• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    This involves the invention of a control method in a truck bomb comprising: acquiring the extension band of the four legs (1,2) of a truck bomb; determine the end points of the four legs (1,2) based on the extension strip, and connect the end points of the four legs (1,2) to determine the safe working limit (7) of the truck bomb; calculate the metacenter (6) of the entire truck bomb according to the gravitational force of the truck bomb's substructure, the baricentric coordinates of the substructure and the gravitational force of the entire truck bomb; calculate the center of gravity (5) of the entire truck bomb according to the gravitational force of the truck bomb's substructure, the gravitational force of the members of the truck bomb, the gravitational force of the entire truck bomb, the baricentric coordinates the members of the truck bomb, and the baricentric coordinates of the sub-structure of the truck bomb; calculate the safety factor of the truck bomb based on the safe limit of work (7), the metacenter (6) of the entire truck bomb, and the center of gravity (5) of the entire truck bomb; and control the truck bomb according to the safety factor. (...).
    公开号:BR112013006558B1
    申请号:R112013006558-3
    申请日:2011-10-18
    公开日:2020-06-30
    发明作者:Binxing Wu；Xuejun Li；Weichun Yi；Kuifang Li；Hongxu Yue
    申请人:Zoomlion Heavy Industry Science And Technology Co., Ltd.；Hunan Zoomlion Special Vehicle Co., Ltd.；
    IPC主号:
    专利说明:

    [0001] The present invention relates to the field of truck bombs and, specifically, to a truck bomb, a control method and a control device thereof. Fundamentals of the Invention
    [0002] The safety of a concrete pump truck in construction processes represents an important technical problem. Currently, a truck pump opens its side supports completely to ensure a maximum safe operating area and, as illustrated in Figure 1, the transport radius of the truck pump's concrete can be maximized to ensure that the truck pump can pump the concrete with a horizontal boom. However, in view of the limited operating space, the side supports always fail in their function because they cannot be opened fully, and consequently limit the safe transport radius of the concrete of the truck-pump and fail to ensure safe pumping in any state. the spear; and in addition, in some cases, the truck bomb as a whole is subject to tipping. The first issue to prevent the truck bomb from tipping over is to determine the safe operational area of the truck, in such a way as to limit the action of the boom within the safe area when the side supports are not fully extended.
    [0003] In the related arts, there is still no effective solution to solve the truck bomb safety problem, which cannot be ensured when the side supports of the truck cannot be fully opened. Description of the Invention
    [0004] The main objective of the present invention is to reveal a truck bomb, a control method and a control device for it, with the purpose of solving the problem of the safety of the truck bomb that cannot be ensured when the lateral supports of the truck bombs cannot be opened completely.
    [0005] To achieve this objective, in one aspect, the present invention discloses a method of control for the truck bomb.
    [0006] The control method for the pump truck comprises the following steps: acquire the degrees of opening of four lateral supports of the pump truck; determine the end points of the four side supports of the truck pump according to the opening degrees and connect the end points of the four side supports to determine the limit of the safe area of operation of the truck pump; calculate the metacenter of the entire truck bomb according to the gravity of the base of the truck bomb, the coordinates of the center of gravity of the base and the gravity of the entire truck bomb; calculate the center of gravity of the entire truck bomb according to the gravity of the base of the truck bomb, the gravity of the boom of the truck bomb, the gravity of the entire truck bomb, the coordinates of the center of gravity of the boom truck bomb and the coordinates of the center of gravity of the truck bomb base; calculate the safety factor of the truck bomb according to the limit of the safe operating area, the metacenter of the entire truck bomb and the center of gravity of the entire truck bomb; and control the truck bomb according to the safety factor.
    [0007] To achieve this goal, in another aspect, the present invention discloses a control device for the truck bomb.
