Tip control system

Abstract

The invention discloses a tipping control system. The tipping control system comprises a detection device and a control device. The detection device comprises a rollover detection module, a distance detection module and an angle detection module; the rollover detection module is used for detecting whether the hoisting equipment has a rollover risk or not; the control device is in communication connection with the tipping detection module, the distance detection module and the angle detection module and is configured to control the tipping risk of the hoisting equipment according to the front supporting distance, the rear supporting distance and the set transverse distance between the horizontal supporting leg and the rear supporting device under the condition that it is determined that the hoisting equipment has the tipping risk according to detection data of the tipping detection module. Determining a positive tipping datum line and a negative tipping datum line; and the limiting rotation direction of the telescopic arm is determined according to the detection data of the angle detection module, the positive tipping datum line and the negative tipping datum line, so that error operation of an operator is limited, and the tipping risk of the hoisting equipment is reduced.

Description

Technical Field

[0001] This application belongs to the field of lifting equipment technology, specifically relating to a tilting control system. Background Technology Lifting equipment is a type of multi-action machinery capable of vertically lifting and horizontally moving heavy objects within a specific range. Common names include overhead cranes, gantry cranes, and hoists. In lifting operations, the stability of the equipment is a crucial factor in ensuring safe operation and an essential component of routine safety monitoring.

[0002] During lifting operations, the lifting equipment is essentially in a state of dynamic equilibrium. When one outrigger lifts off the ground, or even both outriggers lift simultaneously, the equipment's balance is disrupted, making lifting operations impossible; this is known as an "instability state." In this instability state, the lifting equipment's center of gravity shifts, significantly reducing its resistance to overturning and greatly increasing the risk of a complete rollover accident. If operators make incorrect decisions during this instability state, the risk of rollover will be further increased, posing a serious threat to personnel, equipment, and the environment on site. Summary of the Invention

[0003] In view of the above-mentioned defects or deficiencies, this application provides a tilt control system, which aims to solve the technical problem that operator error in unstable conditions will increase the risk of tilting.

[0004] To achieve the above objectives, this application provides a tilting control system, which includes a detection device and a control device. The detection device includes a tilting detection module, a spacing detection module, and an angle detection module. The tilting detection module detects whether the lifting equipment has a tilting risk. The spacing detection module detects the distance between the horizontal outriggers and the centerline of the lifting equipment (front support spacing and rear support spacing between the rear support device and the centerline of the lifting equipment). The angle detection module detects the angle of the telescopic boom of the lifting equipment. The control device is communicatively connected to the tilting detection module, the spacing detection module, and the angle detection module, and is configured to: when it is determined that the lifting equipment has a tilting risk based on the detection data from the tilting detection module, determine a positive tilting baseline and a negative tilting baseline based on the front support spacing, the rear support spacing, and the set lateral spacing between the horizontal outriggers and the rear support device; and determine the limited rotation direction of the telescopic boom based on the detection data from the angle detection module, the positive tilting baseline, and the negative tilting baseline.

[0005] In this embodiment of the application, when it is determined that the lifting equipment has a risk of tipping over based on the detection data of the tipping detection module, the positive tipping baseline and negative tipping baseline are determined according to the front support spacing, the rear support spacing, and the set lateral spacing between the horizontal outriggers and the rear support device, including: If the crane is determined to be at risk of tipping over based on the detection data from the tipping detection module, the first calculation formula for the positive tipping angle and the second calculation formula for the negative tipping angle are obtained. Substitute the front support spacing, rear support spacing, and the set lateral spacing between the horizontal outrigger and the rear support device into the first calculation formula and the second calculation formula respectively to obtain the positive rollover angle and the negative rollover angle. The positive rollover baseline and the negative rollover baseline are determined based on the positive rollover angle and the negative rollover angle, respectively.

[0006] In this embodiment of the application, the first calculation formula is: (1) In equation (1), Set to positive tilt angle. Set to set horizontal spacing. Let the distance between the rear support device located on the right and the centerline of the lifting equipment be defined. Set as the distance between the horizontal outrigger on the right side and the front support of the centerline of the lifting equipment; The second calculation formula is: (2) In equation (2), Set to a negative rollover angle. Set to set horizontal spacing. Let the distance between the rear support device located on the left and the centerline of the lifting equipment be defined. Set as the distance between the horizontal outrigger on the left and the front support of the centerline of the lifting equipment.

[0007] In this embodiment of the application, determining the limiting rotation direction of the telescopic boom based on the detection data from the angle detection module, the positive tilting baseline, and the negative tilting baseline includes: The first and second sections are determined based on the positive overturning baseline and the center line of the lifting equipment, and the third and fourth sections are determined based on the negative overturning baseline and the center line of the lifting equipment. The first, second, third, and fourth sections are set sequentially along the circumferential direction from the center line of the lifting equipment. If the telescopic arm is determined to be in the first or third interval based on the detection data of the angle detection module, the restricted rotation direction of the telescopic arm is determined to be the first direction. If the telescopic arm is determined to be in the second or fourth interval based on the detection data of the angle detection module, the restricted rotation direction of the telescopic arm is determined to be the second direction, wherein the first direction is opposite to the second direction.

[0008] In this embodiment, the tilting control system further includes a hydraulic control module. The hydraulic control module includes a control main valve, a pressure relief valve assembly, and a rotary hydraulic component, all communicatively connected to the control device. The pressure relief valve assembly is located between the control main valve and the rotary hydraulic component. The rotary hydraulic component controls the rotation direction of the telescopic boom. After determining the limited rotation direction of the telescopic boom based on the detection data from the angle detection module, the positive tilting baseline, and the negative tilting baseline, the system further includes: When the main valve is switched to allow the telescopic boom to move in the restricted rotation direction, the pressure relief valve group is switched to relieve pressure on the corresponding working oil circuit of the rotating hydraulic component.

