Patent Application
20240367949
The present disclosure relates to pipelayers having booms for performing load lifting and lowering operations. More particularly, the present disclosure relates to a system for measuring load on a lower boom block yoke of a pipelayer.
Pipelayers are generally used to suspend and place loads, such as pipelines, at an installation site or the like. A pipelayer typically includes a boom for handling such loads. In addition, the pipelayer includes a boom hoisting assembly for controlling a position of the boom during the installation of loads. During the installation, the pipelayer may be subjected to forces based on a weight of a load sustained by the boom and a position of the load relative to the pipelayer. It is desirable to accurately measure such forces for effective installation of loads.
Canadian Patent No. 2,983,837 discloses a pipelayer machine. The pipelayer machine includes a main body, a side boom pivotally connected to the main body, a boom winch connected to the side boom by a boom cable, a luff block attached to the main body near the boom winch and the boom cable running through the luff block, a hook winch, and a sensor array. The sensor array includes a load pin, a luff accelerometer, a boom winch encoder, a hook winch encoder, and a vehicle accelerometer. The load pin pivotally connects the luff block to the main body of the pipelayer machine. The luff accelerometer is positioned on the luff block and measures a position of the luff block. The boom winch encoder measures the direction of the boom winch and the speed of winding/unwinding. The hook winch encoder measures the direction of the hook winch and the speed of winding/unwinding. The vehicle accelerometer measures the inclination of the vehicle.
In one aspect, the disclosure relates to a system for measuring load, from a cable, associated with a boom of a pipelayer. The system includes a linkage configured to be coupled between a boom block, engaged with the cable, and a portion of the pipelayer. In addition, the system includes a load cell coupled between the linkage and the boom block for measuring the load, from the cable, on the linkage. A measurement load path, of the load cell, is aligned with a load path, of the load, between the boom block and the linkage.
In another aspect, the disclosure is directed to a pipelayer. The pipelayer includes a main frame, a boom, a first boom block, a linkage, a second boom block, a cable, and a load cell. The boom is configured to pivot with respect to the main frame to allow lifting and lowering of the boom. The boom defines a first end coupled to the main frame and a second end away from the main frame. The first boom block is coupled to the second end of the boom. The linkage is coupled to main frame. The second boom block is coupled between the linkage and the first boom block. The cable is engaged with the first boom block and the second boom block and configured to be actuated to pivot the boom. The load cell is coupled between the linkage and the second boom block for measuring load, from the cable, on the linkage. A measurement load path, of the load cell, is aligned with a load path, of the load, between the second boom block and the linkage.
Reference will now be made in detail to specific embodiments or features, examples of which are illustrated in the accompanying drawings. Generally, corresponding reference numbers may be used throughout the drawings to refer to the same or corresponding parts, e.g., 1, 1′, 1″, 101 and 201 could refer to one or more comparable components used in the same and/or different depicted embodiments.
The term “about” used in conjunction with a numerical value or range modifies that value or range by extending the boundaries above and below the numerical values set forth. In general, the term “about” is used herein to modify a numerical value above and below the stated value by 10%.
Referring to
Although references to the pipelayer 100′ are used, aspects of the present disclosure may also be applicable to other work machines equipped with booms for suspending loads, such as dragline excavators, rope shovels, cranes, etc., and references to the pipelayer 100′ in the present disclosure is to be viewed as purely exemplary.
The pipelayer 100′ (or the machine 100) includes a main frame 104, traction devices 108, a propulsion system 112, an operator cabin 116, a boom assembly 120, a boom hoisting assembly 124, and a counterweight assembly 128. The main frame 104 supports one or more components/assemblies of the pipelayer 100′, such as the propulsion system 112, the operator cabin 116, the boom assembly 120, the boom hoisting assembly 124, and the counterweight assembly 128, although other known components and structures may be supported by the main frame 104, as well. The main frame 104 may define a forward end 132 and a rearward end (not shown) opposite to the forward end 132. The forward end 132 and the rearward end may be defined in relation to an exemplary direction of travel of the pipelayer 100′, with said direction of travel being defined from the rearward end towards the forward end 132.