    [0008] The control device for the pump truck comprises: a first acquisition module, configured to acquire the degrees of openness of the four side supports of the pump truck; a first determination module, configured to determine the end points of the four side supports of the pump truck according to the degrees of opening and connect the end points of the four side supports to determine the limit of the safe operating area of the truck- bomb; a first calculation module, configured to calculate the metacenter of the entire truck bomb according to the gravity of the base of the truck bomb, the coordinates of the center of gravity of the base and the gravity of the whole truck bomb; a second calculation module, configured to calculate the center of gravity of the entire truck bomb according to the gravity of the base of the truck bomb, the gravity of the boom of the truck bomb, the gravity of the entire truck bomb, the coordinates of the center of gravity of the boom of the truck bomb and the coordinates of the center of gravity of the base of the truck bomb; a third calculation module, configured to calculate the safety factor of the truck bomb according to the limit of the safe operating area, the metacenter of the entire truck bomb and the center of gravity of the entire truck bomb; and a control module, configured to control the truck bomb according to the safety factor.
    [0009] To achieve this objective, in another aspect, the present invention discloses a truck bomb.
    [0010] The truck pump comprises: any control device for the truck pump disclosed in the present invention, and a display interface that is connected with the control device and used to display the status of the entire truck pump.
    [0011] In accordance with the present invention, the control method for the truck pump comprises the following steps: acquiring the degrees of opening of four side supports of the truck pump; determine the end points of the four side supports of the truck pump according to the opening degrees and connect the end points of the four side supports to determine the limit of the safe area of operation of the truck pump; calculate the metacenter of the entire truck bomb according to the gravity of the base of the truck bomb, the coordinates of the center of gravity of the base and the gravity of the whole truck bomb; calculate the center of gravity of the entire truck bomb according to the gravity of the base of the truck bomb, the gravity of the boom of the truck bomb, the gravity of the entire truck bomb, the coordinates of the center of gravity of the boom truck bomb and the coordinates of the center of gravity of the base of the truck bomb; calculate the safety factor of the truck bomb according to the limit of the safe operating area, the metacenter of the entire truck bomb and the center of gravity of the entire truck bomb; and control the pump truck according to the safety factor, the problem of the safety of the pump truck that cannot be ensured when the side supports of the pump truck cannot be fully opened is solved in such a way that the safety of the truck pump truck is secured when the side supports of the pump truck cannot be fully opened. Brief Description of Drawings
    [0012] The drawings constituting a part of the application are intended for the understanding of the present invention, and the exemplary embodiments of the invention and the explanations about it are intended to explain the invention, and not to improperly limit the invention. In the drawings: Figure 1 illustrates a diagram showing the control for a truck bomb according to the prior art: Figure 2 illustrates a diagram showing the flow of a control method for a truck bomb according to a preferred embodiment of the present invention; Figure 3 illustrates a diagram showing the control for a truck bomb according to a preferred embodiment of the present invention; Figure 4 illustrates a diagram showing the calculation for a cylinder arm of a truck pump according to a preferred embodiment of the present invention; Figure 5 illustrates a diagram of a control method for a truck bomb according to a preferred embodiment of the present invention; and Figure 6 illustrates a block diagram of a control device for a truck bomb according to a preferred embodiment of the present invention. Detailed Description of the Execution Modalities
    [0013] It should be noted, if there are no conflicts, that the preferred modes of application execution and its resources can be combined with each other. The invention will be described in detail below, with reference to the drawings and in conjunction with preferred embodiments of the same.
    [0014] Figure 2 illustrates a diagram showing the flow of a control method for a truck bomb according to a preferred embodiment of the present invention. As shown in Figure 2, the method comprises Step 102 through Step 112.
    [0015] Step 102: Acquire the opening degrees of four side supports of a truck bomb. In this step, the opening degrees of the four side supports are measured by a side support sensor, including a mooring wire sensor and an angle sensor, in real time. Figure 3 illustrates a diagram showing the control for a truck bomb according to a preferred embodiment of the present invention, and as shown in Figure 3, it comprises the measurement of the opening degrees of two side supports 1 front X and two rear swing legs 2.
    [0016] Step 104: Determine the limit of the safe area of operation of the truck pump according to the degrees of opening, and then the end points of the side supports are connected to form a quadrilateral forming the limit of the safe area of operation of the whole truck -pump and, as shown in Figure 3, the limit 7 of the safe area of operation of the pump truck is determined according to the degrees of opening of the two side supports 1 front X and the two swinging legs 2 rear.
