Engineering machinery anti-tipping device and method and engineering machinery

Abstract

The invention relates to an engineering machinery anti-rollover device and method and engineering machinery, and the engineering machinery anti-rollover device comprises a mounting seat (1), a supporting plate (2), a first driving part (3), a second driving part (4), a first connecting rod assembly (5) and a second connecting rod assembly (6), the first driving part (3), the second driving part (4), the first connecting rod assembly (5) and the second connecting rod assembly (6) are all connected between the mounting seat (1) and the supporting plate (2), the first driving part (3) and the second driving part (4) are configured to drive the supporting plate (2) to move relative to the mounting seat (1), and the supporting plate (2) is configured to be supported on a to-be-supported surface so as to prevent the engineering machinery from tipping over; in the running direction of the engineering machine, the first driving piece (3), the second driving piece (4), the first connecting rod assembly (5) and the second connecting rod assembly (6) are arranged at intervals. According to the invention, the escape capability of the engineering machinery can be effectively improved.

Description

Technical Field

[0001] This disclosure relates to the field of engineering machinery technology, and in particular to an anti-tipping device and method for engineering machinery, and engineering machinery. Background Technology

[0002] Tracked construction machinery, with its low ground pressure and strong off-road performance, is widely used in complex working conditions such as mining, infrastructure construction, and disaster relief. However, when traveling on steep slopes, operating under heavy loads on one side, or encountering sudden ground subsidence, the machine is prone to center of gravity shift, which can lead to overturning risks, causing not only equipment damage but also potential casualties.

[0003] The existing stability protection measures for tracked chassis are mainly divided into two categories: one is passive structure, such as increasing the track ground contact area and optimizing the overall center of gravity distribution to improve inherent stability, but this method has limited ability to cope with sudden overturning risks; the other is active outrigger structure, which mostly uses hydraulically driven telescopic outriggers, but the outriggers have limited ability to get out of trouble. When the tracks get stuck in mud or slip on soft ground, there is a lack of effective auxiliary extrication mechanism, and external equipment traction is required, resulting in low operating efficiency.

[0004] It should be noted that the information disclosed in the background section of this disclosure is intended only to enhance the understanding of the overall background of this disclosure, and should not be construed as an admission or implication in any way that such information constitutes prior art known to those skilled in the art. The foregoing statements are only intended to provide background information in relation to this application and do not necessarily constitute prior art. Summary of the Invention

[0005] This disclosure provides an anti-tipping device and method for construction machinery, and the construction machinery itself, which can effectively improve the ability of construction machinery to get out of trouble.

[0006] According to a first aspect of this disclosure, an anti-tipping device for engineering machinery is provided, comprising:

[0007] Mounting base;

[0008] Support plate;

[0009] The first driving component is connected between the mounting base and the support plate;

[0010] The second driving component is connected between the mounting base and the support plate;

[0011] The first link assembly connects the mounting base and the support plate; and

[0012] The second linkage assembly connects the mounting base and the support plate;

[0013] The first driving member and the second driving member are configured to drive the support plate to move relative to the mounting base. The support plate is configured to support the surface to be supported to prevent the construction machinery from tipping over. The first driving member, the second driving member, the first linkage assembly and the second linkage assembly are arranged at intervals in the direction of travel of the construction machinery.

[0014] In some embodiments, the anti-rollover device includes a chassis, a mounting base is installed on the outside of the chassis, and the length of the support plate is greater than or equal to 5% to 10% of the total length of the chassis.

[0015] In some embodiments, the support plate is elongated.

[0016] In some embodiments, the first link assembly includes a first link and a second link, the first link being rotatably connected between the mounting base and the second link, and the second link being rotatably connected between the first link and the support plate.

[0017] In some embodiments, the first linkage assembly includes a limiting member configured to restrict the range of motion of the support plate.

[0018] In some embodiments, the limiting member includes a third link and a pin. The first end of the third link is rotatably connected to the mounting base, the second link is provided with an elongated hole, the pin is slidably disposed in the elongated hole, and the second end of the third link is rotatably connected to the pin.

[0019] In some embodiments, the first link assembly includes a fourth link fixedly mounted on a mounting base, the first link being rotatably connected to the lower portion of the fourth link on the side away from the second link assembly, and a third link being rotatably connected to the upper portion of the fourth link on the side near the second link assembly.

[0020] In some embodiments, in the direction of travel of the construction machinery, both the first drive member and the second drive member are located between the first linkage assembly and the second linkage assembly.

[0021] In some embodiments, the hinge point between the first drive member and the mount is located above the hinge point between the first link assembly and the mount; and / or, the hinge point between the second drive member and the mount is located above the hinge point between the second link assembly and the mount.

[0022] According to a second aspect of this disclosure, an engineering machine is provided, including the aforementioned engineering machine anti-tipping device.

[0023] According to a third aspect of this disclosure, a method for preventing rollover of engineering machinery based on the above-described anti-rollover device is provided, comprising:

[0024] Detect the tilt angle and center of gravity offset of construction machinery;

[0025] When the tilt angle is greater than or equal to the first preset angle, or the center of gravity offset is greater than or equal to the first preset value, the first driving member and the second driving member are driven to extend until the support plate contacts the surface to be supported.

[0026] When the tilt angle is less than the first preset angle and the center of gravity offset is less than the first preset value, the first driving component and the second driving component are retracted until the support plate is retracted to a position close to the mounting base.

[0027] In some embodiments, the method for preventing overturning of construction machinery further includes:

[0028] An alarm signal is issued when the tilt angle is greater than or equal to the second preset angle and less than the first preset angle, or when the center of gravity offset is greater than or equal to the second preset value and less than the first preset value. The second preset angle is less than the first preset angle, and the second preset value is less than the first preset value.