[0009] In this embodiment, the hydraulic control module further includes a tilt control valve assembly, which is located between the oil tank and the pressure relief valve assembly and is communicatively connected to the control device. Upon receiving a request to switch the main control valve to move the telescopic boom in a restricted rotation direction, controlling the pressure relief valve assembly to switch to depressurize the corresponding working oil circuit of the rotating hydraulic component includes: Upon receiving a request to switch the main control valve to move the telescopic boom in the restricted rotation direction, the control valve group switches to one-way flow of oil from the pressure relief valve group to the oil tank, and controls the pressure relief valve group to switch to the corresponding working oil circuit of the rotating hydraulic components to relieve pressure.

[0010] In this embodiment of the application, the control device is further configured to: Once the crane is determined to be in a stable state based on the detection data from the tilt detection module, the tilt control valve group is switched to the off state.

[0011] In this embodiment, the hydraulic control module further includes a height-adjusting hydraulic component, which includes at least one of a telescopic hydraulic component, a luffing hydraulic component, and a hoisting hydraulic component. The height-adjusting hydraulic component is connected to the main control valve, and the weighted tilting oil circuit of the height-adjusting hydraulic component is connected to the tilting control valve group. The control device is further configured to: If the detection data from the tilt detection module indicates that the lifting equipment is at risk of tilting, and the main control valve is switched to the telescopic boom for weighted tilting, the tilt control valve group is switched to the unidirectional flow of the weighted tilting oil circuit of the self-height adjusting hydraulic component to the oil tank.

[0012] In this embodiment, the tilt detection module includes a first tilt detection unit and a second tilt detection unit communicatively connected to a control device. The number of first tilt detection units is at least two, each located on at least two vertical outriggers of the lifting equipment. Each first tilt detection unit is used to detect whether the corresponding vertical outrigger provides support. The number of second tilt detection units is four, with two units located on the two front tires of the lifting equipment and the other two units located on the two rear tires of the lifting equipment. Each second tilt detection unit is used to detect whether the corresponding tire provides support. The control device is further configured to: The number of unsupported vertical outriggers (g) is determined based on the detection data from the first tilt detection unit. The number h of tires that were not supported was determined based on the detection data from the second rollover detection unit; exist The lifting equipment is at risk of tipping over, where w is the sum of the number of the first tipping detection unit and the number of the second tipping detection unit.

[0013] In this embodiment, the second rollover detection unit is configured as a pressure sensor installed inside the tire. The pressure sensor is used to detect tire pressure. Based on the detection data from the second rollover detection unit, determining the number h of tires without support includes: Obtain the critical pressure and compare the detection data from the pressure sensor with the critical pressure; If the pressure sensor readings are below the critical pressure, it is determined that the tire is not providing support. The number h of tires that were not supported was determined based on the detection data from four pressure sensors.

[0014] In the embodiments of this application, the critical pressure The calculation formula is set as follows: (3) In equation (3), Set as the pressure reduction reference value; Stress reduction reference value The calculation formula is set as follows: (4) In equation (4), Set to the minimum tire pressure. Let it be the system error coefficient.

[0015] Through the above technical solutions, the tilt control system provided in this application embodiment has the following beneficial effects: In the technical solution of this application, the tilt detection module is used to detect whether the lifting equipment has a tilt risk. The tilt detection module can determine whether a tilt risk exists by detecting whether the vertical outriggers and tires of the lifting equipment provide support. The spacing detection module is used to detect the front support spacing and the rear support spacing. The front support spacing is set as the distance between the horizontal outrigger and the centerline of the lifting equipment, and the rear support spacing is set as the distance between the rear support device and the centerline of the lifting equipment. Specifically, when auxiliary outriggers are provided, the rear support spacing is set as the distance between the auxiliary outriggers and the centerline of the lifting equipment; when auxiliary outriggers are not provided, the rear support spacing is set as the distance between the rear tires and the centerline of the lifting equipment.

[0016] The control device, upon determining a risk of tipping over based on data from the tipping detection module, determines positive and negative tipping baselines based on the front support spacing, rear support spacing, and the set lateral distance between the horizontal outriggers and the rear support device. These baselines indicate the locations where the lifting equipment is most prone to tipping. Using the lifting equipment's centerline as the zero-degree baseline, the positive tipping baseline lies within a 180° clockwise radius from the zero-degree baseline, and the negative tipping baseline lies within a 180° counter-clockwise radius from the zero-degree baseline. The limiting rotation direction of the telescopic boom is determined based on data from the angle detection module, the positive and negative tipping baselines. If the angle between the telescopic boom and the positive tipping baseline is less than the angle between the telescopic boom and the negative tipping baseline, the limiting rotation direction of the telescopic boom is set towards the positive tipping baseline. If the angle between the telescopic boom and the negative tipping baseline is less than the angle between the telescopic boom and the positive tipping baseline, the limiting rotation direction of the telescopic boom is set towards the negative tipping baseline.

[0017] The tilting control system in this application can determine the restricted rotation direction of the telescopic boom by combining the position of the telescopic boom, the positive tilting baseline, and the negative tilting baseline when there is a risk of tilting of the lifting equipment. This can limit the operator's incorrect operation and reduce the risk of tilting of the lifting equipment.

[0018] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings: Figure 1 This is a schematic diagram of the tilt control system according to an embodiment of the present application from one view. Figure 2 This is a schematic diagram of the tilt control system according to an embodiment of this application from another perspective; Figure 3 This is a structural schematic diagram of a lifting device according to an embodiment of this application; Figure 4 This is a schematic diagram of the hydraulic control module in a tilting control system according to an embodiment of this application; Figure 5 This is a schematic diagram of the tilt control system according to another embodiment of this application from one view. Figure 6 This is a structural schematic diagram of the tilt control system according to another embodiment of this application from another perspective.