    [0017] Step 106: Calculate the metacenter of the entire truck bomb.
    [0018] As shown in Figure 3, the metacenter 6 of the entire truck bomb is calculated using the following formulas: X stab = G truck * X truck / Total G Y stab = G truck * y truck / Total G where X stab is the x coordinate of the metacenter of the entire truck bomb, Y stab is the y coordinate of the metacenter of the entire truck bomb, G truck is gravity of the base, G total is the gravity of the entire truck bomb and (x truck , Y truck ) represent the coordinates of the center of gravity of the base, and the gravity of the base, the gravity of the entire truck bomb and the coordinates of the base center of gravity are inherent parameters of the truck bomb.
    [0019] Step 108: Calculate the center of gravity of the entire truck bomb.
    [0020] As shown in Figure 3, a rotating circle 4 for the center of gravity is obtained by taking the center of gravity 5 of the entire truck bomb as the center of the circle, and a right angle coordinate system is formed by taking if the center of a turntable 3 as the origin of the coordinates, the front and rear direction of the truck being the transverse axis and the vertical direction of the turntable 3 being the longitudinal axis. The center of gravity of the entire truck bomb is calculated according to the gravity of the base of the truck bomb, the gravity of the boom of the truck bomb, the gravity of the entire truck bomb, the coordinates of the center of gravity of the boom of the truck bomb and the coordinates of the center of gravity of the base of the truck bomb, using the following formulas: X center = (G boom * X boom + G truck * X truck ) / G total y center = (G boom * y boom + G truck * y truck ) / G total where x center is the x-coordinate of the center of gravity of the of the entire truck bomb, y center is the y-coordinate of the center of gravity of the entire truck bomb, G boom is the gravity of the boom, G truck is the gravity of the base, G total is the gravity of the entire truck -pump, (x boom , y boom ) represent the coordinates of the boom 's center of gravity, (x truck , y truck ) represent the coordinates of the base's center of gravity, the base's gravity, the gravity of the entire truck bomb and the coordinates of the base's center of gravity are inherent parameters of the truck bomb, and the coordinates of the boom's center of gravity are calculated using the following formulas: X boom = FL cylinder * cosθ y boom = FL cylinder * sinθ where x boom is the x-coordinate of the boom center of gravity, y boom is the y-coordinate of the boom center of gravity, θ is the boom rotation angle, and FL cylinder is the cylinder 's power arm.
    [0021] The angle of rotation of the boom can be obtained by an angle sensor. The cylinder's power arm is related to the angle of inclination and the size of the main structure of the pump truck's main arm. Figure 4 illustrates a diagram showing the calculation for the pump truck's cylinder arm according to a preferred embodiment of the present invention and, as shown in Figure 4, the cylinder's upper pivot point is A, the the lower pivot point of the cylinder is B, the pivot point of the boom is O and the pedal of the pivot point of the boom in the connecting line of the upper and lower pivot joints of the cylinder is C, and the distance OC represents the cylinder's power arm. The force arm is obtained by calculating according to the geometric relationship of the horizontal distance LD between point B of the lower joint of the cylinder and the pivoting point O of the boom, of the vertical distance LC between point B of the lower joint of the cylinder and the pivot point O of the boom, the LE distance between point A of the upper linkage of the cylinder and the pivot point O of the boom along the direction of the main arm of the pump truck, the distance LF between point A of the upper linkage of the cylinder and the pivot point O of the boom along the vertical direction of the main truck arm and the tilt angle of the main truck arm; and the aforementioned calculation process consists of a purely geometric calculation, thus requiring no further description.
    [0022] Step 110: Calculate the safety factor according to the safe operating area, metacenter and center of gravity for the entire truck bomb.
    [0023] The safety coefficient is obtained first by calculating the safe distance between the center of gravity and the metacenter of the entire truck bomb, and then by calculating the minimum distance of the relative position between the center of gravity of the entire truck bomb and the boundary of the safe operating area, and finally dividing the minimum distance by the safe distance.
    [0024] Step 112: Check the truck according to the safety factor.