[0029] In some embodiments, the method for preventing overturning of construction machinery further includes:

[0030] Detect the pressure applied by the support plate to the surface to be supported;

[0031] When the pressure is less than the preset pressure, the first and second driving components continue to extend; and

[0032] When the pressure is greater than or equal to the preset pressure, the first and second drive members are kept in their current extended positions.

[0033] In some embodiments, the method for preventing overturning of construction machinery further includes:

[0034] Manual control valves are available;

[0035] The first and second drive components are controlled by a manual control valve to move the support plate to a preset position.

[0036] Based on the above technical solution, in this embodiment of the disclosure, two driving components and two sets of connecting rod assemblies are connected to the same support plate. The length of the support plate is significantly longer than the length of a single outrigger in the related technology. Therefore, the grounding area of ​​the support plate is relatively large, the grounding specific pressure is relatively small, and the support stability is relatively high. When construction machinery gets stuck in mud or slips on soft ground, the auxiliary support of the support plate can effectively improve the extrication ability of the construction machinery. Attached Figure Description

[0037] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this application, illustrate exemplary embodiments of this disclosure and are used to explain this disclosure, but do not constitute an undue limitation of this disclosure. In the drawings:

[0038] Figure 1The diagram shows the structure of some embodiments of the anti-tipping device for engineering machinery provided in this disclosure in the retracted state.

[0039] Figure 2 The diagram shows the structure of some embodiments of the anti-tipping device for engineering machinery provided in this disclosure in the extended state.

[0040] Figure 3 Flowcharts of some embodiments of the anti-tipping method for engineering machinery provided in this disclosure.

[0041] In the picture:

[0042] 1. Mounting base; 2. Support plate; 3. First drive component; 4. Second drive component; 5. First link assembly; 51. First link; 52. Second link; 53. Third link; 54. Fourth link; 6. Second link assembly; 61. Fifth link; 62. Sixth link; 63. Seventh link; 64. Eighth link; 7. Crossbeam. Detailed Implementation

[0043] The technical solutions in the embodiments of this disclosure will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0044] In the description of this disclosure, it should be understood that the terms "center," "lateral," "longitudinal," "front," "rear," "left," "right," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this disclosure.

[0045] Analysis revealed that the poor escape capability of existing outrigger structures is mainly due to the fact that the outrigger structure is basically a distributed support foot structure, with each support foot having a very small contact area with the ground. This makes it prone to sinking when working on soft ground, resulting in insufficient support stability.

[0046] Based on the above findings, this disclosure provides an improved anti-tipping device.

[0047] like Figure 1 and Figure 2As shown, in some embodiments of the anti-tipping device for engineering machinery provided in this disclosure, the anti-tipping device includes a mounting base 1, a support plate 2, a first driving component 3, a second driving component 4, a first connecting rod assembly 5, and a second connecting rod assembly 6. The first driving component 3, the second driving component 4, the first connecting rod assembly 5, and the second connecting rod assembly 6 are all connected between the mounting base 1 and the support plate 2.

[0048] The first driving member 3 and the second driving member 4 are configured to drive the support plate 2 to move relative to the mounting base 1. The support plate 2 is configured to support the surface to be supported to prevent the construction machinery from tipping over. The first driving member 3, the second driving member 4, the first linkage assembly 5 and the second linkage assembly 6 are arranged at intervals in the direction of travel of the construction machinery.

[0049] In this embodiment, both drive components and two sets of linkage assemblies are connected between the mounting base 1 and the support plate 2. That is, both drive components and two sets of linkage assemblies are connected to the same support plate 2. Therefore, compared with the scheme where each drive component corresponds to one outrigger, the length of the support plate 2 in this embodiment is significantly longer than the length of a single outrigger's foot. As a result, the grounding area of ​​the support plate 2 is larger, the grounding specific pressure is smaller, and the support stability is higher. When construction machinery gets stuck in mud or slips on soft ground, the auxiliary support of the support plate 2 can effectively improve the construction machinery's ability to get out of trouble.

[0050] In the embodiments of the engineering machinery disclosed herein, two sets of anti-rollover devices are respectively installed on both sides of the chassis. Each side of the anti-rollover device has one support plate 2. The support plate 2 is driven by two driving components installed at the front and rear. The length of the support plate 2 is much greater than the length of the support foot in the outrigger structure in the prior art, and the grounding area of ​​the support plate 2 is also much greater than the grounding area of ​​the support foot.

[0051] In some embodiments, the anti-rollover device includes a chassis, a mounting base 1 is mounted on the outside of the chassis, and the length of the support plate 2 is greater than or equal to 5% to 10% of the total length of the chassis. For example, the length of the support plate 2 is greater than or equal to 5%, 6%, 7%, 8%, 9%, or 10% of the total length of the chassis.

[0052] In some embodiments, the length of the support plate 2 is 5%, 6%, 7%, 8%, 9%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, or 90% of the total length of the chassis.

[0053] By extending the length of the support plate 2, the contact area between the support plate 2 and the ground can be increased, thereby improving the support capacity of the support plate 2 and enhancing its adaptability to muddy and soft ground.

[0054] In some embodiments, the support plate 2 is elongated. The length of the support plate 2 is much greater than its width.

[0055] This shape can connect two drive components and two sets of linkage assemblies, increasing the length of the support plate 2, and also facilitates the storage of the support plate 2, preventing interference with other components after the support plate 2 is retracted.

[0056] In some embodiments, the length of the support plate 2 is 2 to 8 times its width. For example, the length of the support plate 2 is 2, 3, 4, 5, 6, 7, or 8 times its width.

[0057] In some embodiments, the support plate 2 is a flat plate to improve its fit with the ground and enhance grounding stability.

[0058] In some embodiments, the extension direction of the support plate 2 is parallel to the length direction of the tracked chassis and parallel to the travel direction of the construction machinery.

[0059] In some embodiments, the bottom surface of the support plate 2 is provided with anti-slip texture to increase the friction with the ground.

