阅读说明：本技术 铺管机和柴油混合铺管机功率控制策略 (Pipe laying machine and diesel oil mixed pipe laying machine power control strategy ) 是由 C·R·西曼 D·D·塔隆 于 2020-11-10 设计创作，主要内容包括：一种铺管机包括框架、可移动地支撑框架的多个地面接合构件、原动机,以及支撑在框架上的吊杆组件和平衡组件。吊杆组件包括吊杆。平衡组件包括配重,该配重可移动地支撑在框架上以平衡吊杆组件。配重包括电池盒,该电池盒包括至少一个电池。还公开了一种控制策略。(A pipelayer includes a frame, a plurality of ground engaging members movably supporting the frame, a prime mover, and a boom assembly and a counterbalance assembly supported on the frame. The boom assembly includes a boom. The balance assembly includes a counterweight movably supported on the frame to balance the boom assembly. The counterweight includes a battery compartment including at least one battery. A control strategy is also disclosed.)

1. A pipelayer, comprising:

a frame;

a plurality of ground engaging members movably supporting the frame; and

a prime mover;

a boom assembly supported on the frame, the boom assembly including a boom; and

a balance assembly supported on the frame, the balance assembly including a counterweight movably supported on the frame to balance the boom assembly;

wherein the weight includes a battery compartment including at least one battery.

2. The pipelayer of claim 1, further comprising at least a first power source including the engine and a second power source including the at least one battery.

3. The pipelayer of claim 2, further comprising a cab adjustment system and a control system including at least one controller, the control system configured to store a reference profile for the pipelayer, the reference profile including a lower battery power threshold, the at least one controller further configured to:

accessing the reference profile;

determining a power level of the at least one battery;

comparing the power level of the at least one battery to the reference profile;

operating the first power source to charge the at least one battery if the power level of the at least one battery is less than the lower battery power threshold;

providing power from the second power source to at least the cab adjustment system if the power level of the at least one battery is greater than the lower battery power threshold.

4. The pipelayer of claim 3, wherein the reference profile further includes a charging battery power threshold, and the controller is further configured to interrupt operation of the first power source when the power level of the at least one battery is at least equal to the charging battery power threshold.

5. A pipelayer, comprising:

a frame;

a plurality of ground engaging members movably supporting the frame;

a boom assembly supported on the frame, the boom assembly including a boom;

a balance assembly supported on the frame, the balance assembly including a counterweight movably supported on the frame to balance the boom assembly;

a cab conditioning system;

a first power source including an engine;

a second power source comprising at least one battery; and

a control system comprising at least one controller, the control system configured to store a reference profile for the pipelayer, the reference profile comprising a lower battery power threshold, the at least one controller configured to:

-accessing said reference profile(s) and,

determining a power level of the at least one battery,

comparing the power level of the at least one battery to the lower battery power threshold,

operating at least the cab adjustment system from the second power source if the power level of the at least one battery is not less than the lower battery power threshold, and

starting the engine to charge the at least one battery while operating at least the cab adjustment system if the power level of the at least one battery is less than the lower battery power threshold.

6. The pipelayer of claim 5, wherein the reference profile further includes a charging battery power threshold, the controller further configured to:

determining the power level of the at least one battery while the engine is running,

comparing the power level of the at least one battery to the charging battery power threshold,

interrupting operation of the engine and operating at least the cab adjustment system from the second power source if the power level of the at least one battery is equal to or greater than the rechargeable battery power threshold, and

continuing to operate the engine to charge a battery if the power level of at least one battery is less than the charging battery power threshold.

7. The pipelayer of any of claims 5 or 6, wherein the at least one controller is configured to operate the pipelayer with all functions from the second power source.

8. In a hybrid pipelayer including a frame supporting a cab, a boom assembly, and a balance assembly including a movably supported counterweight to balance the boom assembly, a plurality of ground engaging members movably supporting the frame, an ignition switch, a cab adjustment system, a first power source including an engine, and a second power source including at least one battery, a method of providing power to the cab adjustment system, the method comprising:

determining a power level of the at least one battery,

comparing the power level of the at least one battery to a lower battery power threshold,

operating at least the cab adjustment system from the second power source if the power level of the at least one battery is not less than the lower battery power threshold, and

operating the engine to charge the at least one battery while operating at least the cab adjustment system from the at least one battery if the power level of the at least one battery is less than the lower battery power threshold.