    [0025] Controlling the truck bomb according to the safety factor comprises the following steps: controlling the truck bomb to block the action of the truck bomb according to the safety coefficient, controlling the truck bomb to perform an action opposite to the action blocked and control the truck bomb to unlock the blocked action. The pump truck's action is correspondingly blocked according to the danger level first, and then the truck pump is controlled to drive the boom in a safe rotating direction or in the direction of the unlocked action of a boom section with the implementation of an action opposite to the blocked action, in such a way that the safety coefficient is increased, the truck bomb enters the safe area, the action limited by the anti-tip function of the entire truck bomb can be restored and that the pump truck as a whole is prevented from tipping over.
    [0026] When the safety coefficient of the entire truck bomb is equal to 1, the tipping moment and the moment of the entire truck bomb maintain balance, and at this moment the truck bomb as a whole is in a critical tipping state ; when the safety factor of the entire truck bomb is less than 1, the entire truck bomb may topple causing an accident; in order to prevent the entire truck bomb from tipping over, the safety factor must be greater than 1; and the level of risk of tipping over the entire truck bomb, corresponding to three safety factors, a, b, c, with a> b> c divided into levels a, b and c, and the lower the coefficient of safety, the greater the danger of tipping over, and different safety factors represent different levels of danger of tipping over the entire truck bomb. If the safety factor is less than a and greater than or equal to b, the entire truck- The pump is at a danger level and can be controlled by a control program to block the high gear of the boom, enter low gear mode, block the downward action of a first boom section and block rotation on one side in the dangerous direction; if the safety coefficient is less than b and greater than or equal to c, the entire truck bomb is at a danger level b being controlled to block the continued action of the boom for a few seconds, optionally for 5 seconds, to block the high boom gear, enter a low gear mode, block the downward action of the first and second boom sections, and block rotation on one side in the dangerous direction; and if the safety coefficient is less than c and greater than or equal to 1, the entire truck bomb is at a danger level and is being controlled to block the action of the boom in a safe direction of rotation and block the pumping . The safety of the entire truck bomb is guaranteed by hierarchical control; when the truck bomb tends to enter a dangerous state, the action of the boom is limited in the direction of danger to ensure that the boom is operated in the safe direction restoring the safety of the entire truck bomb; and when the truck bomb is at the highest danger level, all possible dangerous actions of the entire truck bomb are limited to ensure the safety status of the entire truck bomb. After the entire pump truck is out of danger, the anti-tip function of the entire pump truck can be shielded by a shield function switch, in order to remove all limits of the anti-tip function from the entire truck-bomb.
    [0027] It should be noted that the truck pump can be controlled hierarchically according to the safety coefficient of the entire truck truck, and the control mode is not limited to controlling the boom, rotation and pumping, such as controlling the function of a remote control.
    [0028] Figure 5 illustrates a diagram of a control method for a truck bomb according to a preferred embodiment of the present invention and, as shown in Figure 5, in the calculation process, the measurement of a parameter is not limited to the mode measurement of one or more sensors, nor limited to the type of sensor, for example, the measurement of the degrees of opening of the side supports can be performed by a mooring wire sensor, an angle sensor, a Laser sensor and the like, one or more modes.
    [0029] With the truck pump control method of the preferred mode of execution of the present invention, the anti-tipping of the truck bomb can become intelligent, and the safety coefficient of the entire truck bomb can be calculated dynamically to evaluate the level of danger of tipping over the entire truck bomb and to carry out corresponding controls to limit the action of the boom in the dangerous tipping direction; and in the meantime, the boom is driven directly to return the center of gravity of the entire truck bomb to a safer operating range; consequently, the flexibility in the use of the truck-pump is improved, the pumping can also be implemented automatically in a safe range when the opening space for the lateral supports is limited, and the safety, stability and continuity of the operation process of the truck bombs are ensured.
    [0030] In accordance with a preferred embodiment of the present invention, a control device for a truck bomb is disclosed.