[0060] In some embodiments, the first link assembly 5 includes a first link 51 and a second link 52, the first link 51 being rotatably connected between the mounting base 1 and the second link 52, and the second link 52 being rotatably connected between the first link 51 and the support plate 2.

[0061] By providing a first link 51 and a second link 52 that are rotatably connected between the mounting base 1 and the support plate 2, the support plate 2 can be supported when it moves relative to the mounting base 1, thereby reducing the swaying of the support plate 2 during movement and improving the movement stability of the support plate 2.

[0062] In some embodiments, the first linkage assembly 5 includes a limiting member configured to restrict the range of motion of the support plate 2.

[0063] By setting limiters, the range of motion and extreme extension posture of the support plate 2 can be restricted, preventing the support plate 2 from shifting or displacing excessively. It also helps to maintain the consistency of the movement trajectory of the support plate 2, avoid excessive extension angle leading to poor force distribution, and effectively improve the stability of the support.

[0064] In some embodiments, the limiting member includes a third link 53 and a pin. The first end of the third link 53 is rotatably connected to the mounting base 1. The second link 52 is provided with an elongated hole, and the pin is slidably disposed in the elongated hole. The second end of the third link 53 is rotatably connected to the pin.

[0065] By setting an elongated hole on the second link 52, the support plate 2 can be limited by the pin limiting the third link 53.

[0066] In some embodiments, an elongated hole is provided at one end of the second link 52 near the first link 51, and the elongated hole extends from the end near the first link 51 in a direction away from the first link 51.

[0067] The length of the elongated hole is parallel to the length direction of the second connecting rod 52.

[0068] The length of the elongated hole limits the travel of the pin and also limits the extreme positions of the support plate 2.

[0069] In some embodiments, the first link assembly 5 includes a fourth link 54, which is fixedly mounted on the mounting base 1. The first link 51 is rotatably connected to the lower part of the fourth link 54 on the side away from the second link assembly 6, and the third link 53 is rotatably connected to the upper part of the fourth link 54 on the side close to the second link assembly 6.

[0070] By setting the fourth link 54, a convenient connection position can be provided for the first link 51 and the third link 53.

[0071] By connecting the first link 51 and the third link 53 to both sides of the fourth link 54 respectively, a certain gap can be made between the first link 51 and the third link 53 to avoid interference from the third link 53 on the rotation of the first link 51.

[0072] In addition, the first link 51 and the third link 53 are connected to the lower and upper parts of the fourth link 54 respectively. The height difference can also be used to avoid mutual interference, and the third link 53 can be used to limit the movement range of the second link 52 and the support plate 2.

[0073] In some embodiments, the fourth link 54 can be vertically arranged so that the middle part of the fourth link 54 is connected to the mounting base 1, leaving the upper and lower parts of the third link 53 and the first link 51 as connection points.

[0074] The fourth link 54 can be directly or indirectly connected to the mounting base 1.

[0075] In some embodiments, the fourth link 54 and the mounting base 1 are simultaneously connected to a fixed component. For example, both the fourth link 54 and the mounting base 1 are fixedly connected to the crossbeam 7 of the track frame of the construction machinery.

[0076] The structure of the second link assembly 6 can be the same as or different from that of the first link assembly 5, which will not be described in detail here.

[0077] In some embodiments, in the direction of travel of the construction machinery, both the first drive member 3 and the second drive member 4 are located between the first link assembly 5 and the second link assembly 6. This arrangement facilitates the retraction of the first link assembly 5 and the second link assembly 6 to their minimum size after the first drive member 3 and the second drive member 4 are retracted, while ensuring that the first drive member 3 and the second drive member 4 do not interfere with the first link assembly 5 and the second link assembly 6 after retraction.

[0078] In some embodiments, the hinge point between the first drive member 3 and the mounting base 1 is located above the hinge point between the first link assembly 5 and the mounting base 1; and / or, the hinge point between the second drive member 4 and the mounting base 1 is located above the hinge point between the second link assembly 6 and the mounting base 1. This arrangement serves two purposes: first, it staggers the hinge positions of the first drive member 3 and the first link assembly 5, preventing them from interfering with each other; second, it increases the length of the first drive member 3, thereby increasing its travel range and providing sufficient space for the support plate 2 to meet the needs of different scenarios.

[0079] In some embodiments, the anti-rollover device for construction machinery includes an attitude sensor, a controller, and a hydraulic control valve group. The attitude sensor is installed at the center of gravity of the tracked chassis frame and is used to collect the tilt angle and center of gravity offset of the construction machinery in real time. The controller is electrically connected to the attitude sensor and the hydraulic control valve group respectively. The hydraulic control valve group is connected to the first drive member 3 and the second drive member 4 through hydraulic pipelines.

[0080] In some embodiments, when the tilt angle of the engineering machinery is greater than or equal to a first preset angle, or when the center of gravity offset is greater than or equal to a first preset value, the controller can drive the first driving member 3 and the second driving member 4 to extend until the support plate 2 contacts the surface to be supported.

[0081] When the tilt angle is less than the first preset angle and the center of gravity offset is less than the first preset value, the first driving component 3 and the second driving component 4 are driven to retract until the support plate 2 is retracted to a position close to the mounting base 1.

[0082] By setting the controller and the above threshold, automatic control of the extension and retraction of the support plate 2 can be achieved.

[0083] When the support plate 2 needs to be retracted, the first drive member 3 and the second drive member 4 begin to retract, and the support plate 2 flips around the lower hinge point. The first link assembly 5 and the second link assembly 6 rise and fold together simultaneously under the retraction force of the first drive member 3 and the second drive member 4, until the first link assembly 5 and the second link assembly 4 are in contact with the side wall of the track frame, and the support plate 2 is perpendicular to the ground. The support plate 2 as a whole does not exceed the maximum width of the track chassis. Conversely, when the support plate 2 needs to be extended for operation, the first drive member 3 and the second drive member 4 extend to move the support plate 2 away from the side wall of the track frame until the bottom surface of the support plate 2 contacts the ground. Then, the first drive member 3 and the second drive member 4 continue to extend, causing the support plate 2 to unfold and reach a certain ground pressure. Stable support is formed based on the pressure feedback from the first drive member 3 and the second drive member 4.