[0020] Explanation of reference numerals in the attached figures 10 Tilting Detection Module 11 First Tilting Detection Unit 12 Second Tilting Detection Unit 20 Spacing Detection Module 30-degree angle detection module 41. Correct tilting baseline 42 Negative Rollover Baseline 43 First Interval 44 Second Interval 45 Third Interval 46 Fourth Interval 51 horizontal outriggers 52 rear support device 53 vertical outriggers 54 tires 60 telescopic boom 70 Hydraulic Control Module 71 Control main valve 72 pressure relief valve assembly 721 First pressure relief valve 722 Second Pressure Relief Valve A First Pressure Relief Port B Second pressure relief port T return oil port 73 Rotary Hydraulic Components 74 Tilting Control Valve Assembly 741 Directional Reversing Valve 742 First Check Valve 743 Second Check Valve 75 Height Adjustment Hydraulic Components 751 Telescopic Hydraulic Components 752 Lamp Hydraulic Components 753 winch hydraulic components 76 fuel tank Detailed Implementation The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0021] The descriptions of directions such as "up", "down", "front", "back", "left", and "right" in this application are as follows: Figure 1 The directions shown are for reference only and are used to interpret the location. Figure 1 The relative positional relationship between the components in the shown posture is such that if the specific posture changes, the directional indication will also change accordingly.

[0022] The tilt control system of this application is described below with reference to the accompanying drawings.

[0023] like Figures 1 to 6 As shown, this application provides a tilting control system, which includes a detection device and a control device. The detection device includes a tilting detection module 10, a spacing detection module 20, and an angle detection module 30. The tilting detection module 10 is used to detect whether there is a risk of tilting of the lifting equipment. The spacing detection module 20 is used to detect the front support spacing between the horizontal outrigger 51 and the centerline of the lifting equipment, and the rear support spacing between the rear support device 52 and the centerline of the lifting equipment. The angle detection module 30 is used to detect the angle of the telescopic boom 60 of the lifting equipment. The control device is communicatively connected to the tilting detection module 10, the spacing detection module 20, and the angle detection module 30, and is configured to: when it is determined that there is a risk of tilting of the lifting equipment based on the detection data of the tilting detection module 10, determine a positive tilting baseline 41 and a negative tilting baseline 42 based on the front support spacing, the rear support spacing, and the set lateral spacing between the horizontal outrigger 51 and the rear support device 52; and determine the restricted rotation direction of the telescopic boom 60 based on the detection data of the angle detection module 30, the positive tilting baseline 41, and the negative tilting baseline 42.

[0024] The tilt detection module 10 is used to detect whether the lifting equipment has a tilt risk. The tilt detection module 10 can determine the existence of a tilt risk by detecting whether the vertical outriggers 53 and tires 54 of the lifting equipment provide support. The spacing detection module 20 is used to detect the front support spacing and the rear support spacing. The front support spacing is set as the distance between the horizontal outrigger 51 and the centerline of the lifting equipment, and the rear support spacing is set as the distance between the rear support device 52 and the centerline of the lifting equipment. Specifically, when auxiliary outriggers are provided, the rear support spacing is set as the distance between the auxiliary outriggers and the centerline of the lifting equipment; when auxiliary outriggers are not provided, the rear support spacing is set as the distance between the rear tires 54 and the centerline of the lifting equipment.

[0025] The control device, upon determining a risk of tipping over based on the detection data from the tipping detection module 10, determines the positive tipping baseline 41 and the negative tipping baseline 42 based on the front support spacing, rear support spacing, and the set lateral spacing between the horizontal outrigger 51 and the rear support device 52. The positions of the positive and negative tipping baselines 41 and 42 indicate the locations where the lifting equipment is prone to tipping. Using the centerline of the lifting equipment as the zero-degree baseline, the positive tipping baseline 41 lies within a 180° clockwise range from the zero-degree baseline, and the negative tipping baseline 42 lies within a 180° counterclockwise range from the zero-degree baseline. The restricted rotation direction of the telescopic boom 60 is determined based on the detection data from the angle detection module 30, the positive tipping baseline 41, and the negative tipping baseline 42. If the angle between the telescopic boom 60 and the positive tipping baseline 41 is less than the angle between the telescopic boom 60 and the negative tipping baseline 42, the restricted rotation direction of the telescopic boom 60 is set to be closer to the positive tipping baseline 41. If the angle between the telescopic boom 60 and the negative rollover baseline 42 is less than the angle between the telescopic boom 60 and the positive rollover baseline 41, then the restricted rotation direction of the telescopic boom 60 is set to the direction closer to the negative rollover baseline 42.

[0026] The tilting control system in this application can determine the restricted rotation direction of the telescopic boom 60 by combining the position of the telescopic boom 60, the positive tilting reference line 41 and the negative tilting reference line 42 when there is a risk of tilting of the lifting equipment. This can limit the operator's incorrect operation and reduce the risk of tilting of the lifting equipment.

[0027] In this embodiment of the application, step S10, when it is determined that the lifting equipment has a risk of tipping over based on the detection data of the tipping detection module 10, determines the positive tipping baseline 41 and the negative tipping baseline 42 based on the front support spacing, the rear support spacing, and the set lateral spacing between the horizontal outrigger 51 and the rear support device 52, including: Step S11: If it is determined that the lifting equipment has a risk of tipping over based on the detection data of the tipping detection module 10, obtain the first calculation formula for the positive tipping angle and the second calculation formula for the negative tipping angle.

[0028] Step S12: Substitute the front support spacing, rear support spacing, and the set lateral spacing between the horizontal outrigger 51 and the rear support device 52 into the first calculation formula and the second calculation formula respectively to obtain the positive rollover angle and the negative rollover angle.

[0029] Step S13: Determine the positive rollover baseline 41 and the negative rollover baseline 42 based on the positive rollover angle and the negative rollover angle, respectively.

[0030] The first calculation formula is used to calculate the positive tilt angle, which is the angle between the positive tilt reference line 41 and the centerline of the lifting equipment, i.e., the angle between the positive tilt reference line 41 and the zero-degree reference line. The second calculation formula is used to calculate the negative tilt angle, which is the angle between the negative tilt reference line 42 and the centerline of the lifting equipment, i.e., the angle between the negative tilt reference line 42 and the zero-degree reference line. By setting the first calculation formula to calculate the positive tilt angle and the second calculation formula to calculate the negative tilt angle, the formulas can provide continuous, stepless results. Compared to the lookup table method, it can handle intermediate values ​​not present in the table, avoiding rounding or approximation errors caused by discretization in the lookup table method.