    [0031] Figure 6 illustrates a block diagram of a control device for a truck bomb in accordance with a preferred embodiment of the present invention and, as shown in Figure 6, the control device comprises: a first acquisition module 10, configured to acquire the degrees of openness of four side supports of the pump truck, and the degrees of openness can be measured by a sensor of side supports, including a wire tie sensor and an angle sensor in real time; a first determination module 20, configured to determine the limit of the safe area of operation of the pump truck according to the degrees of opening, with the end points of the side supports being connected so as to form a quadrilateral forming the contour of the safe operation area of the entire truck bomb, a first calculation module 30, configured to calculate the metacenter of the entire truck bomb according to the gravity of the base of the truck bomb, the coordinates of the center of gravity of the base and the severity of the entire truck bomb; a second calculation module 40, configured to calculate the center of gravity of the entire truck bomb according to the gravity of the base of the truck bomb, the gravity of the boom of the truck bomb, the gravity of the entire truck bomb, the coordinates of the center of gravity of the boom of the truck bomb and the coordinates of the center of gravity of the base of the truck bomb; a third calculation module 50, configured to calculate the safety factor of the truck bomb according to the limit of the safe area of operation, the metacenter of the entire truck bomb and the center of gravity of the entire truck bomb; and a control module 60, configured to control the truck bomb according to the safety factor.
    [0032] Using the truck pump control device of the preferred mode of execution, the safety coefficient of the entire truck pump can be dynamically calculated and, according to the safety coefficient of the entire truck pump, the risk level of tipping of the entire pump truck is evaluated, and the action of the boom in the dangerous tipping direction is correspondingly limited, therefore, the anti-tipping function of the pump truck is more intelligent, the flexibility of using the pump truck is improved , pumping can also be implemented automatically in a safe range when the opening space for the side supports is limited, and the safety, stability and continuity of the truck pump operation process are ensured.
    [0033] The first calculation module 30 calculates the metacenter of the truck bomb using the following formulas: X stab = G truck * X truck / Total G Y stab = G truck * y truck / Total G where X stab is the x coordinate of the metacenter of the entire truck bomb, Y stab is the y coordinate of the metacenter of the entire truck bomb, G truck is the gravity of the base, G total is the gravity of the entire pump truck, (x truck, Y truck ) represent the coordinates of the base of gravity of the base, and the gravity of the base, the gravity of the entire truck bomb and the coordinates of the center of gravity of the base are inherent parameters of the truck- bomb.
    [0034] The second calculation module 40 calculates the center of gravity of the entire truck bomb using the following formulas: X center = (G boom * X boom + G truck * X truck ) / G total y center = (G boom * y boom + G truck * y truck ) / G total where x center is the x coordinate of the center of gravity of the entire truck bomb, y center is the y coordinate of the center of gravity of the entire truck bomb, G boom is the boom gravity, G truck is the base gravity, G total is the gravity of the entire truck bomb, (x boom , y boom ) represent the coordinates of the boom center of gravity and (x truck , y truck ) represent the coordinates of the base's center of gravity, boom gravity, base gravity, gravity of the entire truck bomb and the coordinates of the base of gravity of the base are inherent parameters of the truck bomb, and the coordinates of the boom center of gravity are calculated using the following formulas : X boom = FL cylinder * cosθ X boom = FL cylinder * sinθ where x boom is the x-coordinate of the boom center of gravity, y boom is the y-coordinate of the boom center of gravity, θ is the boom rotation angle, and FL cylinder is the cylinder 's power arm.
    [0035] The rotating angle of the boom can be obtained by an angle sensor. The cylinder power arm is related to the angle of inclination and the size of the structure of the main arm of the pump truck, and Figure 4 illustrates a diagram showing the calculation of the force arm of the pump truck cylinder according to a preferred embodiment of the present invention, therefore requiring no further description.
    [0036] Preferably, the third calculation module 50 comprises: a first calculation sub-module, configured to calculate a first distance, the first distance being the distance between the center of gravity and the metacenter of the entire truck bomb; a second calculation sub-module, configured to calculate a second distance, the second distance being the minimum distance between the center of gravity of the entire truck bomb and the limit of the safe operating area, and a third calculation sub-module , configured to calculate the safety coefficient according to the mentioned first and second distances.