9. The method of claim 8, further comprising:

determining the power level of the at least one battery while the engine is operating,

comparing the power level of the at least one battery to a charging battery power threshold,

continuing to operate the engine if the power level of the at least one battery is less than the rechargeable battery power threshold,

interrupting operation of the engine and operating at least the cab adjustment system from the second power source if the power level of the at least one battery is not less than the rechargeable battery power threshold.

10. The method of any of claims 8 or 9, further comprising operating the pipelayer with full functionality from the second power source.

Technical Field

This patent invention relates generally to pipelayers and, more particularly, to a counterweight arrangement and power control strategy for a pipelayer.

Background

Pipelayers are work machines used in pipelaying operations where the pipelayer raises, lowers, and carries heavy pipes. A counterbalance assembly is disposed along opposite sides of the pipelayer to counterbalance forces of a load lifted via opposing booms positioned along the opposite sides of the pipelayer. The counterbalance assembly typically includes a counterweight including a plurality of steel plates. The counterbalance assembly further includes a support structure that allows the counterweight to be articulated for movement relative to the machine frame so as to counteract a moment applied by a load lifted by the boom.

Pipelaying can be a lengthy process depending on other operations that occur before or after the pipelayer positions a length of pipe. During operation, pipelayers may spend up to 75% of their operating time idle for operator comfort.

In us patent No. 8,857,635, a large crane is provided with a primary energy source and a secondary energy source comprising an energy storage unit that can be used to power the crane cabin air conditioning compressor. The secondary energy source may include a battery pack that may be centrally located on the crane or as a base ballast or super-lift weight on a separate counterweight slide.

Disclosure of Invention

In one aspect, the disclosure describes a pipelayer including a frame, a plurality of ground engaging members movably supporting the frame, a prime mover, and a boom assembly and a counterbalance assembly supported on the frame. The boom assembly includes a boom. The balance assembly includes a counterweight movably supported on the frame to balance the boom assembly. The weight includes a battery compartment including at least one battery.

In accordance with another aspect of the present invention, a pipelayer is provided that includes a frame, a plurality of ground engaging members movably supporting the frame, and a boom assembly and a balance assembly supported on the frame. The boom assembly includes a boom. The balance assembly includes a counterweight movably supported on the frame to balance the boom assembly. The pipelayer also includes a cab adjustment system, a first power source including an engine, a second power source including at least one battery, and a control system including at least one controller. The control system is configured to store a reference profile for the pipelayer that includes the lower battery power threshold. The at least one controller is configured to access the reference profile, determine a power level of the at least one battery, and compare the power level of the at least one battery to a lower battery power threshold. The at least one controller is configured to operate at least the cab conditioning system from the second power source if the power level of the at least one battery is not less than the lower battery power threshold, and to start the engine to charge the at least one battery while operating the at least the cab conditioning system if the power level of the at least one battery is less than the lower battery power threshold.

In yet another aspect of the present invention, a method of providing power to a cab adjustment system in a hybrid pipelayer including a frame supporting a cab, a boom assembly, and a balance assembly; the balance assembly includes a movably supported counterweight to balance the boom assembly; a plurality of ground engaging members movably supporting the frame; the pipelayer includes an ignition switch, a cab adjustment system, a first power source including an engine, and a second power source including at least one battery. The method includes determining a power level of the at least one battery and comparing the power level of the at least one battery to a lower battery power threshold. The method further includes operating at least the cab conditioning system from the second power source if the power level of the at least one battery is not less than the lower battery power threshold, and starting the engine to charge the at least one battery while operating the at least the cab conditioning system from the at least one battery if the power level of the at least one battery is less than the lower battery power threshold.

Drawings

FIG. 1 illustrates a front view of an exemplary pipelayer, according to one embodiment of the present disclosure;

fig. 2 is a side view of the pipelayer of fig. 1.

Fig. 3 is a front view of the pipelayer of fig. 1 and 2, with the counterbalance assembly in an extended position.

Fig. 4 is a schematic diagram of an exemplary power system for operation in the pipelayer of fig. 1-3 in accordance with the teachings of the present disclosure.