[0084] In some embodiments, the anti-tipping device for construction machinery includes a manual control valve configured to manually control the actions of the first drive member 3 and the second drive member 4.

[0085] By setting a manual control valve, the retraction and extension of the support plate 2 can be manually controlled according to the needs of the scenario or the experience of the operator. The stopping position and posture of the support plate 2 can also be manually set to meet the different needs of different scenarios.

[0086] In some embodiments, the anti-tipping device for construction machinery includes an alarm module. When the data collected by the attitude sensor reaches the pre-set warning threshold of the controller, the controller controls the alarm module to issue an audible and visual alarm signal. When the data collected by the attitude sensor reaches the overturning risk threshold, the controller automatically controls the hydraulic control valve group to operate and drive the support plate 2 to extend.

[0087] Based on the aforementioned anti-tipping device for construction machinery, this disclosure also proposes a type of construction machinery that includes the aforementioned anti-tipping device for construction machinery.

[0088] The positive technical effects of the anti-tipping devices for construction machinery in the above embodiments are also applicable to construction machinery, and will not be repeated here.

[0089] In some embodiments, the construction machinery is tracked construction machinery, such as tracked excavators, cranes, loaders, and other types of construction machinery.

[0090] This disclosure applies to tracked off-road chassis equipment with high passability, high horsepower, and frequent operation on complex terrain such as soft and rugged surfaces. This disclosure improves the stability of the equipment during travel and operation, and effectively assists in extricating the equipment when the tracks become stuck in mud or slippery ground.

[0091] In some embodiments, the construction machinery includes a track frame, and an anti-tipping device is disposed on the outside of the track frame. When the anti-tipping device is retracted, it does not exceed the width range of the track frame, so that the entire anti-tipping device is within the width range of the track frame after retraction. This avoids increasing the overall width of the track frame due to the installation of the anti-tipping device, which would affect the mobility and relocation flexibility of the construction machinery in narrow spaces.

[0092] Based on the aforementioned anti-tipping device for construction machinery, this disclosure also proposes an anti-tipping method for construction machinery.

[0093] In some embodiments, the method for preventing engineering machinery from tipping over includes:

[0094] Detect the tilt angle and center of gravity offset of construction machinery;

[0095] When the tilt angle is greater than or equal to the first preset angle, or the center of gravity offset is greater than or equal to the first preset value, the first driving member 3 and the second driving member 4 are driven to extend until the support plate 2 contacts the surface to be supported.

[0096] When the tilt angle is less than the first preset angle and the center of gravity offset is less than the first preset value, the first driving component 3 and the second driving component 4 are driven to retract until the support plate 2 is retracted to a position close to the mounting base 1.

[0097] This method actively detects the tilt angle of the construction machinery in real time, and controls the first drive component 3 and the second drive component 4 to extend in time when the tilt angle reaches the first preset angle. This can adjust the chassis posture in time and significantly reduce the probability of accidents such as equipment rollover and personnel injury.

[0098] The tilt angle can be the angle between the vehicle body plane and the horizontal ground. The center of gravity offset can be the ratio of the distance from the center of gravity to the overturning line after the offset to the distance from the center of gravity to the overturning line before the offset.

[0099] The overturning line is the geometric baseline corresponding to the critical state at which construction machinery overturns under specific conditions. It serves as the critical stability baseline for determining whether construction machinery is likely to overturn. For example, the overturning line of a crawler crane can be defined as the line connecting the outer edge of the track to the center lines of the drive wheel and guide wheel (or the axes of the foremost and last support wheels). When the crane's center of gravity crosses this line, overturning will occur.

[0100] In some embodiments, the method for preventing overturning of construction machinery further includes:

[0101] An alarm signal is issued when the tilt angle is greater than or equal to the second preset angle and less than the first preset angle, or when the center of gravity offset is greater than or equal to the second preset value and less than the first preset value. The second preset angle is less than the first preset angle, and the second preset value is less than the first preset value.

[0102] By setting a second preset angle and a second preset value as alarm thresholds, a reminder function can be provided to prompt operators to reduce vehicle speed, adjust their working posture, and prevent the risk of overturning from increasing further.

[0103] Alarm signals include sounding an alarm, flashing a red light, or spraying smoke.

[0104] In some embodiments, the method for preventing overturning of construction machinery further includes:

[0105] Detect the pressure applied by the support plate 2 to the surface to be supported;

[0106] When the pressure is less than the preset pressure, the first driving component 3 and the second driving component 4 continue to extend; and

[0107] When the pressure is greater than or equal to the preset pressure, the first drive member 3 and the second drive member 4 are kept in the current extended position.

[0108] By detecting the pressure exerted on the support plate 2 on the surface to be supported, the grounding stability of the support plate 2 can be determined, thus ensuring the reliability of the support plate 2.

[0109] In some embodiments, the method for preventing overturning of construction machinery further includes:

[0110] Manual control valves are available;

[0111] The first drive component 3 and the second drive component 4 are controlled by a manual control valve to move the support plate 2 to a preset position.

[0112] By setting a manual control valve, the retraction and extension of the support plate 2 can be manually controlled according to the needs of the scenario or the experience of the operator. The stopping position and posture of the support plate 2 can also be manually set to meet the different needs of different scenarios.

[0113] The following is in conjunction with the appendix Figures 1 to 3 The structure and working process of one embodiment of the anti-tipping device for engineering machinery disclosed herein will be described:

[0114] like Figure 1 and Figure 2 As shown, the anti-rollover device includes a mounting base 1, a support plate 2, a first drive component 3, a second drive component 4, a first linkage assembly 5, and a second linkage assembly 6. The construction machinery includes two sets of anti-rollover devices, which are respectively installed on the left and right sides of the chassis.