Also, the main frame 104 may define two lateral sides, namely, a first lateral side 136 and a second lateral side 140 opposite to the first lateral side 136. The two lateral sides 136, 140 may be located transversely relative to the exemplary direction of travel of the pipelayer 100′. In addition, the main frame 104 may include a first track roller frame 144 and a second track roller frame 148. The first track roller frame 144 may be disposed at the first lateral side 136 of the pipelayer 100′ and, the second track roller frame 148 may be disposed at the second lateral side 140 of the pipelayer 100′.
The traction devices 108 may support the main frame 104 (and thus the overall pipelayer 100′) over ground 152 and may be powered by the propulsion system 112 so as to facilitate movement of the pipelayer 100′ over an expanse of the installation site. The traction devices 108 may include tracks, or wheels, or a combination thereof. As shown in
The propulsion system 112 may include a power compartment 112′ and a power source (not shown) provided within the power compartment 112. The power source may include a combustion engine, or an electrical power source, or a combination thereof. The power source may be configured to generate an output power required to operate various systems or assemblies on the pipelayer 100″, with one operation exemplarily involving a pivoting of the boom assembly 120 with respect to the main frame 104 to lift or lower loads.
The operator cabin 116 may be supported over the main frame 104. The operator cabin 116 may facilitate stationing of one or more operators therein, to monitor and control the operations of the pipelayer 100. Also, the operator cabin 116 may house various components and controls of the pipelayer 100′, access to one or more of which may help the operators to perform the pipelaying operations. For example, the various components and controls of the pipelayer 100′ may include, but not limited to, joysticks, switches, and the likes, to facilitate an operator in performing the pipelaying operations.
The boom assembly 120 may be disposed on the first lateral side 136 of the main frame 104. The boom assembly 120 is configured to lift and lower a load (e.g., pipe segment). The boom assembly 120 includes a boom 164, a first hook block 168, a second hook block 172, and a lifting hook 176. The boom 164 defines a first end 180 and a second end 184 opposite to the first end 180. The first end 180 of the boom 164 is coupled to the main frame 104. For example, the first end 180 of the boom 164 may be pivotally coupled to the first track roller frame 144, using one or more hinge pins 188. The second end 184 of the boom 164 is defined away from the main frame 104.
Further, the boom 164 may be formed of one or more leg segments 192. In the present embodiment, as shown in
The boom 164 is configured to pivot with respect to the main frame 104. The boom 164 may be pivotable between a raised position (as shown in
The first hook block 168 may be pivotally coupled to the second end 184 of the boom 164. The second hook block 172 may be operably coupled to the first hook block 168 using at least one hook cable 196. The hook cable 196 may be actuated using a hook winch 200 supported on the main frame 104. Further, the lifting hook 176 may be coupled to the second hook block 172. The lifting hook 176 may be configured to suspend the load, such as a pipe section, to be lifted (or lowered). During a pipelaying operation, the hook cable 196 may be actuated by the hook winch 200 to raise or lower the second hook block 172 and the lifting hook 176 relative to the ground 152.
The boom hoisting assembly 124 is now discussed. The boom hoisting assembly 124 may operate in a manner to move (e.g., pivot) the boom 164 with respect to the main frame 104. For example, the boom hoisting assembly 124 facilitates pivoting of the boom 164 between the raised position and the lowered position with respect to the main frame 104. The boom hoisting assembly 124 includes a winch 204 (hereinafter referred to as “boom winch 204”), a first boom block 208, a second boom block 212, and a cable 216 (hereinafter referred to as “boom cable 216”).
The boom winch 204 may include a frame 220 and a drum 224 disposed at least partially within the frame 220 (as shown in
The first boom block 208 may include a first housing 228 and one or more first pulleys 232 coupled to the first housing 228. The first pulleys 232 may be configured to receive and guide the boom cable 216 between the boom winch 204 and the second boom block 212. The first boom block 208 is coupled to the second end 184 of the boom 164. For example, the first housing 228 of the first boom block 208 defines a first mounting portion 236 to facilitate pivotal coupling between the first boom block 208 and the second end 184 of the boom 164.
The second boom block 212 may be supported on the main frame 104. For example, as shown in
In this illustrated configuration, the boom cable 216 may run back and forth between the first pulleys 232 of the first boom block 208 and the second pulleys 240 of the second boom block 212, four times. However, it should be noted that the boom cable 216 may run fewer or more times depending on the number of
first and second pulleys 232, 240. This engagement between the boom winch 204, the first boom block 208, and the second boom block 212, (formed via the boom cable 216 extending therebetween) may aid the boom winch 204 in pivoting the boom 164 with respect to the main frame 104.