[0031] Based on this, the first calculation formula is: (1) In equation (1), Set to positive tilt angle. Set to set horizontal spacing. Let the distance between the rear support device 52 located on the right and the centerline of the lifting equipment be defined. Set as the distance between the horizontal outrigger 51 on the right and the front support of the centerline of the lifting equipment.

[0032] In equation (1), The distance between the rear support device 52 located on the right side and the centerline of the lifting equipment is set when the lifting equipment is equipped with auxiliary outriggers. The distance between the auxiliary outrigger on the right and the rear support of the crane's centerline is set. This applies when the crane does not have auxiliary outriggers. Set as the rear support distance between the rear tire 54 located on the right and the centerline of the lifting equipment. The set lateral distance between the horizontal support leg 51 and the rear support device 52 is defined as the distance between the horizontal support leg 51 and the rear support device 52 in the front-to-back direction. This applies when auxiliary support legs are provided. The distance between the horizontal outrigger 51 and the auxiliary outrigger in the front-to-back direction is defined; without the auxiliary outrigger, Let the distance between the horizontal support leg 51 and the rearmost tire 54 in the front-rear direction be defined.

[0033] The second calculation formula is: (2) In equation (2), Set to a negative rollover angle. Set to set horizontal spacing. Let the distance between the rear support device 52 located on the left and the centerline of the lifting equipment be defined. Set as the distance between the front support of the left horizontal outrigger 51 and the centerline of the lifting equipment.

[0034] It is understandable that in equation (2), The distance between the rear support device 52 located on the left and the centerline of the lifting equipment is set when the lifting equipment is equipped with auxiliary outriggers. The distance between the auxiliary outrigger located on the left and the rear support of the crane's centerline is set. This applies when the crane does not have auxiliary outriggers. Set as the distance between the outer edge of the rear tire 54 located on the left and the rear support of the centerline of the lifting equipment.

[0035] There are four spacing detection modules 20, each used for detection. , , and .

[0036] In this embodiment of the application, step S20, determining the limiting rotation direction of the telescopic boom 60 based on the detection data of the angle detection module 30, the positive tilting baseline 41, and the negative tilting baseline 42, includes: Step S21: Determine the first section 43 and the second section 44 based on the positive overturning baseline 41 and the center line of the lifting equipment, and determine the third section 45 and the fourth section 46 based on the negative overturning baseline 42 and the center line of the lifting equipment. The first section 43, the second section 44, the third section 45 and the fourth section 46 are set sequentially along the circumferential direction from the center line of the lifting equipment.

[0037] The positive tilting baseline 41 divides the area clockwise by 180° from the centerline of the lifting equipment into a first interval 43 and a second interval 44. The negative tilting baseline 42 divides the area counterclockwise by 180° from the centerline of the lifting equipment into a third interval 45 and a fourth interval 46. Figure 2 As shown, the first section 43, the second section 44, the third section 45, and the fourth section 46 are arranged sequentially in a counterclockwise direction from the center line of the lifting equipment. The first section 43 is arranged opposite to the third section 45, and the second section 44 is arranged opposite to the fourth section 46.

[0038] It is understood that in another embodiment, the first interval 43, the second interval 44, the third interval 45 and the fourth interval 46 may also be set sequentially in a clockwise direction from the center line of the lifting equipment. For ease of description, the following description will take the example of the first interval 43, the second interval 44, the third interval 45 and the fourth interval 46 being set sequentially in a counterclockwise direction from the center line of the lifting equipment.

[0039] Step S22: If the telescopic arm 60 is determined to be located in the first interval 43 or the third interval 45 based on the detection data of the angle detection module 30, the restricted rotation direction of the telescopic arm 60 is determined to be the first direction.

[0040] The first direction is clockwise. When the telescopic boom 60 is located in the first interval 43, the angle between the telescopic boom 60 and the positive rollover reference line 41 is less than the angle between the telescopic boom 60 and the negative rollover reference line 42. Therefore, the restricted rotation direction of the telescopic boom 60 is determined to be from the telescopic boom 60 towards the positive rollover reference line 41, that is, the restricted rotation direction of the telescopic boom 60 is clockwise. When the telescopic boom 60 is located in the third interval 45, the angle between the telescopic boom 60 and the negative rollover reference line 42 is less than the angle between the telescopic boom 60 and the positive rollover reference line 41. Therefore, the restricted rotation direction of the telescopic boom 60 is determined to be from the telescopic boom 60 towards the negative rollover reference line 42, that is, the restricted rotation direction of the telescopic boom 60 is clockwise.

[0041] Step S23: If the telescopic arm 60 is determined to be located in the second interval 44 or the fourth interval 46 based on the detection data of the angle detection module 30, the restricted rotation direction of the telescopic arm 60 is determined to be the second direction, wherein the first direction is opposite to the second direction.

[0042] The second direction is counterclockwise. When the telescopic boom 60 is in the second direction, the angle between the telescopic boom 60 and the positive rollover reference line 41 is smaller than the angle between the telescopic boom 60 and the negative rollover reference line 42. Therefore, the limiting rotation direction of the telescopic boom 60 is determined to be from the telescopic boom 60 towards the positive rollover reference line 41, that is, the limiting rotation direction of the telescopic boom 60 is counterclockwise. When the telescopic boom 60 is in the fourth section 46, the angle between the telescopic boom 60 and the negative rollover reference line 42 is smaller than the angle between the telescopic boom 60 and the positive rollover reference line 41. Therefore, the limiting rotation direction of the telescopic boom 60 is determined to be from the telescopic boom 60 towards the negative rollover reference line 42, that is, the limiting rotation direction of the telescopic boom 60 is counterclockwise.

[0043] By dividing the telescopic boom 60 into the first interval 43 to the fourth interval 46, the restricted rotation direction of the telescopic boom 60 can be determined according to the interval in which it is located, which is faster and more convenient.

