Inclination sensor and crane

Abstract

The utility model relates to hoisting machinery equipment technical field discloses a kind of inclination sensor and crane, the inclination sensor, comprising: control module, current type processing module and plug;Control module is connected with the bus pin of plug, and bus pin is connected with the chassis control system of crane;Control module is connected with current type processing module, and current type processing module is connected with the current signal pin of plug, and current signal pin is connected with the control system of car;Control module is configured to when not receiving the start instruction generated by chassis control system transmission by bus pin, the digital inclination signal obtained is transmitted to current type processing module;Current type processing module is configured to convert digital inclination signal into current type inclination signal, and current type inclination signal is output to the control system of car by current signal pin.The utility model can output current type or bus type inclination signal, while meeting the working condition application of getting on and off car.

Description

Technical Field

[0001] This utility model relates to the field of lifting machinery and equipment technology, specifically to tilt sensors and cranes. Background Technology

[0002] In lifting machinery, there are two commonly used types of tilt sensors: one is a current-type single-axis tilt sensor that measures the boom angle of the superstructure, outputting a 4-20mA current signal; the other is a dual-axis tilt sensor that measures the levelness of the chassis, outputting a CAN bus signal. Because both types of tilt sensors have a single signal, they cannot simultaneously meet the needs of both loading and unloading operations. Utility Model Content

[0003] In view of the above, firstly, the present invention provides a tilt sensor, the tilt sensor comprising: Control module, current-type processing module, and connector; The control module is connected to the bus pins of the plug, and the bus pins of the plug are connected to the chassis control system of the crane; the control module is connected to the current processing module, and the current processing module is connected to the current signal pins of the plug, and the current signal pins are connected to the upper control system of the crane. The control module is configured to transmit the acquired digital tilt signal to the current-type processing module when it does not receive a start command transmitted from the bus pin; the start command is generated by the chassis control system. The current-type processing module is configured to convert the digital tilt angle signal into a current-type tilt angle signal, and output the current-type tilt angle signal to the vehicle control system through the current signal pin.

[0004] In one optional embodiment, the tilt sensor further includes a bus-type processing module, which is connected to the control module and also to the bus pins; The control module is also configured to transmit the acquired digital tilt angle signal to the bus-type processing module when it receives the start command transmitted by the bus pin. The bus-type processing module is configured to convert the digital tilt signal into a bus-type tilt signal and output the bus-type tilt signal to the chassis control system via the bus pins.

[0005] In one optional embodiment, the tilt sensor further includes a signal light; the signal light is connected to the control module, and the signal light is configured to display a first preset color when the control module does not receive the start command, and is also configured to display a second preset color when the control module receives the start command.

[0006] In one optional embodiment, the tilt sensor further includes a mounting structure, the mounting structure including a first mounting hole and a second mounting hole; the first mounting hole is used to adapt to an existing current-type tilt sensor, and the second mounting hole is used to adapt to an existing bus-type tilt sensor.

[0007] In one optional embodiment, the tilt sensor further includes: a first angle sensor and a second angle sensor respectively connected to the control module. The first angle sensor is configured to detect the tilt angle of the crane boom when the control module does not receive the start command, generate a first digital tilt angle signal based on the tilt angle of the boom, and transmit the first digital tilt angle signal to the control module. The second angle sensor is configured to detect the tilt angle of the crane chassis frame when the control module receives the start command, generate a second digital tilt angle signal based on the tilt angle of the chassis frame, and transmit the second digital tilt angle signal to the control module.

[0008] In one alternative implementation, the bus pins include a high-level pin and a low-level pin.

[0009] In one alternative embodiment, the plug further includes a power pin; the power pin is connected to an external power supply for powering the tilt sensor.

[0010] In one alternative embodiment, the plug further includes a grounding pin; the grounding pin is grounded.

[0011] In one alternative implementation, the current-mode processing module is a digital-to-analog converter.

[0012] Secondly, this utility model also provides a crane, including the tilt sensor of the first aspect or any corresponding embodiment described above.

[0013] The technical solution provided by this utility model has the following technical effects: The tilt sensor provided by this invention uses a combination of a control module, a current-type processing module, and a connector to connect the bus pins to the chassis control system and the current signal pins to the overhead crane control system, thus achieving compatibility with the crane's loading and unloading system. When the control module does not receive a start command from the chassis control system, it transmits the digital tilt signal to the current-type processing module, which converts it into a current-type tilt signal for transmission to the overhead crane control system. Upon receiving a start command, the mode can be switched. This solves the problem of traditional sensors having a single signal, eliminating the need for separate sensors for loading and unloading, and reducing hardware redundancy. The tilt sensor provided by this invention can simultaneously meet the operational needs of both loading and unloading cranes. Attached Figure Description

[0014] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the tilt sensor according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the current-type processing module according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of another tilt sensor according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the installation structure according to an embodiment of the present utility model.