FIG. 5 is a flow chart illustrating operation of a hybrid control system for the exemplary power system of FIG. 4 and the pipelayer of FIGS. 1-3.

FIG. 6 is a flow chart illustrating operation of the cab control system under conditions for the exemplary power system of FIG. 4 and the pipelayer of FIGS. 1-3.

Detailed Description

The present invention relates to a power system for a pipelayer 10, a hybrid control system for a pipelayer 10, and a cab-adjustment control system for such a pipelayer 10. An exemplary pipelayer 10 is shown in fig. 1, 2, and 3. The pipelayer 10 includes a frame 12 supported on a plurality of ground engaging members 14, 16 configured for propelling the pipelayer 10 along a surface. In the illustrated embodiment, for example, the ground engaging members 14, 16 are track portions 18, 20 rotatably mounted by a drive sprocket 22. Pipelayer 10 further includes a prime mover. The prime mover may be of any suitable design, such as, for example, the first power source 24, e.g., the engine 26. In at least one embodiment, the engine 26 is a diesel engine. The ground engaging members 14, 16 may be coupled to an engine 26 by a powertrain 28.

Pipelayer 10 further includes a cab 30, which may include one or more machine controllers 32 and a cab controller 34, which may control, for example, a machine ignition switch 35, electronic components 36, and a cab conditioning system 38, such as heating and air conditioning.

The pipelayer 10 further includes a boom assembly 40 mounted to the frame 12. The boom assembly 40 includes a boom 42, such as a lattice boom. The boom assembly 40 may further include a pulley block 44 attached to a distal end 46 of the boom 42, and a hook winch 48. The cable 50 may be connected to the hook winch 48 and wound around the pulley block 44. The hook 52 may be suspended from the cable 50. In this way, a lifting load (e.g., a pipe) suspended by the hook 52 can be lifted and lowered by wrapping and unwrapping the cable 50 around the hook winch 48. The boom assembly 40 may also include a boom winch 54. Cable 56 may connect boom winch 54 to distal end 46 of boom 42, allowing boom winch 54 to raise and lower boom 42 by winding and unwinding cable 56 around boom winch 54. The hook winch 48 and boom winch 54 may be any suitable type of rotary actuator known in the art, such as a hydraulic or electric motor.

The pipelayer 10 may also include a counterbalance assembly 58 that is removably coupled to the frame 12. The counterbalance assembly 58 may include a counterweight 60, the counterweight 60 being movably coupled to the frame 12 by a linkage assembly 62. The linkage assembly 62 may be of any suitable design; for example, the linkage assembly 62 may be a four-bar linkage or a five-bar linkage. The linkage assembly 62 may be actuated by any suitable arrangement to move the counterweight 60 from the retracted position, as shown in fig. 1 and 2, to the extended position, as shown in fig. 3, or to any position therebetween. For example, the linkage assembly 62 may be hydraulically controlled, such as by one or more hydraulic cylinders 64. During operation, hydraulic cylinders 64 may be actuated to move counterweight 60 between the extended and retracted positions. During operation of the boom assembly, the counterweight 60 may extend to balance the lifting load carried by the hook 52 by providing a counteracting moment that opposes the moment caused by the lifting load of the boom assembly 40. Each moment corresponds to each weight (lifting load or counterweight 60) acting at a horizontal distance of that weight from the center of gravity of the pipelayer. The horizontal distance of the counterweight 60 from the center of gravity of the pipelayer may be adjusted by actuators, i.e., hydraulic cylinders 64 in the illustrated embodiment, to generate the desired moments that counteract the various moments caused by the lifting load.

According to an aspect of the invention, the prime mover may further comprise a second power source 70 comprising at least one battery 72 as a source of electrical energy. Those skilled in the art will appreciate that the second power source 70 may include a plurality of batteries 72. In at least one embodiment, the battery 72 is disposed in the battery compartment 74 and is positioned to balance the weight 60 of the assembly 58, i.e., at least a portion of the weight 60. In at least one embodiment, at least one battery 72 is sealed and capable of rotating during operation of pipelayer 10 and movement of counterbalance assembly 58 without leaking the contents of battery 72. In at least one embodiment, battery compartment 74 is a protective, waterproof structure that resists the environmental elements in which pipelayers typically operate. In at least one embodiment, the battery case is metallic.

