In this embodiment, it is assumed that the user of the loader truck crane C selects the extension operation, and when the extension operation is performed in the future, the critical working radius Radi'2 of the boom extension operation can be obtained.

[0186] Assume that BL' is the boom length at the critical working radius Radi'2 of the boom operation. When the boom length is BL', the critical working radius Radi'2 of the boom operation and the horizontal distance Rlbm'2 between the boom rotation center Oc and the center of gravity are established as follows:

[0187] Radi'2=BL′×cosθb-BH×sinθb-L Expression (27)

[0188] Rlbm′2=BGX′×cosθb′-BGZ×sinθb′-L Expression (28)

[0189] BGX': Figure 6 On paper, at the critical working radius radi'2 of the extension operation, the distance from the root of the boom B203 to the center of gravity of the boom B203 in the left and right direction is

[0190] In addition, the current upper weight Uwei2 and the current upper center of gravity Ugra'2 are expressed by the following expressions.

[0191] Uwei'2=Wtip′+Wbm′+Wecy+Wsle Expression (29)

[0192] Ugra'2=(Wtip′×Radi'2+Wbm′×RIbm'2+Wecy×Rlecy-Wsle×Rlsle) / Uwei'1Expression (30)

[0193] Wbm': Weight of boom B203 (taking into account the weight of the hydraulic oil in the boom telescopic brake B210a)

[0194] Then, since the critical working radius Radi'2 of the boom operation is the radius that determines that the boom length LB cannot be extended any further, when the critical working radius Radi'2 of the boom operation is satisfied, the torque caused by the upper weight in the current state is equal to the stabilizing torque SMOMr in the current state. Therefore, the following formula 31 is correct.

[0195] Uwei'2×(Ugra′2×cosβ-XLl1=SMOMr Expression (31)

[0196] Calculate the boom length LB' at the critical working radius Radi'2 of the extension operation. This length must satisfy the above formulas 21, 24, 27 to 31, and then calculate the critical working radius Radi'2 of the extension operation based on this length.

[0197] Next, in step T013, the control device B307 determines whether the user of the loader truck crane C has selected the extension operation. If the extension operation is selected, the control device B307 advances the process to T014. If the extension operation is not selected, the control device B307 advances the process to T015.

[0198] At T014, the control device B307 implements safety control based on the critical working radius Radi′2. This safety control includes at least one of adjusting the extension operation of the boom B203 and notifying the user of the loader truck crane C. The control device B307 adjusts the speed of the extension operation or disables the extension operation when the extension operation approaches the critical working radius Radi′2. The user notification is performed using the alarm device B106 connected to the control device B307, or a warning is displayed on the display B105 connected to the control device B307.

[0199] At T015 , the control device B307 ends the operation process without adjusting the operation of the lifting device B20 .

[0200] The critical working radius Radi' is not limited to the radius calculated by the method described in the above embodiment. For example, the critical working radius Radi' can be set so that the right jack reaction force PF1 or the left jack reaction force PF4 is a predetermined value.

[0201] In the above description, the critical operating radius Radi' is calculated using the boom B203 as a rigid body. However, it is best to take the deflection of the boom B203 into account when performing the calculation. The vertical distance, represented by BGZ, is best calculated by taking into account the amount of hydraulic oil supplied to the boom telescopic brake B210a. Furthermore, the operating radius at the upper and lower limits of the boom operation, or at the telescopic and retracting limits, is pre-stored in storage unit B300. When the critical operating radius Radi' is smaller than the operating radius stored in storage unit B300, the operating radius stored in storage unit B300 can be set as the critical operating radius.

[0202] In this specification, the critical working radius Radi'1 for the lowering operation is calculated in the first embodiment, and the critical working radius Radi'2 for the extending operation is calculated in the second embodiment. However, both critical working radii may be calculated and displayed on the display B105. Furthermore, both critical working radii may be calculated based on the operation of the user of the loader truck crane C, and either one may be displayed.

[0203] In the first and second embodiments, when calculating the critical working radius, the control device B307 can independently calculate a first critical working radius and a second critical working radius that is smaller than the first critical working radius. In this case, the control device B307 can control information notification to the user of the lifting device B20 based on the second critical working radius (notification control) and control the boom adjustment operation (extension and / or lowering operation) of the lifting device B20 based on the first critical working radius (adjustment control). In the first and second embodiments, when obtaining two critical working radii, two types of safety factors N with different values ​​(first safety factor N1 and second safety factor N2) can be used to obtain these critical working radii. That is, the control device B307 determines the first critical working radius based on the first safety factor N1 and calculates the second critical working radius based on the second safety factor N2. By calculating the two critical working radii in this way, the safety and efficiency of crane operation can be further improved.

[0204] Furthermore, the rated load of a loading truck crane C is generally determined by the performance at the turning position with the worst lateral stability when the cargo box B102 is empty (air stability performance) and the performance determined by the crane's structural strength (crane strength performance). In the present application, when the crane strength performance radius calculated from the crane strength performance of the crane unit B20 is calculated and compared with the critical operating radius Radi', and if the crane strength performance radius is less than the critical operating radius Radi', the control device B307 can at least adjust the operation of the crane unit B20 based on the crane strength performance radius or notify the user of the crane unit B20.