[0016] In the diagram: Control module-1, Current-type processing module-2, Plug-3, Ground pin-31, Power pin-32, Current signal pin-33, High-level pin-34, Low-level pin-35, Bus-type processing module-4, Indicator light-5, Mounting structure-6, First mounting hole-61, Second mounting hole-62. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0018] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model 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 of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, or a connection within two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0020] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0021] Figure 1 This is a structural schematic diagram of the tilt sensor according to an embodiment of the present invention.

[0022] like Figure 1 As shown in the embodiment of this utility model, a tilt sensor is provided, which includes: Control module 1, current-type processing module 2, and plug 3.

[0023] Control module 1 connects to the bus pins of connector 3, and connector 3 connects to the chassis control system of the crane. Control module 1 connects to current processing module 2, and current processing module 2 connects to the current signal pin 33 of connector 3, which in turn connects to the upper structure control system of the crane. Specifically, it connects to the upper structure tilt angle detection module of the upper structure control system.

[0024] Control module 1 is configured to transmit the acquired digital tilt signal to current-type processing module 2 when no start command is received from the bus pin. The start command is generated by the chassis control system.

[0025] The current-type processing module 2 is configured to convert the digital tilt angle signal into a current-type tilt angle signal and output the current-type tilt angle signal to the vehicle control system through the current signal pin 33.

[0026] In this embodiment of the application, the control module 1 may be an STM32F407VET6.

[0027] In this embodiment, plug 3 can specifically be a 5-pin plug M12, such as SACC-M12MS-5CON-PG9 or M12-5P-MF-KD. The pins of plug 3 include: bus pins, current signal pin 33, power supply pin 32, and ground pin 31. The bus pins include: a high-level pin 34 and a low-level pin 35. Power supply pin 32 is connected to an external power supply to power the tilt sensor. The power supply can specifically be a 24V power supply. Ground pin 31 is grounded. Ground pin 31 is pin 1, power supply pin 32 is pin 2, current signal pin 33 is pin 3, high-level pin 34 is pin 4, and low-level pin 35 is pin 5. The current-type processing module 2 is specifically a digital-to-analog converter (DAC), such as the AD5420AREZ. The DAC is used to convert digital signals into analog signals. The circuit diagram of current-type processing module 2 is as follows: Figure 2 As shown. The digital signal input terminals (such as SDIN, SCLK pins) of the current-type processing module 2 are connected to the control module of the tilt sensor via a circuit to receive the digital tilt signal transmitted by the control module. The power supply pins (such as VDD pins) of the current-type processing module 2 are connected to the power supply pins of the connector to obtain external power supply, and the grounding pins (such as GND pins) are connected to the grounding pins of the connector to achieve stable circuit grounding. The output pins are connected in sequence to the auxiliary components in the circuit (such as current-limiting resistors and filter capacitors) and the current signal pins of the connector. When the circuit is working, if the control module does not receive a start command, the current-type processing module 2 receives the digital tilt signal through its digital signal input terminal, converts it into a 4~20mA current-type tilt signal, and after processing by the output pins and auxiliary components, it is output to the crane upper control system through the current signal pins of the connector, completing the accurate conversion and transmission of digital signal to current-type analog signal, meeting the application requirements of current-type tilt signal in the upper working condition.

[0028] This invention adds a current-type processing module 2 to the existing chassis tilt sensor to output a current-type tilt signal. It uses a 5-pin M12 connector. The tilt sensor designed in this invention can output corresponding signals according to specific working conditions, thus achieving compatibility between the tilt sensor for getting on and off the vehicle.

[0029] In one alternative implementation, such as Figure 3 As shown, the tilt sensor also includes a bus-type processing module 4, which is connected to the control module 1 and also to the bus pins.

[0030] The control module 1 is also configured to transmit the acquired digital tilt signal to the bus-type processing module 4 when it receives a start command transmitted via a bus pin.

[0031] Bus-type processing module 4 is configured to convert digital tilt signals into bus-type tilt signals and output them to the chassis control system via bus pins. Specifically, it connects to the chassis tilt detection module of the chassis control system.

[0032] In this embodiment, the bus-type processing module 4 can be of model such as TJA1050T / CM or MCP2551-I / P. Both the current-type tilt signal and the bus-type tilt signal are tilt signals; the current-type tilt signal is a 4~20mA current-type signal. The bus-type tilt signal is specifically a CAN bus-type signal. The current signal pin 33 outputs the current-type tilt signal. The bus pin outputs the bus-type tilt signal. The tilt sensor normally outputs a current-type tilt signal; it only outputs a bus-type tilt signal upon receiving a start command.