[0115] The mounting base 1 is fixed to the crossbeam 7 on the side wall of the track chassis using high-strength bolts. The support plate 2 is a large-area, one-piece structure. The support plate 2 is rectangular in shape. The length of the support plate 2 is approximately 2 meters, and the width is approximately 0.4 meters. The ground contact length of the track frame of construction machinery is approximately 3 meters. In related technologies, the outrigger length of retractable hydraulic outriggers is typically 0.2 to 0.3 meters.

[0116] Both the first driving component 3 and the second driving component 4 are double-acting hydraulic cylinders controlled by a valve group including a reversing solenoid valve and a pressure regulating solenoid valve. They integrate displacement and pressure sensors to provide real-time feedback on the status of the support plate 2. The cylinder barrel is fitted with a canvas dust cover to prevent sand, gravel, mud and water from entering the cylinder.

[0117] There is a preset distance between the first drive member 3 and the second drive member 4 in the direction of travel of the construction machinery. The first drive member 3 and the second drive member 4 are located between the first link assembly 5 and the second link assembly 6. The first link assembly 5 and the second link assembly 6 are located on the outer sides of the first drive member 3 and the second drive member 4, respectively. The first link assembly 5 is located on the side of the first drive member 3 away from the second drive member 4. The second link assembly 6 is located on the side of the second drive member 4 away from the first drive member 3.

[0118] The cylinder end of the first drive member 3 is hinged to the mounting base 1 at the first hinge point via the first hinge shaft, and the piston end of the first drive member 3 is hinged to the upper lug of the support plate 2 at the second hinge point via the second hinge shaft.

[0119] The first link assembly 5 includes a first link 51, a second link 52, a third link 53, a pin, and a fourth link 54. The fourth link 54 has a mounting hole in its middle, through which bolts are passed to fix the fourth link 54 to the crossbeam 7 on the track sidewall. The upper and lower ends of the fourth link 54 have a third hinge point and a fourth hinge point, respectively. One end of the first link 51 is hinged to the third hinge point at the lower end of the fourth link 54, and the first link 51 is located on the side of the fourth link 54 away from the second link assembly 6. One end of the third link 53 is hinged to the fourth hinge point at the upper end of the fourth link 54, and the third link 53 is located on the side of the fourth link 54 closer to the second link assembly 6. The other end of the first link 51 is hinged to the fifth hinge point at the upper part of the second link 52, and the lower end of the second link 52 is hinged to the lower lug of the support plate 2 at the sixth hinge point. The other end of the third link 53 is connected at the seventh hinge point to a pin that is slidably disposed in the elongated hole at the upper part of the second link 52.

[0120] The cylinder end of the second drive member 4 is hinged to the mounting base 1 at the eighth hinge point A via the third hinge shaft, and the piston end of the second drive member 4 is hinged to the upper lug of the support plate 2 at the ninth hinge point B via the fourth hinge shaft.

[0121] The second link assembly 6 includes a fifth link 61, a sixth link 62, a seventh link 63, a pin, and an eighth link 64. The eighth link 64 has a mounting hole in its middle, through which bolts are passed to fix the eighth link 64 to the crossbeam 7 on the track sidewall. The upper and lower ends of the eighth link 64 have an eleventh hinge point D and a tenth hinge point C, respectively. One end of the fifth link 61 is hinged to the tenth hinge point C at the lower end of the eighth link 64, and the fifth link 61 is located on the side of the eighth link 64 closest to the first link assembly 5. One end of the seventh link 63 is hinged to the eleventh hinge point D at the upper end of the eighth link 64, and the seventh link 63 is located on the side of the eighth link 64 furthest from the first link assembly 5. The other end of the fifth link 61 is hinged to the twelfth hinge point E at the upper part of the sixth link 62, and the lower end of the sixth link 62 is hinged to the lower lug of the support plate 2 at the fourteenth hinge point G. The other end of the seventh link 63 is connected at the thirteenth hinge point F to a pin that is slidably disposed in the elongated hole at the upper part of the sixth link 62.

[0122] The anti-rollover device also includes a detection and control system, which has three preset control modes in the cab: off-road transfer, parking operation, and extreme rescue. The system can intelligently switch between different scenarios under various working conditions with one click.

[0123] The detection and control system employs dual-redundant attitude detection and control, detecting the machine's real-time tilt and roll angles while simultaneously acquiring angular velocity, angular acceleration, and center of gravity offset rate to calculate dynamic overturning risk in real time. The system features a predictive strategy that integrates with the working devices, constructing a master-slave collaborative control architecture. The system includes attitude sensors, controllers, hydraulic control valve groups, and alarm modules. Attitude sensors include onboard sensors and chassis six-axis sensors, fixed to the center of gravity positions of the bucket, boom, arm, and frame, respectively. These sensors can acquire real-time data on the machine's tilt angle (X-axis longitudinal) and tilt angular velocity (Y-axis lateral), as well as center of gravity offset, dynamically calculating the center of gravity coordinates.

[0124] In the detection and control system, the early warning threshold is set at a tilt angle ≥5° or a center of gravity offset ≥10%, and the overturning risk threshold is set at a tilt angle ≥15° or a center of gravity offset ≥20%. The hydraulic control valve group uses electromagnetic directional valves, connected to the drive cylinders via high-pressure hydraulic lines. The alarm module includes a buzzer and LED warning lights, fixed to the top of the cab. During parking support operations, the required support force adjustment is calculated in advance based on the action command. Using a fuzzy PID algorithm, the hydraulic pressure and extension of each support plate 2 are automatically adjusted to ensure the center of gravity always falls within the stable support polygon formed by the two sets of anti-overturning devices. For example, when the chassis is heavily loaded or subjected to significant force on one side, the corresponding support cylinder automatically increases the support force, the opposite cylinder appropriately unloads, and the track suspension pressure is finely adjusted to maintain dynamic balance.

