CN-122009977-A - Stability control system of electric replacement sling cart

CN122009977ACN 122009977 ACN122009977 ACN 122009977ACN-122009977-A

Abstract

The invention provides a stability control system of a power-changing sling cart, which is used for controlling stability of the sling cart, and comprises a control module, wherein the control module is used for constructing a overturning side line model and monitoring a mechanical arm running track according to running parameters of the sling cart, the overturning side line model is formed by overturning side lines formed between adjacent supporting legs, when the mechanical arm is intersected with one overturning side line, the control module is used for calculating an overturning moment for pushing the sling cart to overturn around the overturning side line according to the running parameters of the sling cart, and inhibiting the overturning stability moment of the sling cart around the overturning side line.

Inventors

CHEN JIAN
ZHANG ZHAO
ZHENG TIANBAO
LIU YANG
ZHANG JIANFEI
LIU WEI
HONG WEI

Assignees

三点水新能源科技(安徽)有限公司

Dates

Publication Date: 20260512
Application Date: 20260228

Claims (10)

1. The utility model provides a trade electric sling cart stability control system for control sling cart's stability, the sling cart includes traction locomotive, semi-trailer body, arm, a plurality of landing leg and arm motion control system, traction locomotive with the semi-trailer body passes through the saddle and connects, the pedestal connection of arm is in on the traction locomotive, traction locomotive with at least five the landing leg is connected, arm motion control system with arm electric connection, the hoist of arm is used for hoisting the load on the semi-trailer body, its characterized in that, this control system includes: The control module constructs a overturning edge model and a monitoring mechanical arm running track according to running parameters of the sling cart, and the overturning edge model is formed by overturning edges formed between adjacent supporting legs; When the mechanical arm is intersected with one of the overturning side lines, the control module calculates an overturning moment for pushing the lifting truck to overturn around the overturning side line according to the operation parameters of the lifting truck, suppresses a stable moment of the lifting truck to overturn around the overturning side line, calculates an anti-overturning ratio of the overturning moment to the stable moment, compares the anti-overturning ratio with a preset safety coefficient, and sends an instruction to the mechanical arm motion control system according to a comparison result so as to enable the mechanical arm to continuously keep working in an original active state or adjust the active state of the mechanical arm.
2. The stability control system for a power conversion sling cart according to claim 1, the electric hoist car stability control system is characterized by further comprising: the monitoring sensing module is electrically connected with the control module, the monitoring sensing module is arranged on the sling cart and is used for acquiring operation parameters of the sling cart, the operation parameters of the sling cart comprise supporting state parameters of each supporting leg, movable state parameters of the mechanical arm, weights of the lifting appliance and the load and pressures of the semi-sling cart body and the load to the saddle, and the pressures are fed back to the control module.
3. The stability control system for a power conversion sling cart according to claim 1, the electric hoist car stability control system is characterized by further comprising: the control module is electrically connected with the monitoring sensing module through the preprocessing module, and the preprocessing module comprises a filtering noise reduction unit.
4. The power-change sling cart stability control system of claim 1, wherein said control module calculates a moment of overturning for pushing said sling cart around the overturning sideline based on an operating parameter of said sling cart, and wherein said moment of stabilizing for inhibiting said sling cart from overturning around the overturning sideline comprises: The control module calculates the mass center position of the mechanical arm, the mass center position of lifting load, the mass center position of the base and traction locomotive assembly and the mass center position of saddle load according to the operation parameters of the sling cart, then calculates the horizontal vertical distance L Machine matter from the mass center position of the mechanical arm to the overturning side line, the horizontal vertical distance L Negative mass from the mass center position of lifting load to the overturning side line, the horizontal vertical distance L Base vehicle from the mass center position of the base and traction locomotive assembly to the overturning side line and the horizontal vertical distance L Saddle seat from the mass center position of saddle load to the overturning side line; The control module calculates the overturning moment M Tilting and leaning according to the lifting dynamic load P Starting up , the horizontal vertical distance L Negative mass from the lifting load mass center position to the overturning side line, the mechanical arm mass M t and the horizontal vertical distance L Machine matter from the mechanical arm mass center position to the overturning side line, ; The control module calculates a stable moment M Stability and stability according to the total mass M Base vehicle of the base and the traction locomotive, the horizontal vertical distance L Base vehicle from the mass center position of the base and the traction locomotive to the overturning side line, the pressure F Saddle of the semi-trailer body and the load to the saddle and the horizontal vertical distance L Saddle seat from the mass center position of the saddle load to the overturning side line, 。
5. The system of claim 1, wherein the control module compares the anti-overturning ratio with a preset safety factor, and sends an instruction to the mechanical arm motion control system according to the comparison result, so that the mechanical arm continues to work in an original active state, or adjusts the active state of the mechanical arm, including: when the anti-overturning ratio is smaller than or equal to 90% of the safety coefficient, the mechanical arm is controlled to continuously keep working in the original active state; and when the anti-overturning ratio is greater than 90% of the safety coefficient, the moving state of the mechanical arm is adjusted. And when the anti-overturning ratio is equal to the safety coefficient, controlling the mechanical arm to stop.
6. The power conversion sling cart stability control system of claim 1, wherein said safety factor is 1.48.
7. The power conversion sling cart stability control system of claim 1, wherein said monitoring sensing module comprises: A plurality of hysteresis displacement sensors and a plurality of support pressure sensors, each of said legs connecting one of said hysteresis displacement sensors and one of said support pressure sensors.
8. The power conversion sling cart stability control system of claim 1, wherein said monitoring sensing module further comprises: The mechanical arm comprises a plurality of angle encoders, stay wire sensors and rotary encoders, wherein each joint position of the mechanical arm is connected with one angle encoder, the telescopic part of the mechanical arm is connected with the stay wire sensor, and the rotary part of the mechanical arm is connected with the rotary encoder.
9. The power conversion sling cart stability control system of claim 1, wherein said monitoring sensing module further comprises: and the hoisting part of the mechanical arm is connected with the load pressure sensor.
10. The power conversion sling cart stability control system of claim 1, wherein said monitoring sensing module further comprises: And the saddle is connected with the saddle pressure sensor.