[0033] In this embodiment, the start command is actively generated by the crane's chassis control system. When the chassis control system needs to acquire the tilt angle signal, it sends a start command to the tilt sensor through a hardware interface, switching its signal output mode from the default current-type tilt angle signal to a bus-type tilt angle signal. The level signal of the start command must conform to the differential level specification of the CAN bus. The specific level range is as follows: Dominant level, when the command is valid: the voltage difference between the high-level pin CAN_H and the low-level pin CAN_L is about 2V (e.g., CAN_H is 3.5V and CAN_L is 1.5V). At this time, the chassis control system sends a command to the tilt sensor to start the bus signal output through this differential level. Recessive level, when there is no command: the voltage difference between the high-level pin 34 and the low-level pin 35 is close to 0V (e.g., CAN_H and CAN_L are both 2.5V). At this time, the tilt sensor defaults to outputting a current-type tilt angle signal and does not trigger mode switching. The start command is a dominant differential level signal output by the chassis control system through pins 4 and 5 of the CAN bus. When the control module 1 of the tilt sensor detects that this differential level meets the preset threshold, such as a voltage difference ≥ 1.5V, it determines that the start command has been received.

[0034] As an example, the bus-type processing module 4 may include a bus protocol conversion chip, a noise reduction processing unit, and a bus communication interface unit.

[0035] The bus protocol conversion chip is configured to convert the digital signals transmitted by the control module into CAN bus signals, such as chips that support the CANopen protocol, like the SJA1000, to ensure that the signal format is compatible with the bus reception requirements of the chassis control system.

[0036] The noise reduction processing unit may include auxiliary components such as filter capacitors and current-limiting resistors to perform noise reduction processing on the converted bus-type tilt angle signal, avoiding signal distortion caused by vibration and voltage fluctuations in crane operation, and ensuring the accuracy of bus-type tilt angle signal transmission. The noise reduction processing unit can adopt conventional noise reduction processing circuits in this field, which will not be described in detail here.

[0037] The bus communication interface unit may include a physical interface that is compatible with the bus pins (high-level pins and low-level pins) of plug 3, such as a CAN bus interface, to realize the hardware connection between the bus-type processing module and the plug bus pins, and to provide a path for signal output to the chassis control system.

[0038] The digital signal output of the control module is directly connected to the digital signal input of the bus protocol conversion chip to transmit the original digital signal. The signal output of the bus protocol conversion chip is connected to the input of the noise reduction processing unit, and the output of the noise reduction processing unit is connected to the signal input of the bus communication interface unit. The noise-reduced bus-type tilt angle signal is then input to the signal input of the bus communication interface unit. The output of the bus communication interface unit is connected to the bus pin of connector 3, through which the converted bus-type tilt angle signal is transmitted to the crane's chassis control system.

[0039] In one alternative implementation, such as Figure 3 As shown, the tilt sensor also includes a signal light 5. The signal light 5 is connected to the control module 1 and is configured to display a first preset color when the control module 1 does not receive a start command, and to display a second preset color when the control module 1 receives a start command. The first preset color can be blue, and the second preset color can be green. The signal light 5 is also configured to flash at a preset frequency when displaying the first or second preset color. The signal light 5 is further configured to display a third preset color, which can be red, when the tilt sensor malfunctions.

[0040] In one alternative implementation, the tilt sensor further includes, for example, Figure 4 The mounting structure 6 shown includes a first mounting hole 61 and a second mounting hole 62. The first mounting hole 61 is used to adapt to an existing current-type tilt sensor, and the second mounting hole 62 is used to adapt to an existing bus-type tilt sensor. The first mounting hole 61 has four inner holes, and the second mounting hole 62 has four outer holes.

[0041] The mounting structure 6, through the first mounting hole 61 and the second mounting hole 62, can be adapted to existing current-type tilt sensors and bus-type tilt sensors. It can directly reuse the mounting points of the original tilt sensors on the crane, eliminating the need for additional drilling or structural modifications to the crane chassis or electrical compartment, thus reducing installation costs and equipment modification risks. The mounting structure 6 is designed as a dual-redundant type, simultaneously accommodating the installation of tilt sensors on both the chassis and the upper structure. This mounting structure 6 allows for direct replacement of the original tilt sensors on the crane with the tilt sensors provided by this invention, enabling rapid replacement, reducing the need for secondary molding of materials, and minimizing the variety of parts in the parts library.

[0042] In one alternative implementation, the tilt sensor further includes an angle sensor connected to the control module 1.