[0125] The active control logic of the detection and control system is as follows Figure 3 As shown, the electronic control unit (ECU) is the core hub, with a built-in fault self-diagnosis module. After the vehicle is powered on and the system is initialized, it first performs self-checks on various components such as the anti-rollover device detection and control system and the hydraulic valve group. If a fault is found, an audible and visual alarm is triggered and a fault code is sent. After the fault is cleared and the system restarts, it returns to initialization. If the self-check is normal, the anti-rollover device works in real time. The tilt sensor collects the tilt angle of the frame, the displacement sensor monitors the position of the support plate 2, and the pressure sensor is on standby. After receiving these detection data, the ECU judges the risk using dual thresholds. When the tilt angle is less than ±5° and the center of gravity offset is less than 10%, the support plate 2 remains retracted and the hydraulic system is on standby at low pressure. When the tilt angle is greater than or equal to ±15° or the center of gravity offset is greater than or equal to 20%, the ECU sends a command to the hydraulic control valve group, which links the main hydraulic system to supply oil to the first drive component 3 and the second drive component 4, so that the support plate 2 can be placed on the ground. Then the pressure sensor feeds back the support pressure. If the preset stable value is not reached, the first drive component 3 and the second drive component 4 continue to extend. After the value is reached, the ECU controls the hydraulic valve group to maintain the pressure. If the tilt angle returns to the safe range, the ECU sends a retraction command and the support plate 2 is retracted and returned to its original position through the reverse oil supply of the main hydraulic system, returning to the real-time detection state. If the tilt angle continues to increase, the hydraulic oil supply pressure is increased to enhance the support force. If the pressure or angle continues to be abnormal, a fault alarm is triggered, forming a closed-loop control of "detection-judgment-action-feedback".

[0126] The detection and control system monitors the attitude parameters of the machine in real time during all driving and operating scenarios. Whether driving on a steep slope or operating under heavy load on one side, it can trigger support protection, which broadens the applicable working conditions of the equipment. At the same time, it disperses load stress and reduces structural fatigue of the tracks and chassis.

[0127] The workflow of this embodiment is as follows:

[0128] 1. Retracted state: When the equipment is in normal driving or operation, the first drive component 3 and the second drive component 4 are in the retracted state, the first linkage assembly 5 and the second linkage assembly 6 are folded and retracted, the support plate 2 is close to the side wall of the track frame and perpendicular to the ground, the whole does not exceed the maximum width of the track chassis, and does not affect the transportation and passage of the equipment.

[0129] 2. Warning Status: When the data collected by the attitude sensor reaches the warning threshold, the controller receives the signal and controls the alarm module to activate. The buzzer emits an intermittent beeping sound, and the LED warning light flashes to remind the operator to pay attention to safety.

[0130] 3. Extension State: When the data reaches the overturning risk threshold, the controller immediately sends a control signal to the hydraulic control valve group, the solenoid directional valve is energized and reversed, and high-pressure hydraulic oil enters the rodless chamber of the first drive component 3 and the second drive component 4, pushing the piston rod to extend rapidly. The first connecting rod assembly 5, the second connecting rod assembly 6 and the support plate 2 extend rapidly away from the track frame along with the first drive component 3 and the second drive component 4 until they contact the ground. By forming a stable support structure, the load of the whole machine is distributed, and the risk of overturning is prevented from further expanding.

[0131] 4. Reset state: When the equipment posture returns to normal with an inclination angle of <5° and a center of gravity offset of <10%, the controller controls the hydraulic control valve group to reverse. The first drive component 3 and the second drive component 4 first move the support plate 2 away from the track frame and retract, and then drive the first link assembly 5 and the second link assembly 6 to rotate around the hinge point until the support plate 2, the first link assembly 5 and the second link assembly 6 fold and reset to the retracted state.

[0132] In addition, the controller also has a reserved manual control interface, which can manually switch between three modes: off-road transfer, parking operation, and extreme rescue to control the extension and retraction of the anti-rollover device, improving the flexibility of use.

[0133] The detection and control system defaults to off-road mode and has an automatic anti-rollover function. The operator can activate different control modes according to the actual working conditions and switch control permissions and release the priority of automatic anti-rollover linkage control through the dedicated button or joystick on the cab control panel. The operator can also send extension or retraction commands to the hydraulic control valve group. After the command is triggered, the hydraulic system distributes oil circuits and oil supply according to the manual command, driving the drive cylinder of the corresponding support plate 2. The operator can display displacement data, support pressure value and chassis tilt angle information in real time on the instrument panel and accurately control the extension length of the anti-rollover device.

[0134] In the parking operation mode, dynamic center of gravity tracking and support force distribution can be achieved to ensure operational stability. In addition, the horizontal attitude of the chassis can be corrected by adjusting the extension and retraction of each cylinder and connecting rod assembly individually. Based on the feedback data from the tilt sensor, the horizontal error of the chassis is controlled within the preset range. At the same time, the pressure sensor data is observed to ensure that the support pressure meets the standard. Once the attitude and support status meet the operational accuracy requirements, the operation is stopped, and the hydraulic valve group automatically maintains pressure for operation.

[0135] In extreme rescue mode, support plate 2 extends to make solid contact with the ground and generate sufficient support force. With the help of the reaction force of support plate 2, the tracks get out of the mud. After the operation is completed or the track is freed, the operator sends a retraction command. The hydraulic system reverses the oil supply to drive the oil cylinder to retract. Support plate 2 gradually retracts and fits against the side wall of the track frame. After the displacement sensor confirms that support plate 2 is fully returned to its original position, support plate 2 returns to the standby state.

[0136] In this embodiment, the support plate 2, the first driving component 3, the second driving component 4, the first connecting rod assembly 5, and the second connecting rod assembly 6 form a linkage structure. The detection and control system includes an attitude sensor, a controller, a hydraulic control valve group, and an alarm module. The attitude sensor collects chassis attitude data in real time, and the controller judges the risk of overturning according to a preset threshold and automatically controls the driving cylinder to move, so as to realize the rapid extension and retraction of the support plate 2.