    [0037] In the preferred embodiment of the present invention, the distance between the center of gravity and the metacenter of the entire truck bomb consists of a safe distance, that is, the first distance; the minimum distance between the center of gravity of the entire truck bomb and the relative position of the safe operating area limit is the second distance; and the safety coefficient is obtained by dividing the minimum distance by the safe distance.
    [0038] The control module 60 comprises: a first control sub-module, configured to control the pump truck and block the action of the truck pump according to the safety coefficient, a second control sub-module, configured to control the pump truck to implement an action opposite the blocked action, and a third control sub-module, configured to control the truck pump to unlock the blocked action.
    [0039] In the preferred embodiment of the present invention, the action of the truck bomb is correspondingly blocked first according to the level of danger and then the truck bomb is controlled to activate the boom in a safe rotating direction or in the direction of unlocked action of a boom section by implementing an action opposite to the blocked action, in such a way that the safety factor is increased, the truck bomb enters the safe area and the action is limited by the anti-tip function of the entire truck -pump is restored.
    [0040] With reference to the magnitude of the safety factor, the first control sub-module controls the truck pump to block the truck pump's action; specifically, block the high gear of the boom, enter a low gear mode, block the downward action of a first boom section and block rotation on one side in the dangerous direction when the safety factor is less than a first safety factor. security and greater than a second coefficient gives security; block the continued action of the boom for a predetermined time, block the high gear of the boom, enter a low gear mode, block the downward action of the first and second section of the boom, and block rotation on one side in the dangerous direction when the safety factor is less than the second safety factor and greater than or equal to a third safety factor, and block the boom action in a safe rotation direction and block pumping when the safety factor is lower than the third safety factor and greater than or equal to 1.
    [0041] In the preferred mode of execution, the danger is divided into three levels to be correspondingly controlled according to the condition of the truck bomb, so that the tipping of the truck bomb can be avoided through the measures adopted and under different conditions.
    [0042] In accordance with a preferred embodiment of the present invention, a truck bomb is disclosed. The truck pump comprises: a control device for the truck pump provided by the invention, and a display interface that is connected with the control device and used to indicate the status of the entire truck pump. The coordinates of the lateral supports, the coordinates of the center of gravity and the coordinates of the metacentre and the like are sent to the display interface to form a top view showing the safety of the truck bomb. As shown in Figure 3, a human-machine safety interface is formed in combination with the parameters of a sensor, in such a way that a driver can assess the state of the entire truck bomb in time to make a corresponding adjustment. Therefore, the safety of the driver is ensured, the equipment is preserved and the truck pump life is extended.
    [0043] It can be seen from the above that the invention achieves the following technical effects: the safety coefficient of the entire truck pump can be calculated dynamically and, according to the safety coefficient of the entire truck pump, the level of the risk of tipping over the entire pump truck is assessed, and the action of the boom in the dangerous tipping direction is correspondingly limited, therefore, the flexibility in controlling the pump truck is particularly improved, pumping can still be implemented automatically in a safe range when the opening space for the side supports is limited, and the safety, stability and continuity of the truck pump operation process are ensured.
    [0044] It should be noted that the steps shown in the flowchart of the drawings can be performed, for example, in the computer system of a group of instructions executable on a computer and, in addition, the flowchart illustrates the logical sequence. However, in some cases the steps shown or described can also be performed in different sequences.
    [0045] Obviously, those skilled in the art should understand that the models or stages of the present invention can be implemented through computing devices in general and centralized in a single computing device or allocated in a network consisting of multiple computing devices. Optionally, the models or steps can be implemented by program codes executable by the computing devices, in such a way that they can be stored in a storage device and executed by the computing device, or, respectively, produced in integrated circuit modules. or in a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software.
    [0046] The above description consists only of preferred embodiments of the present invention and should not be used to limit the invention. For those skilled in the art, the invention can undergo several modifications and alterations. Any modifications, equivalent substitutions, improvements and the like situated within the spirit and principle of the invention will be considered to be part of the scope of protection of the present invention.