The at least one battery 72 is electrically coupled to the pipelayer 10 via a battery cable disposed within one or more protective conduits 76. Those skilled in the art will appreciate that the conduit 76 may be disconnected from the battery 72 and/or pipelayer 10 to facilitate replacement of the conduit 76 and/or battery 72. The battery compartment 74 may additionally include a switch 78, and the switch 78 may be accessible to an operator or maintenance personnel from the ground.

The first and second power sources 24, 70 may be used as a hybrid system 80. An exemplary such hybrid powertrain 80 is schematically illustrated in FIG. 4. The first power source 24 may be an engine 26, such as a diesel engine, that may be used to generate power that is supplied to the second power source 70, i.e., the at least one battery 72, via a generator 82 and an inverter 84. The generator 82 and the inverter 84 may be operatively coupled to each other to the second power source 70 by a plurality of cables 86, 88, 90.

At least one battery 72 may be used to provide full machine functionality or to power selective operation of the pipelayer 10. For example, at least one battery 72 may be used to power operation of the pipelayer 10, such as the cab adjustment system 38, and operation of one or both of the hook winch 48 and the boom winch 54. The at least one battery 72 may also be used to operate an electric drive system 92, which electric drive system 92 may include one or more electric motors 94, 96 drivingly coupled to the ground engaging members 14, 16. The motors 94, 96 may be operatively connected to the drive sprocket 22, which drives the track sections 18, 20. In an alternative embodiment including a wheel (not shown), an electric motor may be used to drive the wheel. It is further understood that one or more additional motors may be provided to operate other components of pipelayer 10, such as the operation of winches 48, 54. A plurality of cables 100, 102, 104 are provided to operatively connect the at least one battery 72 to various machine operations.

Pipelayer 10 may include aspects of pipelayer 10, and aspects of pipelayer 10 may be controlled by machine control system 106, as indicated by the arrows indicating association with the machines in FIG. 1. Machine control system 106 may include an electronic control module or controller, such as controller 108, that controls the operation of various aspects of pipelayer 10, including hybrid system 80. The reference profile for pipelayer 10 may be stored within controller 108 or accessed by controller 108, or stored elsewhere within machine control system 108.

The controller 108 may be an electronic controller that operates in a logical manner to perform operations, execute control algorithms, store and retrieve data, and other desired operations. The controller 108 may include or access memory, a secondary storage device, a processor, and any other components for running an application. The memory and secondary storage devices may be in the form of Read Only Memory (ROM) or Random Access Memory (RAM) or integrated circuits that are accessible by the controller 108. Various other circuits may be associated with controller 108 such as power supply circuitry, signal conditioning circuitry, driver circuitry, and other types of circuitry.

The controller 108 may be a single controller or may include more than one controller configured to control various functions and/or features of the control system 106. The term "controller" is intended to be used in the broadest sense to include one or more controllers and/or microprocessors that may be associated with pipelayer 10 and that may cooperate in controlling various functions and operations of pipelayer 10. The functionality of the controller 108 may be implemented in hardware and/or software without regard to functionality.

The pipelayer 10 may be equipped with a number of machine sensors that provide data indicative (directly or indirectly) of operational characteristics of the pipelayer 10. More specifically, pipelayer 10 may include at least one battery charge sensor 110 that indicates a current state of charge of at least one battery 72. The term "sensor" is intended to be used in its broadest sense to include one or more sensors and related components that may be associated with pipelayer 10 and that may cooperate to sense or identify the state of charge of at least one battery 72.

Industrial applicability

Exemplary systems and methods according to the present invention are illustrated in the exemplary flow diagrams of fig. 5-6. Referring initially to FIG. 5, a machine control system 106 is shown in accordance with the teachings of the present disclosure. At stage 501, the exemplary system is started when the machine ignition switch 35 is activated. At stage 502, at least one controller 108 accesses a reference profile for pipelayer 10. At stage 503, the at least one controller 108 determines a power level of the at least one battery 72 based on the battery level sensor 110. At stage 504, the at least one controller 108 determines whether the power level of the at least one battery 72 is greater than a lower battery power threshold. If the power level is greater than the lower battery power threshold, the mechanical functions of the pipelayer 10 are operated from the second power source 70 (stage 505). This cycle of determining the power level of the at least one battery 72 and comparing to the lower battery threshold is repeated until the power level of the at least one battery 72 falls below the lower battery power threshold.