[0044] In the embodiments of this application, please refer to the following: Figure 2 and Figure 4 The tilting control system also includes a hydraulic control module 70. The hydraulic control module 70 includes a main control valve 71, a pressure relief valve assembly 72, and a rotary hydraulic component 73, all of which are communicatively connected to the control device. The pressure relief valve assembly 72 is located between the main control valve 71 and the rotary hydraulic component 73. After determining the limiting rotation direction of the telescopic boom 60 based on the detection data from the angle detection module 30, the positive tilting reference line 41, and the negative tilting reference line 42, the rotary hydraulic component 73 also includes: Upon receiving a request from the main control valve 71 to switch the telescopic boom 60 to move in the restricted rotation direction, the control relief valve group 72 switches to relieve pressure on the corresponding working oil circuit of the rotating hydraulic component 73.

[0045] The rotary hydraulic component 73 is used to control the rotation direction of the telescopic boom 60. The pressure relief valve assembly 72 is located between the main control valve 71 and the rotary hydraulic component 73. The pressure relief valve assembly 72 can relieve pressure on the corresponding working oil circuit of the rotary hydraulic component 73.

[0046] After determining the restricted rotation direction of the telescopic boom 60, upon receiving a request from the main control valve 71 to switch the telescopic boom 60 to move in the restricted rotation direction, the pressure relief valve group 72 is controlled to switch to depressurize the corresponding working oil circuit of the rotating hydraulic component 73, so that the telescopic boom 60 cannot move in the restricted rotation direction.

[0047] Please refer to the following: Figure 2 and Figure 4 After determining that the restricted rotation direction of the telescopic boom 60 is clockwise, upon receiving a switch from the main control valve 71 to allow the telescopic boom 60 to move clockwise, the pressure relief valve assembly 72 is switched to relieve pressure on the clockwise working oil circuit of the rotating hydraulic component 73. Conversely, after determining that the restricted rotation direction of the telescopic boom 60 is counterclockwise, upon receiving a switch from the main control valve 71 to allow the telescopic boom 60 to move counterclockwise, the pressure relief valve assembly 72 is switched to relieve pressure on the counterclockwise working oil circuit of the rotating hydraulic component 73.

[0048] In the embodiments of this application, please refer to Figure 4 The hydraulic control module 70 also includes a tilt control valve assembly 74, which is located between the oil tank 76 and the pressure relief valve assembly 72 and is communicatively connected to the control device. Upon receiving a request from the main control valve 71 to switch the telescopic boom 60 to move in a restricted rotation direction, the pressure relief valve assembly 74 is controlled to switch to depressurize the corresponding working oil circuit of the rotating hydraulic component 73, including: Upon receiving a request from the main control valve 71 to switch the telescopic boom 60 to move in the restricted rotation direction, the tilt control valve group 74 is switched to one-way flow of oil from the self-relief valve group 72 to the oil tank 76, and the relief valve group 72 is switched to relieve pressure on the corresponding working oil circuit of the rotating hydraulic component 73.

[0049] The tilt control valve assembly 74 is located between the oil tank 76 and the pressure relief valve assembly 72. When the main control valve 71 is switched to allow the telescopic boom 60 to move in the restricted rotation direction, the pressure relief valve assembly 72 is switched to relieve pressure on the corresponding working oil circuit of the rotating hydraulic component 73. The tilt control valve assembly 74 is also switched to unidirectional flow from the pressure relief valve assembly 72 to the oil tank 76, so that the hydraulic oil in the pressure relief valve assembly 72 can flow back to the oil tank 76, preventing the telescopic boom 60 from moving in the restricted rotation direction.

[0050] Based on this, the control device is also configured as follows: If the crane is determined to be in a stable state based on the detection data from the tilt detection module 10, the tilt control valve group 74 is switched to the off state.

[0051] When the lifting equipment is in a stable state and there is no risk of it tipping over, the tilt control valve group 74 is switched to the off state so that the main valve 71 can normally control the slewing hydraulic component 73 to perform slewing operations on the telescopic boom 60.

[0052] Specifically, the pressure relief valve assembly 72 includes a first pressure relief valve 721 and a second pressure relief valve 722. The pressure relief valve assembly 72 has a first pressure relief port A, a second pressure relief port B, and a return port T. The first pressure relief port A is connected to the clockwise port of the rotary hydraulic component 73, the second pressure relief port B is connected to the counterclockwise port of the rotary hydraulic component 73, and the return port T is connected to the tilt control valve assembly 74. When the first pressure relief valve 721 is energized, the first pressure relief port A is connected to the return port T. When the second pressure relief valve 722 is energized, the second pressure relief valve 722 is connected to the return port T. The first pressure relief valve 721 and the second pressure relief valve 722 can be configured as zero-leakage two-position two-way solenoid directional valves, such as... Figure 4 As shown, the zero-leakage two-position two-way solenoid directional valve has a bidirectional shut-off function when de-energized, to prevent oil from flowing to the other when one of the first pressure relief valve 721 and the second pressure relief valve 722 is energized, thus preventing malfunction.

[0053] The tilt control valve assembly 74 includes a directional valve 741 and a first check valve 742. The first check valve 742 unidirectionally opens the oil passage from the self-relief valve assembly 72 to the directional valve 741. The directional valve 741 is located between the first check valve 742 and the oil tank 76.

[0054] When the restricted rotation direction of the telescopic boom 60 is clockwise, the first pressure relief valve 721 and the directional valve 741 are energized, and the second pressure relief valve 722 is de-energized. If the main valve 71 is switched to operate the telescopic boom 60 in a clockwise direction, the oil from the main valve 71 will not enter the clockwise working oil circuit of the rotating hydraulic component 73, but will flow directly from the first pressure relief port A into the return port T of the pressure relief valve assembly 72, and then flow back to the oil tank 76 from the first check valve 742 through the directional valve 741 to relieve pressure.

[0055] When the restricted rotation direction of the telescopic boom 60 is counterclockwise, the second pressure relief valve 722 and the directional valve 741 are energized, and the first pressure relief valve 721 is de-energized. If the main valve 71 is switched to the telescopic boom 60 moving counterclockwise, the oil from the main valve 71 will not enter the counterclockwise working oil circuit of the rotating hydraulic component 73, but will flow directly from the second pressure relief port B into the return port T of the pressure relief valve assembly 72, and then flow back to the oil tank 76 from the first check valve 742 through the directional valve 741 to relieve pressure.