    权利要求:
    Claims (7)
    [0001]
    Control method for a truck bomb comprising the steps of: acquire (102) the opening degrees of four lateral supports (1, 2) of the truck-pump; determine the end points of the four side supports (1, 2) of the pump truck according to the degree of opening and connect the end points of the four side supports (1, 2) to determine (104) the limit (7) the safe operation area of the truck bomb; calculate (106) a metacenter (6) of the entire truck bomb according to the gravity of the base of the truck bomb, the coordinates of the center of gravity of the base and the gravity of the whole truck bomb; calculate (108) the center of gravity (5) of the entire truck bomb according to the gravity of the base of the truck bomb, the gravity of the boom of the truck bomb, the gravity of the entire truck bomb, the coordinates of the center of gravity of the boom of the bomb truck and the coordinates of the center of gravity of the base of the bomb truck; calculate (110) a truck pump safety coefficient according to the limit (7) of the safe operating area, the metacenter (6) of the entire pump truck and the center of gravity (5) of the entire truck pump ; and control (112) the truck bomb according to the safety factor, in which the metacenter (6) of the entire truck bomb is calculated using the following formulas: X stab = G truck * X truck / Total G Y stab = G truck * y truck / Total G where X stab is an x coordinate of the metacenter of the entire truck bomb, Y stab is a y coordinate of the metacenter of the entire truck bomb, G truck is the gravity of the base, G total is the gravity of the entire truck- pump e (x truck , y truck ) are the coordinates of the base's center of gravity, characterized by the fact that the calculation (110) of the safety coefficient comprises: calculate a first distance, the first distance being the distance between the center of gravity (5) of the entire truck bomb and the metacenter (6) of the entire truck bomb; calculate a second distance, the second distance being the minimum distance between the center of gravity (5) of the entire truck pump and the limit (7) of the safe area of operation; and divide the second distance by the first distance to obtain the safety factor; in which the control of the truck bomb according to the safety coefficient comprises controlling the truck bomb to block an action of the truck bomb according to the safety coefficient, in which the control of the truck bomb to block an action of the pump truck according to the safety factor comprises: block a high gear from the boom, enter a low gear mode, block a downward action from a first boom section, and block rotation on one side in a dangerous direction when the safety factor is less than a first safety factor. safety and greater than or equal to a second safety factor; block a continuation action of the boom for a predetermined time, block a high gear of the boom, enter a low gear mode, block a downward action of the first and second sections of the boom, and block a rotation of one side in a dangerous direction when the safety factor is less than the second safety factor and greater than or equal to a third safety factor; and block a pivoting action of the boom in a safe direction and block a pumping when the safety factor is less than the third safety factor and greater than or equal to 1, where the first safety factor is greater than the second safety factor, and the second safety factor is greater than the third safety factor.
    [0002]
    Method according to claim 1, characterized by the fact that the center of gravity (5) of the entire truck bomb is calculated using the following formulas. X center = (G boom * X boom + G truck * X truck ) / G total Y center = (G boom * Y boom + G truck * Y truck ) / Total G where X center is the x coordinate of the center of gravity of the entire truck bomb, Y center is the y coordinate of the center of gravity of the entire truck bomb, G boom is the boom gravity, G truck is the gravity of the base, G total is the gravity of the entire truck bomb, (X boom , Y boom ) represent the coordinates of the boom 's center of gravity and (X truck , Y truck ) represent the coordinates of the base's center of gravity.
    [0003]
    Method, according to claim 2, characterized by the fact that the coordinates of the boom's center of gravity are calculated using the following formulas: X boom = FL cylinder * cosθ Y boom = FL cylinder * senθ where X boom is the x coordinate of the boom center of gravity, Y boom is the y coordinate of the boom center of gravity, 0 is the boom rotation angle, and FL cylinder is the cylinder 's power arm.
    [0004]
    Method, according to claim 1, characterized by the fact that the control of the truck bomb according to the safety factor also comprises: control the truck bomb to implement an action opposite to the blocked action; and control the truck bomb to unlock the blocked action.