[0043] An angle sensor is configured to detect the tilt angle of the crane's boom when the control module 1 does not receive a start command. Based on this tilt angle, it generates a digital tilt angle signal and transmits it to the control module 1. When the control module 1 receives a start command, the angle sensor also detects the tilt angle of the crane's chassis frame. Based on this tilt angle, it generates a digital tilt angle signal and transmits it to the control module 1. The boom tilt angle can include the angle between the boom and the horizontal direction when the boom is raised / lowered. This physical angle value, such as 0° to 90°, is converted into a discrete binary digital signal, i.e., the digital tilt angle signal. The chassis frame tilt angle includes the forward / backward / left / right tilt angle caused by uneven ground. This physical angle value, such as -15° to +15°, is converted into a binary digital signal to obtain the digital tilt angle signal.

[0044] As an example, different angle sensors can be set to collect the tilt angles of the boom and chassis frame. When different angle sensors are set to collect the tilt angles of the boom and chassis frame, the digital tilt angle signal can include a first digital tilt angle signal and a second digital tilt angle signal.

[0045] For example, a first angle sensor and a second angle sensor are connected to the control module 1 respectively. The first angle sensor is configured to detect the tilt angle of the crane's boom when the control module 1 does not receive a start command, generate a first digital tilt angle signal based on the tilt angle of the boom, and transmit the first digital tilt angle signal to the control module 1. The model of the first angle sensor can be SCA100T-D01, MMA8452Q, etc.

[0046] The second angle sensor is configured to detect the tilt angle of the crane's chassis frame when the control module 1 receives the start command, generate a second digital tilt angle signal based on the tilt angle of the chassis frame, and transmit the second digital tilt angle signal to the control module 1. The model of the second angle sensor can be LIS3DH, ADXL345BCCZ, etc.

[0047] The control module 1, current-type processing module 2, plug 3, bus-type processing module 4, signal light 5, mounting structure, first angle sensor and second angle sensor in this utility model are all hardware structures.

[0048] This utility model also provides a crane, including the tilt sensor of the above embodiments or any corresponding implementation thereof.

[0049] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A tilt sensor, characterized in that, include: Control module, current-type processing module, and connector; The control module is connected to the bus pins of the plug, and the bus pins of the plug are connected to the chassis control system of the crane; the control module is connected to the current processing module, and the current processing module is connected to the current signal pins of the plug, and the current signal pins are connected to the upper control system of the crane. The control module is configured to transmit the acquired digital tilt signal to the current-type processing module when it does not receive a start command transmitted from the bus pin; the start command is generated by the chassis control system. The current-type processing module is configured to convert the digital tilt angle signal into a current-type tilt angle signal, and output the current-type tilt angle signal to the vehicle control system through the current signal pin.

2. The tilt sensor according to claim 1, characterized in that, The tilt sensor also includes a bus-type processing module, which is connected to the control module and also to the bus pins; The control module is also configured to transmit the acquired digital tilt angle signal to the bus-type processing module when it receives the start command transmitted by the bus pin. The bus-type processing module is configured to convert the digital tilt signal into a bus-type tilt signal and output the bus-type tilt signal to the chassis control system via the bus pins.

3. The tilt sensor according to claim 1, characterized in that, The tilt sensor further includes a signal light; the signal light is connected to the control module, and the signal light is configured to display a first preset color when the control module does not receive the start command, and is also configured to display a second preset color when the control module receives the start command.

4. The tilt sensor according to claim 1, characterized in that, The tilt sensor further includes a mounting structure, which includes a first mounting hole and a second mounting hole; the first mounting hole is used to adapt to an existing current-type tilt sensor, and the second mounting hole is used to adapt to an existing bus-type tilt sensor.

5. The tilt sensor according to claim 1, characterized in that, The tilt sensor further includes: a first angle sensor and a second angle sensor respectively connected to the control module. The first angle sensor is configured to detect the tilt angle of the crane boom when the control module does not receive the start command, generate a first digital tilt angle signal based on the tilt angle of the boom, and transmit the first digital tilt angle signal to the control module. The second angle sensor is configured to detect the tilt angle of the crane chassis frame when the control module receives the start command, generate a second digital tilt angle signal based on the tilt angle of the chassis frame, and transmit the second digital tilt angle signal to the control module.

6. The tilt sensor according to claim 1, characterized in that, The bus pins include: high-level pins and low-level pins.

7. The tilt sensor according to claim 1, characterized in that, The plug also includes a power pin; the power pin is connected to an external power supply to power the tilt sensor.

8. The tilt sensor according to claim 1, characterized in that, The plug also includes a grounding pin; the grounding pin is grounded.

9. The tilt sensor according to claim 1, characterized in that, The current-mode processing module is a digital-to-analog converter.

10. A crane, characterized in that, Including the tilt sensor as described in any one of claims 1 to 9.

Images