Description

Stability control system of electric replacement sling cart Technical Field The invention belongs to the technical field of sling cart control, and particularly relates to a stable control system of a power-changing sling cart. Background In the process of carrying out power conversion lifting operation on the power conversion lifting truck, the stability control of the vehicle body of the power conversion lifting truck is directly related to the power conversion success rate and the safety. In the existing power-changing hoisting technology of the power-changing sling cart, a vehicle body stability control system for monitoring the power-changing process is not specially designed, corresponding adjustment and control interference cannot be made on a power-changing mechanical arm, and safety and stability of the power-changing operation process are ensured only by means of manual field observation and exception handling of a power-changing operator. The current situation not only hinders the progress of automatic power changing unmanned, but also increases the dependence on operators, is easy to misjudge or miss judge, and increases the danger of power changing hoisting. Disclosure of Invention The invention aims to overcome the defects of the prior art, and provides a stability control system for a power-changing sling cart, which solves the problems that in the power-changing lifting technology of the prior power-changing sling cart, a vehicle body stability control system for monitoring a power-changing process is not specially designed, and only a power-changing operator is relied on to observe and perform abnormal processing on site manually, so that dependence on the operator is increased, and misjudgment or missed judgment is easy to occur. In order to achieve the above object, the present invention provides a stability control system for a power-changing sling cart for controlling stability of the sling cart, the sling cart including a traction head, a semi-trailer body, a mechanical arm, a plurality of legs, and a mechanical arm motion control system, the traction head being connected to the semi-trailer body through a saddle, a base of the mechanical arm being connected to the traction head, the traction head being connected to at least five of the legs, the mechanical arm motion control system being electrically connected to the mechanical arm, a sling of the mechanical arm being used for lifting a load on the semi-trailer body, the control system comprising: The control module constructs a overturning edge model and a monitoring mechanical arm running track according to running parameters of the sling cart, and the overturning edge model is formed by overturning edges formed between adjacent supporting legs; When the mechanical arm is intersected with one of the overturning side lines, the control module calculates an overturning moment for pushing the lifting truck to overturn around the overturning side line according to the operation parameters of the lifting truck, suppresses a stable moment of the lifting truck to overturn around the overturning side line, calculates an anti-overturning ratio of the overturning moment to the stable moment, compares the anti-overturning ratio with a preset safety coefficient, and sends an instruction to the mechanical arm motion control system according to a comparison result so as to enable the mechanical arm to continuously keep working in an original active state or adjust the active state of the mechanical arm. Preferably, the electric change sling cart stability control system further comprises: the monitoring sensing module is electrically connected with the control module, the monitoring sensing module is arranged on the sling cart and is used for acquiring operation parameters of the sling cart, the operation parameters of the sling cart comprise supporting state parameters of each supporting leg, movable state parameters of the mechanical arm, weights of the lifting appliance and the load and pressures of the semi-sling cart body and the load to the saddle, and the pressures are fed back to the control module. Preferably, the electric change sling cart stability control system further comprises: the control module is electrically connected with the monitoring sensing module through the preprocessing module, and the preprocessing module comprises a filtering noise reduction unit. Preferably, the control module calculates a overturning moment for pushing the sling cart to overturn around the overturning side line according to the operation parameters of the sling cart, and the stabilizing moment for inhibiting the sling cart from overturning around the overturning side line comprises: The control module calculates the mass center position of the mechanical arm, the mass center position of lifting load, the mass center position of the base and traction locomotive assembly and the mass center position of saddle load according to the operation parameters