[0137] In this embodiment, when a risk of overturning is detected during machine travel or operation, the system can proactively sense the risk and respond quickly, driving the support plate to automatically extend and adjust the machine's center of gravity to maintain stability, thus achieving automated control from proactive sensing to autonomous movement of the support plate. Furthermore, when the support plate 2 is retracted, it folds and fits against the side wall of the track frame via a linkage assembly, without affecting the overall vehicle width and ensuring the vehicle's passability. When extended, it forms a stable support structure, effectively improving the stability of the equipment during travel and operation.

[0138] In addition, the detection and control system can switch between three modes according to different working conditions: off-road transfer, parking operation, and extreme rescue. Operators can switch between different modes to control the extension and retraction of the support plate. In the parking operation mode, the vehicle support plate adaptively adjusts according to the terrain, and the operator can manually adjust the overall posture of the machine according to their operating habits to achieve a level posture when mounting the vehicle on a slope, ensuring operational accuracy. In the extreme rescue mode, in conjunction with the differential lock of the chassis power system, the chassis slips, and the extended support plate increases the chassis's ground contact area, which can assist the vehicle in getting out of trouble in special road conditions. This solves the technical defects of existing equipment, such as passive anti-rollover, the occupation of lateral space when the outriggers are retracted, and insufficient extrication ability. It balances stability and rapid evacuation capability while ensuring the vehicle's mobility.

[0139] The embodiments disclosed herein are compact in structure and respond quickly, and are applicable to various tracked chassis, especially suitable for engineering operations under harsh working conditions.

[0140] The controller in this disclosure embodiment may be a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any suitable combination thereof for performing the functions described in this disclosure.

[0141] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0142] Those skilled in the art will understand that, in the methods described in the specific embodiments, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0143] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure and not to limit them; although this disclosure has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this disclosure or equivalent substitutions can still be made to some technical features without departing from the principles of this disclosure, and such modifications and equivalent substitutions should all be covered within the scope of the technical solutions claimed in this disclosure.

Claims

1. A roll-over protection device for an engineering machine, characterised in that, The anti-rollover device comprises a chassis, the mounting seat (1) is mounted on the outer side of the chassis, and the length of the support plate (2) is greater than or equal to 5%-10% of the total length of the chassis. The support plate (2) is long strip-shaped. The first connecting rod assembly (5) comprises a first connecting rod (51) and a second connecting rod (52), the first connecting rod (51) is rotatably connected between the mounting seat (1) and the second connecting rod (52), and the second connecting rod (52) is rotatably connected between the first connecting rod (51) and the support plate (2). The first connecting rod assembly (5) comprises a limiting piece configured to limit the movement range of the support plate (2). The limiting piece comprises a third connecting rod (53) and a pin shaft, the first end of the third connecting rod (53) is rotatably connected with the mounting seat (1), the second connecting rod (52) is provided with a long hole, the pin shaft is slidably arranged in the long hole, and the second end of the third connecting rod (53) is rotatably connected with the pin shaft. The first connecting rod assembly (5) comprises a fourth connecting rod (54), the fourth connecting rod (54) is fixedly installed on the mounting seat (1), the first connecting rod (51) is rotatably connected to the lower part of the fourth connecting rod (54) away from the second connecting rod assembly (6), and the third connecting rod (53) is rotatably connected to the upper part of the fourth connecting rod (54) close to the second connecting rod assembly (6). In the driving direction of the engineering machinery, the first driving member (3) and the second driving member (4) are located between the first connecting rod assembly (5) and the second connecting rod assembly (6). The hinge point of the first driving member (3) and the mounting seat (1) is located above the hinge point of the first connecting rod assembly (5) and the mounting seat (1); and / or the hinge point of the second driving member (4) and the mounting seat (1) is located above the hinge point of the second connecting rod assembly (6) and the mounting seat (1).

2. A roll-over protection device for a working machine according to claim 1, characterised in that The anti-rollover device comprises a chassis, the mounting seat (1) is mounted on the outer side of the chassis, and the length of the support plate (2) is greater than or equal to 5%-10% of the total length of the chassis.

3. The roll-over protection device for an engineering machine according to claim 1, characterized in that The support plate (2) is long strip-shaped.

4. The roll-over protection device for an engineering machine according to claim 1, characterized in that, The first connecting rod assembly (5) comprises a first connecting rod (51) and a second connecting rod (52), the first connecting rod (51) is rotatably connected between the mounting seat (1) and the second connecting rod (52), and the second connecting rod (52) is rotatably connected between the first connecting rod (51) and the support plate (2).

5. A roll-over protection device for an engineering machine according to claim 4, characterised in that, The first connecting rod assembly (5) comprises a limiting piece configured to limit the movement range of the support plate (2).

6. A roll-over protection device for an engineering machine according to claim 5, characterised in that, The limiting piece comprises a third connecting rod (53) and a pin shaft, the first end of the third connecting rod (53) is rotatably connected with the mounting seat (1), the second connecting rod (52) is provided with a long hole, the pin shaft is slidably arranged in the long hole, and the second end of the third connecting rod (53) is rotatably connected with the pin shaft.

7. A roll-over protection device for an engineering machine according to claim 6, characterised in that The first connecting rod assembly (5) comprises a fourth connecting rod (54), the fourth connecting rod (54) is fixedly installed on the mounting seat (1), the first connecting rod (51) is rotatably connected to the lower part of the fourth connecting rod (54) away from the second connecting rod assembly (6), and the third connecting rod (53) is rotatably connected to the upper part of the fourth connecting rod (54) close to the second connecting rod assembly (6).