[0205] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0206] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0207] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0208] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An intelligent anti-overturning loading truck crane, characterized in that: include: Vehicle (10); A crane device (B20) comprising a rotatable boom (B203) mounted on a vehicle (10); A leg support device (B200) comprising a right jack (B200a) and a left jack (B200b) mounted on the vehicle (10); The control device (B307) calculates the critical working radius of the crane device (B20) based on the reaction force of the outrigger device (B200) in contact with the ground, and implements safety control based on the calculated critical working radius.

2. The intelligent anti-overturning loading truck crane according to claim 1, characterized in that: The safety control includes at least one of an adjustment control for adjusting a lowering operation and an extending operation of a boom (B203) of a crane device (B20), and a notification control for notifying a user of the crane device (B20) of information.

3. The intelligent anti-overturning loading truck crane according to claim 1, characterized in that: The control device (B307) calculates the crane strength performance radius based on the crane strength performance used to determine the rated load of the loading truck crane, and implements safety control based on the smaller one of the calculated crane strength performance radius and critical working radius.

4. The intelligent anti-overturning loading truck crane according to claim 2, characterized in that: The critical working radius includes a first critical working radius and a second critical working radius which is smaller than the first critical working radius, wherein the control device (B307) implements notification control based on the second critical working radius and implements adjustment control based on the first critical working radius.

5. The intelligent anti-overturning loading truck crane according to claim 1, characterized in that: The invention also includes a display (B105) connected to the control device (B307) and displaying the status of the loader truck crane, wherein the control device (B307) displays the critical working radius on the display (B105).

6. The intelligent anti-overturning loading truck crane according to claim 1, characterized in that: The crane device (B20) includes a fixed portion (B201) fixed to a vehicle frame (B100), a turntable (B202) rotatably arranged on the fixed portion (B201), and a lifting arm (B203) rotatably arranged on the upper end of the turntable (B202). The outrigger device (B200) is arranged in the fixed portion (B201), the turntable (B202) is provided with a winch, and a steel wire rope (B205) is wound around the winch. The steel wire rope (B205) The hook (B206) is fixed to the distal end of the wire rope (B205) and is hung down from the distal end of the boom (B203) through a pulley arranged at the distal end of the boom (B203). The boom (B203) includes a proximal movable arm (B203a), a first intermediate boom (B203b), a second intermediate boom (B203c) and a distal boom (B203d) that are nested with each other. The boom (B203) is extended and retracted by the power of the boom retractable brake (B210a).

7. The intelligent anti-overturning loading truck crane according to claim 6, characterized in that: The left and right sides of the fixed part (B201) are both provided with a control lever group for operating the hydraulic circuit (B310). The crane device (B20) is hydraulically driven by the hydraulic circuit (B310). The hydraulic circuit (B310) includes a hydraulic valve unit (B311), a hydraulic pump (B313), a main oil channel (B314), a return oil channel (B315), a boom telescopic brake (B210a) to a boom slewing brake (B210d), a right thousand Jack (B200a), left jack (B200b), right overhang brake (B200c) and left overhang brake (B200d), the main oil channel (B314) connects the hydraulic pump (B313) and the hydraulic valve unit (B311), the return oil channel (B315) connects the hydraulic valve unit (B311) and the oil tank (B312), and the hydraulic pump (B313) supplies the hydraulic oil in the oil tank (B312) to the hydraulic valve unit (B311).

8. The intelligent anti-overturning loading truck crane according to claim 7, characterized in that: The hydraulic valve unit (B311) includes a boom telescopic control valve (B211a), a winch control valve (B211b), a boom pitch control valve (B211c), a boom slew control valve (B211d), a right jack control valve (B212a), a left jack control valve (B212b), a right overhang control valve (B212c) and a left overhang control valve (B212d). The boom telescopic control valve (B211a) is connected to the boom telescopic brake (B210a), and the winch control valve (B211b) is connected to the winch hydraulic motor (B210b). ), the boom pitch control valve (B211c) is connected to the boom pitch brake (B210c), the boom slewing control valve (B211d) is connected to the boom slewing brake (B210d), the right jack control valve (B212a) is connected to the right jack (B200a) on the right side, the left jack control valve (B212b) is connected to the left jack (B200b) on the left side, the right overhang control valve (B212c) is connected to the right overhang brake (B200c), and the left overhang control valve (B212d) is connected to the left overhang brake (B200d).

9. The intelligent anti-overturning loading truck crane according to claim 5, characterized in that: The control device (B307) is provided with a storage unit (B300), and the input side of the control device (B307) is connected to a suspension load information detector (B301), a rotation angle information detector (B302), a length information detector (B303), a pitch angle information detector (B304), a right reaction force information detector (B305a), a left reaction force information detector (B305b), a right overhang information detector (B306a) and a left overhang information detector ( B306b), the display (B105), the alarm device (B106), the boom telescopic control valve (B211a), the winch control valve (B211b), the boom pitch control valve (B211c), the boom rotation control valve (B211d), the right jack control valve (B212a), the left jack control valve (B212b), the right overhang control valve (B212c) and the left overhang control valve (B212d) are connected to the output side of the control device (B307).

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