[0056] When de-energized, the directional valve 741 is configured to unidirectionally guide the oil flow from the oil tank 76 to the first check valve 742, while the first check valve 742 unidirectionally guides the oil flow from the pressure relief valve assembly 72 to the directional valve 741. Therefore, the directional valve 741 is bidirectionally shut off when de-energized, improving safety and reliability.

[0057] Based on this, please refer to Figure 4 The hydraulic control module 70 also includes a height-adjusting hydraulic component 75, which includes at least one of a telescopic hydraulic component 751, a luffing hydraulic component 752, and a hoisting hydraulic component 753. The height-adjusting hydraulic component 75 is connected to the main control valve 71, and the weighted tilting oil circuit of the height-adjusting hydraulic component 75 is connected to the tilting control valve group 74. The control device is also configured as follows: If the detection data from the tilt detection module 10 indicates that the lifting equipment is at risk of tilting, and the main control valve 71 is switched to the telescopic boom 60 for weighted tilting, the tilt control valve group 74 is switched to the unidirectional flow of the weighted tilting oil circuit of the self-height adjusting hydraulic component 75 to the oil tank 76.

[0058] The height-adjusting hydraulic component 75 includes at least one of a telescopic hydraulic component 751, a luffing hydraulic component 752, and a hoisting hydraulic component 753. The telescopic hydraulic component 751 controls the extension and retraction of the telescopic boom 60, the luffing hydraulic component 752 controls the pitch of the telescopic boom 60, and the hoisting hydraulic component 753 controls the raising and lowering of the boom on the telescopic boom 60. The height-adjusting hydraulic component 75 is connected to a control main valve 71, which controls the operation of the height-adjusting hydraulic component 75. Furthermore, the weight-reinforcing tilting circuit of the height-adjusting hydraulic component 75 is connected to a tilting control valve assembly 74. The weight-reinforcing tilting circuit of the height-adjusting hydraulic component 755 is configured as an extension circuit for the telescopic hydraulic component 751, a retraction circuit for the luffing hydraulic component 752, and an raising circuit for the hoisting hydraulic component 753. It is understandable that the extension action of the telescopic hydraulic component 751, the retraction action of the luffing hydraulic component 752, and the lifting action of the winch hydraulic component 753 are weighted overturning actions. Performing weighted overturning actions when there is a risk of overturning will increase the risk of overturning.

[0059] If the detection data from the tilt detection module 10 indicates that the lifting equipment is at risk of tilting, and the main control valve 71 is switched to the telescopic boom 60 for weighted tilting, the tilt control valve group 74 is switched to the unidirectional flow of the weighted tilting oil circuit of the self-height adjusting hydraulic component 75 to the oil tank 76, so as to depressurize the weighted tilting oil circuit and restrict the telescopic boom 60 from performing weighted tilting action.

[0060] like Figure 4 As shown, the tilt control valve assembly 74 also includes a second check valve 743, which unidirectionally guides the oil flow from the weighted tilting oil circuit to the directional valve 741. The height adjustment hydraulic components 75 include a telescopic hydraulic component 751, a luffing hydraulic component 752, and a hoisting hydraulic component 753. When it is determined that there is a risk of tilting of the lifting equipment, the directional valve 741 is energized. If the main control valve 71 is switched to the telescopic boom 60 for weighted tilting, i.e., the main control valve 71 switches to the extension action of the telescopic hydraulic component 751, the retraction action of the luffing hydraulic component 752, and the raising action of the hoisting hydraulic component 753, then the oil from the main control valve 71 will not enter the telescopic hydraulic component 751, the luffing hydraulic component 752, and the hoisting hydraulic component 753, but will flow directly from the second check valve 743 through the directional valve 741 back to the oil tank 76 for pressure relief.

[0061] Understandably, when it is determined that there is a risk of overturning of the lifting equipment, the directional control valve is energized. Regardless of whether the restricted rotation direction of the telescopic boom 60 is clockwise or counterclockwise, the pressure in the weighted overturning oil circuit is released, restricting the telescopic boom 60 from performing weighted overturning actions. That is, it restricts the extension action of the telescopic hydraulic component 751, the retraction action of the luffing hydraulic component 752, and the rising action of the winch hydraulic component 753.

[0062] In the embodiments of this application, please refer to Figure 5 and Figure 6 The tilt detection module 10 includes a first tilt detection unit 11 and a second tilt detection unit 12 that are communicatively connected to the control device. There are at least two first tilt detection units 11, which are respectively disposed on at least two vertical outriggers 53 of the lifting equipment. The first tilt detection unit 11 is used to detect whether the corresponding vertical outrigger 53 provides support. There are four second tilt detection units 12, of which two second tilt detection units 12 are disposed on two tires 54 at the front end of the lifting equipment, and the other two second tilt detection units 12 are disposed on two tires 54 at the rear end of the lifting equipment. The second tilt detection units 12 are used to detect whether the corresponding tires 54 provide support.

[0063] The number of first tilting detection units 11 is at least two, and the first tilting detection units 11 are respectively disposed on at least two vertical outriggers 53 of the lifting equipment. When the lifting equipment has auxiliary outriggers, the number of vertical outriggers 53 of the lifting equipment is four, including two vertical outriggers 53 located on the horizontal outriggers 51 and two vertical outriggers 53 located on the auxiliary outriggers. When the lifting equipment does not have auxiliary outriggers, the number of vertical outriggers 53 of the lifting equipment is two, including two vertical outriggers 53 located on the horizontal outriggers 51. The number of first tilting detection units 11 is consistent with the number of vertical outriggers 53 and is arranged in a one-to-one correspondence. The first tilting detection unit 11 is used to detect whether the corresponding vertical outrigger 53 provides support.

[0064] Specifically, the first tilting detection unit 11 can be a displacement sensor mounted on the vertical support leg 53. If the stroke data of the displacement sensor exceeds a preset threshold, it indicates that the vertical support leg 53 corresponding to the displacement sensor is tilted, confirming that the vertical support leg 53 corresponding to the displacement sensor is not providing support. In other embodiments, the first tilting detection unit 11 can also be other sensors, such as a pressure sensor, as long as it can detect whether the vertical support leg 53 is providing support.