8. The roll-over protection device for an earthmoving machine of claim 1, wherein, In the driving direction of the engineering machinery, the first driving member (3) and the second driving member (4) are located between the first connecting rod assembly (5) and the second connecting rod assembly (6).

9. The roll-over protection device for an engineering machine according to claim 1, characterized in that, The hinge point of the first driving member (3) and the mounting seat (1) is located above the hinge point of the first connecting rod assembly (5) and the mounting seat (1); and / or the hinge point of the second driving member (4) and the mounting seat (1) is located above the hinge point of the second connecting rod assembly (6) and the mounting seat (1).

10. A working machine, characterized in that The anti-rollover device comprises a chassis, the mounting seat (1) is mounted on the outer side of the chassis, and the length of the support plate (2) is greater than or equal to 5%-10% of the total length of the chassis.

11. A method of roll-over protection for a working machine based on a roll-over protection device according to any one of claims 1-9, characterized by The support plate (2) is long strip-shaped. The first connecting rod assembly (5) comprises a first connecting rod (51) and a second connecting rod (52), the first connecting rod (51) is rotatably connected between the mounting seat (1) and the second connecting rod (52), and the second connecting rod (52) is rotatably connected between the first connecting rod (51) and the support plate (2). The first connecting rod assembly (5) comprises a limiting piece configured to limit the movement range of the support plate (2). The limiting piece comprises a third connecting rod (53) and a pin shaft, the first end of the third connecting rod (53) is rotatably connected with the mounting seat (1), the second connecting rod (52) is provided with a long hole, the pin shaft is slidably arranged in the long hole, and the second end of the third connecting rod (53) is rotatably connected with the pin shaft. The first connecting rod assembly (5) comprises a fourth connecting rod (54), the fourth connecting rod (54) is fixedly installed on the mounting seat (1), the first connecting rod (51) is rotatably connected to the lower part of the fourth connecting rod (54) away from the second connecting rod assembly (6), and the third connecting rod (53) is rotatably connected to the upper part of the fourth connecting rod (54) close to the second connecting rod assembly (6). In the driving direction of the engineering machinery, the first driving member (3) and the second driving member (4) are located between the first connecting rod assembly (5) and the second connecting rod assembly (6). The hinge point of the first driving member (3) and the mounting seat (1) is located above the hinge point of the first connecting rod assembly (5) and the mounting seat (1); and / or the hinge point of the second driving member (4) and the mounting seat (1) is located above the hinge point of the second connecting rod assembly (6) and the mounting seat (1). The anti-rollover device comprises a chassis, the mounting seat (1) is mounted on the outer side of the chassis, and the length of the support plate (2) is greater than or equal to 5%-10% of the total length of the chassis. The support plate (2) is long strip-shaped. The first connecting rod assembly (5) comprises a first connecting rod (51) and a second connecting rod (52), the first connecting rod (51) is rotatably connected between the mounting seat (1) and the second connecting rod (52), and the second connecting rod (52) is rotatably connected between the first connecting rod (51) and the support plate (2). The first connecting rod assembly (5) comprises a limiting piece configured to limit the movement range of the support plate (2). The limiting piece comprises a third connecting rod (53) and a pin shaft, the first end of the third connecting rod (53) is rotatably connected with the mounting seat (1), the second connecting rod (52) is provided with a long hole, the pin shaft is slidably arranged in the long hole, and the second end of the third connecting rod (53) is rotatably connected with the pin shaft. The first connecting rod assembly (5) comprises a fourth connecting rod (54), the fourth connecting rod (54) is fixedly installed on the mounting seat (1), the first connecting rod (51) is rotatably connected to the lower part of the fourth connecting rod (54) away from the second connecting rod assembly (6), and the third connecting rod (53) is rotatably connected to the upper part of the fourth connecting rod (54) close to the second connecting rod assembly (6). In the driving direction of the engineering machinery, the first driving member (3) and the second driving member (4) are located between the first connecting rod assembly (5) and the second connecting rod assembly (6). The hinge point of the first driving member (3) and the mounting seat (1) is located above the hinge point of the first connecting rod assembly (5) and the mounting seat (1); and / or the hinge point of the second driving member (4) and the mounting seat (1) is located above the hinge point of the second connecting rod assembly (6) and the mounting seat (1). The anti-rollover device comprises a chassis, the mounting seat (1) is mounted on the outer side of the chassis, and the length of the support plate (2) is greater than or equal to 5%-10% of the total length of the chassis. The support plate (2) is long strip-shaped. The first connecting rod assembly (5) comprises a first connecting rod (51) and a second connecting rod (52), the first connecting rod (51) is rotatably connected between the When the inclination angle is greater than or equal to a first preset angle or the center of gravity offset is greater than or equal to a first preset value, the first driving member (3) and the second driving member (4) are driven to extend until the support plate (2) contacts the surface to be supported; When the inclination angle is less than the first preset angle and the center of gravity offset is less than the first preset value, the first driving member (3) and the second driving member (4) are driven to retract until the support plate (2) is retracted to a position close to the mounting seat (1).

12. The method of roll-over protection for a working machine according to claim 11, characterized by, The method further comprises: When the inclination angle is greater than or equal to a second preset angle and less than the first preset angle or the center of gravity offset is greater than or equal to a second preset value and less than the first preset value, an alarm signal is issued, wherein the second preset angle is less than the first preset angle and the second preset value is less than the first preset value.

13. The method of roll-over protection for a construction machine according to claim 11, wherein, The method further comprises: Detecting the pressure applied by the support plate (2) to the surface to be supported; When the pressure is less than a preset pressure, the first driving member (3) and the second driving member (4) are continuously driven to extend; and When the pressure is greater than or equal to the preset pressure, the first driving member (3) and the second driving member (4) are kept at the current extended position.

14. The method of roll-over protection for a construction machine of claim 11, wherein, The method further comprises: Providing a manual control valve; Using the manual control valve to control the action of the first driving member (3) and the second driving member (4) to move the support plate (2) to a preset position.

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