When at least one controller 108 determines in stage 504 that the power level of at least one battery 72 has fallen below the lower battery power threshold, engine 26 is operated to charge at least one battery 72 while providing full machine functionality (stage 506). At stage 507, the controller determines a power level of the at least one battery 72 based on the battery level sensor 110. At stage 508, the at least one controller 108 determines whether the power level of the at least one battery 72 is less than a charging battery power threshold.

If the power level of the at least one battery 72 is less than the charging battery power threshold at stage 508, the engine continues to run, returning the system to stage 506. Stages 507 and 508 are then repeated until the power level of the at least one battery 72 is not less than the charging battery power threshold.

If the power level is not less than the rechargeable battery charging power threshold at stage 508, the machine functions of the pipelayer 10 are operated from the second power source 70, returning to stage 505. At stage 503, the cycle of determining the power level of the at least one battery 72 and comparing to the lower battery threshold (stage 504) is repeated until the power level of the at least one battery 72 again falls below the lower battery power threshold, at which point the controller 108 again operates the engine 26 (stage 506).

This strategy may alternatively or additionally be used as a method of powering the cab adjustment system 38 when the pipelayer 10 is idling to provide comfort to the operator in the cab 30. Referring to FIG. 6, a machine control system 106 for powering limited operations of a pipelayer, such as the cab adjustment system 38, is shown. At stage 601, the exemplary system is activated when the machine ignition switch 35 is activated. At stage 602, at least one controller 108 accesses a reference profile for pipelayer 10. At stage 603, the at least one controller 108 determines a power level of the at least one battery 72 based on the battery level sensor 110. At stage 604, the at least one controller 108 determines whether the power level of the at least one battery 72 is greater than a lower battery power threshold. If the power level is greater than the lower battery threshold, the cab adjustment system 38 of the pipelayer 10 is operated from the second power source 70 (stage 605). This cycle of determining the power level of the at least one battery 72 and comparing to the lower battery threshold is repeated until the power level of the at least one battery 72 falls below the lower battery power threshold.

When at least one controller 108 determines in stage 604 that the power level of at least one battery 72 has fallen below the lower battery power threshold, controller 108 operates engine 26 to charge at least one battery 72 while operating cab adjustment system 38 (stage 606. in stage 607, controller 108 determines the power level of at least one battery 72 based on battery level sensor 110. in stage 608, at least one controller 108 determines whether the power level of at least one battery 72 is less than the charging battery power threshold.

If the power level of the at least one battery 72 is less than the charging battery power threshold (step 608), the engine 26 continues to run, returning the system to step 606. Stages 607 and 608 are then repeated until the power level of the at least one battery 72 is not less than the rechargeable battery power threshold.

If the power level of the at least one battery 72 is not less than the rechargeable battery power threshold in stage 608, the cab adjustment system 38 of the pipelayer 10 operates from the second power source 70, returning to stage 605. At stage 603, the loop of determining the power level of the at least one battery 72 and comparing to the lower battery threshold (stage 604) is repeated until the power level of the at least one battery 72 again falls below the lower battery power threshold, at which point the controller 108 again operates the engine 26 (stage 606).

Accordingly, some embodiments of the present invention may be useful in the operation of pipelayer 10 at a job site, particularly when pipelayer 10 is idling. Some embodiments may reduce fuel consumption.

While aspects of the present invention have been particularly shown and described with reference to the foregoing embodiments, it will be understood by those skilled in the art that various additional embodiments may be devised by modification of the disclosed pipelayer, system, and method without departing from the spirit and scope of the disclosure. Such embodiments should be understood to fall within the scope of the invention as determined based on the claims and any equivalents thereof.

While the foregoing description provides examples of the disclosed systems and techniques, it is contemplated that other implementations of the invention may differ in detail from the foregoing examples. All references to the invention or examples thereof are intended to reference the particular example being discussed at this time and are not intended to imply any limitation as to the scope of the invention more generally. All language of distinction and disparagement with respect to certain features is intended to indicate a lack of preference for those features, but not to exclude entirely from the scope of the invention unless otherwise indicated.