[0065] There are four second tilt detection units 12, two of which are located on the two tires 54 at the front end of the lifting equipment, and the other two are located on the two tires 54 at the rear end of the lifting equipment. The second tilt detection units 12 are used to detect whether the corresponding tires 54 provide support.

[0066] The control device is also configured as follows: Step 30: Determine the number g of unsupported vertical outriggers based on the detection data from the first tilt detection unit 11.

[0067] Step 40: Determine the number h of tires that are not supported based on the detection data from the second rollover detection unit 12.

[0068] Step 50, in In the case of determining that the lifting equipment is at risk of tipping over, w is set as the sum of the number of the first tipping detection unit 11 and the number of the second tipping detection unit 12.

[0069] g is set to the number of unsupported vertical outriggers, and h is set to the number of unsupported tires. In cases where the number of unsupported vertical outriggers and tires is high, it indicates a risk of tipping over on the lifting equipment. Without auxiliary outriggers, the total number w of the first tipping detection unit 11 and the second tipping detection unit 12 is 6. This confirms that the lifting equipment is at risk of tipping over. With auxiliary outriggers, the total number w of the first tipping detection unit 11 and the second tipping detection unit 12 is 8. This indicates that the lifting equipment is at risk of tipping over.

[0070] Based on this, the second rollover detection unit 12 is configured as a pressure sensor installed inside the tire 54. The pressure sensor is used to detect the tire pressure of the tire 54. Step 40, based on the detection data of the second rollover detection unit 12, determines the number h of tires that are not supported, including: Step 41: Obtain the critical pressure and compare the detection data of the pressure sensor with the critical pressure; Step 42: If the pressure sensor reading is less than the critical pressure, it is determined that tire 54 is not providing support. Step 43: Determine the number h of tires that are not supported based on the detection data from the four pressure sensors.

[0071] A pressure sensor is installed inside tire 54 to detect tire pressure. The pressure sensor's readings are compared to a critical pressure. If the reading is below the critical pressure, tire 54 is deemed not to be providing support. The number h of tires not providing support is determined based on the readings from the four pressure sensors. Using pressure sensors to determine tire support is accurate and cost-effective.

[0072] Based on this, critical pressure The calculation formula is set as follows: (3) In equation (3), Set as reference pressure. Set as the pressure reduction reference value; Stress reduction reference value The calculation formula is set as follows: (4) In equation (4), Set as reference pressure. Set the tire pressure to the minimum value of 54. Let it be the system error coefficient.

[0073] When the lifting equipment completes its preparation for operation, the current value of the pressure sensor is measured as the reference pressure. And based on this pressure Calculate the critical pressure When the pressure sensor readings change and fall below the critical pressure... At that time, it was determined that the tire 54 corresponding to the pressure sensor was not providing support.

[0074] For critical pressure The specific calculations need to consider the various situations that may occur when the tire pressure changes during the operation of the lifting equipment, such as the critical pressure. Lower than the unloaded tire pressure, critical pressure Higher than the unloaded tire pressure, or the critical pressure The tire pressure should be the same as the unloaded tire pressure. Therefore, a pressure reduction reference value needs to be calibrated for tire pressure changes. The calibration method involves measuring tire pressure values ​​(n1, n2, n3...) under multiple load conditions from no load to full load (the number of test groups depends on the configuration of the lifting equipment), and taking the minimum tire pressure (54 bar) from all test groups as the lowest value. . Reference pressure Minimum tire pressure of 54 The difference, Let it be the system error coefficient. The system error coefficient, which accounts for factors such as the accuracy of the pressure sensor, is typically taken as 5%. This is used to obtain a reliable pressure reduction reference value. Then, reduce the pressure reference value. The data is stored in the control device, while allowing operators to make appropriate adjustments to adapt to various special working conditions.

[0075] In this technology, before any lifting operation, the control device will, just before the lifting equipment is ready to lift, use the currently input reference pressure. and stored decompression reference value The critical pressure is calculated using equation (3). .

[0076] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0077] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0078] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0079] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A tilting control system, characterized in that, The tilt control system includes: The detection device includes a tilt detection module (10), a spacing detection module (20), and an angle detection module (30). The tilt detection module (10) is used to detect whether the lifting equipment has a risk of tilting. The spacing detection module (20) is used to detect the front support spacing between the horizontal outrigger (51) and the center line of the lifting equipment, and the rear support spacing between the rear support device (52) and the center line of the lifting equipment. The angle detection module (30) is used to detect the angle of the telescopic boom (60) of the lifting equipment. The control device is communicatively connected to the tilt detection module (10), the spacing detection module (20), and the angle detection module (30), and is configured as follows: If the crane is determined to be at risk of tipping over based on the detection data of the tipping detection module (10), the positive tipping baseline (41) and the negative tipping baseline (42) are determined based on the front support spacing, the rear support spacing, and the set lateral spacing between the horizontal outrigger (51) and the rear support device (52). The limited rotation direction of the telescopic boom (60) is determined based on the detection data of the angle detection module (30), the positive tilting baseline (41), and the negative tilting baseline (42).

2. The tilting control system according to claim 1, characterized in that, When it is determined that the lifting equipment has a risk of tipping over based on the detection data of the tipping detection module (10), the determination of the positive tipping baseline (41) and the negative tipping baseline (42) based on the front support spacing, the rear support spacing, and the set lateral spacing between the horizontal outrigger (51) and the rear support device (52) includes: If it is determined that the lifting equipment has a risk of tipping over based on the detection data of the tipping detection module (10), the first calculation formula for the positive tipping angle and the second calculation formula for the negative tipping angle are obtained. Substitute the front support spacing, rear support spacing, and the set lateral spacing between the horizontal outrigger (51) and the rear support device (52) into the first calculation formula and the second calculation formula respectively to obtain the positive rollover angle and the negative rollover angle. The positive rollover baseline (41) and the negative rollover baseline (42) are determined based on the positive rollover angle and the negative rollover angle, respectively.