    [0005]
    Control device for a truck bomb characterized by the fact that it comprises: a first acquisition module (10), configured to acquire degrees of opening of four lateral supports (1, 2) of the pump truck; a first determination module (20), configured to determine the end points of the four side supports (1, 2) of the truck pump according to the opening degrees and connect the end points of the four side supports (1 , 2) to determine the limit (7) of the safe area of operation of the truck bomb; a first calculation module (30), configured to calculate the metacenter (6) of the entire truck bomb according to the gravity of the base of the truck bomb, the coordinates of the center of gravity of the base and the gravity of the entire truck -bomb; a second calculation module (40), configured to calculate the center of gravity (5) of the entire truck bomb according to the gravity of the base of the truck bomb, the gravity of the boom of the truck bomb, the gravity of the whole the truck bomb, the coordinates of the center of gravity of the boom of the bomb truck and the coordinates of the center of gravity of the base of the truck bomb; a third calculation module (50), configured to calculate the safety coefficient of the truck bomb according to the limit (7) of the safe operating area, the metacenter (6) of the entire truck bomb and the center of gravity (5) the entire truck bomb; and a control module (60), configured to control the truck bomb according to the safety factor, in which the first calculation module calculates the metacenter (6) of the entire truck bomb using the following formulas: X stab = G truck * X truck / Total G Y stab = G truck * y truck / Total G where X stab is x coordinate of the metacenter of the entire truck bomb, Y stab is y coordinate of the metacenter of the entire truck bomb, G truck is the gravity of the base, G total is the gravity of the entire truck bomb and (x truck , y truck ) are the coordinates of the base's center of gravity, wherein the third calculation module (50) comprises: a first calculation sub-module, configured to calculate a first distance, where the first distance is the distance between the center of gravity and the metacenter of the entire truck bomb; a second calculation sub-module, configured to calculate a second distance, where the second distance is the minimum distance between the center of gravity of the entire truck bomb and the limit of the safe operational area; and a third calculation submodule, configured to calculate the safety coefficient according to the first and second distances, wherein the control module (60) comprises a first control sub-module, configured to control the truck pump to block an action according to the safety coefficient comprising: block the high gear of the boom, enter a low gear mode, block a downward action of a first section of the boom, and block the rotation of one side in a dangerous direction when the safety coefficient is less than a first coefficient of safety and greater than or equal to a second safety factor; block a continuation action of the boom for a predetermined time, block a high gear of the boom, enter a low gear mode, block a downward action of the first and second sections of the boom, and block rotation of one side in a dangerous direction when the safety factor is less than the second safety factor and greater than or equal to a third safety factor; and block a pivoting action of the boom in a safe direction and block pumping when the safety factor is less than the third safety factor and greater than or equal to 1, where the first safety factor is greater than the second safety factor, and the second safety factor is greater than the third safety factor.
    [0006]
    Device according to claim 5, characterized by the fact that the control module (60) further comprises: a second control sub-module, configured to control the truck bomb to implement an action opposite to the blocked action; a third control sub-module, configured to control the truck bomb to unlock the blocked action.
    [0007]
    Pump Truck, characterized by the fact that it comprises: a device for controlling the truck bomb as defined in any of claims 5 to 6; and a visualization interface, connected with the device to control the truck bomb, configured to display the status of the entire truck bomb.
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    同族专利:
    公开号 | 公开日
    WO2013007069A1|2013-01-17|
    BR112013006558A2|2017-10-24|
    EP2733281B1|2021-07-07|
    EP2733281A1|2014-05-21|
    CN102330498B|2012-10-17|
    EP2733281A4|2015-03-25|
    RU2013115571A|2015-11-27|
    CN102330498A|2012-01-25|
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    法律状态:
    2018-12-26| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-08-06| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2019-12-31| B07A| Technical examination (opinion): publication of technical examination (opinion) [chapter 7.1 patent gazette]|
    2020-04-07| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2020-06-30| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 18/10/2011, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    CN201110197427A|CN102330498B|2011-07-14|2011-07-14|Pump truck and control method and device thereof|
    CN201110197427.1|2011-07-14|
    PCT/CN2011/080899|WO2013007069A1|2011-07-14|2011-10-18|Pump truck and method and device for controlling same|
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