3. The tilting control system according to claim 2, characterized in that, The first calculation formula is: （1） In equation (1), Set to positive tilt angle. Set to set horizontal spacing. Let the distance between the rear support device (52) located on the right and the centerline of the lifting equipment be defined. Set as the distance between the horizontal outrigger (51) on the right and the front support of the centerline of the lifting equipment; The second calculation formula is: （2） In equation (2), Set to a negative rollover angle. Set to set horizontal spacing. Let the distance between the rear support device (52) located on the left and the centerline of the lifting equipment be defined. Set as the distance between the horizontal outrigger (51) on the left and the front support of the centerline of the lifting equipment.

4. The tilting control system according to claim 1, characterized in that, The determination of the limiting rotation direction of the telescopic boom (60) based on the detection data of the angle detection module (30), the positive tilting baseline (41), and the negative tilting baseline (42) includes: The first section (43) and the second section (44) are determined according to the positive overturning baseline (41) and the center line of the lifting equipment, and the third section (45) and the fourth section (46) are determined according to the negative overturning baseline (42) and the center line of the lifting equipment. The first section (43), the second section (44), the third section (45) and the fourth section (46) are set sequentially along the circumferential direction from the center line of the lifting equipment. If the telescopic arm (60) is determined to be in the first interval (43) or the third interval (45) based on the detection data of the angle detection module (30), the restricted rotation direction of the telescopic arm (60) is determined to be the first direction; If the telescopic arm (60) is determined to be in the second interval (44) or the fourth interval (46) based on the detection data of the angle detection module (30), the restricted rotation direction of the telescopic arm (60) is determined to be the second direction, wherein the first direction is opposite to the second direction.

5. The tilt control system according to any one of claims 1 to 4, characterized in that, The tilting control system further includes a hydraulic control module (70), which includes a control main valve (71), a pressure relief valve group (72), and a rotary hydraulic component (73) that are respectively connected to the control device. The pressure relief valve group (72) is located between the control main valve (71) and the rotary hydraulic component (73). The rotary hydraulic component (73) is used to control the rotation direction of the telescopic boom (60). After determining the restricted rotation direction of the telescopic boom (60) based on the detection data of the angle detection module (30), the positive tilting reference line (41), and the negative tilting reference line (42), the system further includes: When the main valve (71) is switched to the telescopic boom (60) to move in the restricted rotation direction, the pressure relief valve group (72) is switched to the corresponding working oil circuit of the rotating hydraulic component (73) to relieve pressure.

6. The tilting control system according to claim 5, characterized in that, The hydraulic control module (70) further includes a tilt control valve assembly (74), which is located between the oil tank (76) and the pressure relief valve assembly (72) and is communicatively connected to the control device. The step of controlling the pressure relief valve assembly (72) to switch to depressurize the corresponding working oil circuit of the rotating hydraulic component (73) when the main control valve (71) is switched to move the telescopic boom (60) in the restricted rotation direction includes: Upon receiving the control valve (71) switching to the telescopic boom (60) moving in the restricted rotation direction, the control tilt control valve group (74) switches to the one-way flow of the self-relief valve group (72) to the oil tank (76), and controls the relief valve group (72) to switch to the corresponding working oil circuit of the rotating hydraulic component (73) to relieve pressure.

7. The tilting control system according to claim 6, characterized in that, The control device is also configured to: control the tilt control valve group (74) to switch to the cut-off state when the lifting equipment is determined to be in a stable state based on the detection data of the tilt detection module (10); And / or, the hydraulic control module (70) further includes a height-adjusting hydraulic component (75), which includes at least one of a telescopic hydraulic component (751), a luffing hydraulic component (752), and a hoisting hydraulic component (753), the height-adjusting hydraulic component (75) being connected to the main control valve (71), and the weighted tilting circuit of the height-adjusting hydraulic component (75) being connected to the tilting control valve assembly (74), the control device being further configured to: If the crane is determined to have a risk of tipping based on the detection data of the tipping detection module (10), and the main control valve (71) is switched to the telescopic boom (60) to increase the tipping force, the tipping control valve group (74) is switched to the oil circuit of the self-height adjustment hydraulic component (75) to the oil tank (76).

8. The tilt control system according to any one of claims 1 to 4, characterized in that, The tilt detection module (10) includes a first tilt detection unit (11) and a second tilt detection unit (12) that are communicatively connected to the control device. The number of the first tilt detection units (11) is at least two, and they are respectively disposed on at least two vertical outriggers (53) of the lifting equipment. The first tilt detection unit (11) is used to detect whether the corresponding vertical outrigger (53) provides support. The number of the second tilt detection units (12) is four, with two second tilt detection units (12) disposed on two tires (54) at the front end of the lifting equipment, and the other two second tilt detection units (12) disposed on two tires (54) at the rear end of the lifting equipment. The second tilt detection unit (12) is used to detect whether the corresponding tire (54) provides support. The control device is further configured to: The number of unsupported vertical outriggers g is determined based on the detection data from the first tilt detection unit (11); The number h of tires that were not supported was determined based on the detection data from the second rollover detection unit (12); exist In the case of determining that the lifting equipment is at risk of tipping over, w is set as the sum of the number of the first tipping detection unit (11) and the number of the second tipping detection unit (12).

9. The tilting control system according to claim 8, characterized in that, The second rollover detection unit (12) is configured as a pressure sensor installed inside the tire (54). The pressure sensor is used to detect the tire (54) air pressure. Determining the number h of tires without support based on the detection data of the second rollover detection unit (12) includes: Obtain the critical pressure and compare the detection data from the pressure sensor with the critical pressure; If the pressure sensor readings are below the critical pressure, it is determined that the tire (54) is not providing support; The number h of tires that were not supported was determined based on the detection data from four pressure sensors.

10. The tilting control system according to claim 9, characterized in that, The critical pressure The calculation formula is set as follows: （3） In equation (3), Set as reference pressure. Set as the pressure reduction reference value; The pressure reduction reference value The calculation formula is set as follows: （4） In equation (4), Set as reference pressure. Set as the minimum tire pressure (54), Let it be the system error coefficient.

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