During the pipelaying operation, the boom 164 may be subjected to various forces (or moments), for example, due to weight and position of the load suspended from the lifting hook 176. Such forces (or moments), if unaccounted for, may affect the stability of the pipelayer 100′, and in worst scenarios, may result in tipping of the pipelayer 100′. Therefore, determination of such forces (or moments) is necessary to avoid dangerous tipping situations and hence, to enhance the stability of the pipelayer 100. To determine the forces (or moments) applied to the boom 164 due to the suspended load, load (e.g., tension) from the boom cable 216 is to be measured.
Referring to
The linkage 248 may include a clevis bracket 256 and a yoke 260. The clevis bracket 256 may include a body 264, a first pin 268, and a second pin 272. The body 264 may define a pair of spaced-apart, parallel protrusions 276, and a pair of first through-holes 280. The protrusions 276 may extend outwardly and away from the body 264. The first through-holes 280 may be defined at their corresponding protrusions 276. The first through-holes 280 are axially aligned to one another to receive the first pin 268. Further, the body 264 may define a pair of spaced-apart, parallel projections 284, and a pair of second through-holes 288. The projections 284 may extend outwardly from the body 264 and opposite to the protrusions 276. The projections 284 are spaced from one another in a direction transverse to a direction in which the protrusions 276 are spaced from one another. The second through-holes 288 may be defined at their corresponding projections 284. The second through-holes 288 are axially aligned to one another to receive the second pin 272.
Referring to
The clevis bracket 256 and the yoke 260 are coupled to one another in a manner such that the yoke 260 pivots with respect to the clevis bracket 256. In an exemplary coupling of the clevis bracket 256 and the yoke 260, as shown in
The linkage 248 is configured to be coupled between the boom block 316 and a portion 320 of the pipelayer 100′. For example, the yoke 260 of the linkage 248 is coupled to the boom block 316 whereas, the clevis bracket 256 is coupled to the portion 320 of the pipelayer 100′. In the present embodiment, the boom block 316 corresponds to the second boom block 212. The portion 320 of the pipelayer 100′ may be defined at the main frame 104. As shown in
In an exemplary assembly of the linkage 248 with the boom block 316 (or the second boom block 212), the second engagement portion 300 (of the yoke 260) is received within the second housing 238 of the second boom block 212 in a manner to axially align the second mounting bores 312 (of the yoke 260) with the mounting through-holes 242 (of the second boom block 212). Subsequent to this, bolts 324 are inserted through the second mounting bores 312 and the mounting through-holes 242, and are fastened to fixedly couple the yoke 260 to the second boom block 212.
Further, in an exemplary assembly of the linkage 248 with the portion 320 (or the frame 220), the protrusions 276 (of the clevis bracket 256) are received within the frame 220 in a manner to axially align the first through-holes 280 (of the clevis bracket 256) with the mounting bores 226 of the frame 220. Subsequent to this, the first pin 268 is inserted through the first through-holes 280 and the mounting bores 226 to pivotally couple the clevis bracket 256 to the portion 320 (or the frame 220).
The linkage 248 may be coupled to the portion 320 to define a multi-axis coupling with respect to the portion 320. The multi-axis coupling may correspond to a universal coupling that facilitate movement of the yoke 260 (and the second boom block 212, 316) about multiple axis of rotations with respect to the portion 320 (or the frame 220). In the present embodiment, the universal coupling may facilitate movement of the yoke 260 (and the second boom block 212, 316) about two different axis of rotations, namely a first axis of rotation ‘X1’ and a second axis of rotation ‘X2’.
For example, as shown in
The load cell 252 is now discussed. The load cell 252 is coupled between the linkage 248 and the second boom block 212, 316. In the present embodiment, the load cell 252 is coupled to the yoke 260 of the linkage 248. In an example, as shown in
In the present embodiment, the load cell 252 includes one or more strain gauges 252′. However, it may be contemplated that in other embodiments, the load cell 252 may be any type of load sensor, such as a piezoelectric type load sensor, a pneumatic type load sensor, a hydraulic type load sensor, and so on, based on application requirements.
In some embodiments, the load cell 252 may be disposed within the second pin 272 in an orientation such that the measurement load path of the load cell 252 may be aligned with the load path of the load, between the second boom block 212 and the linkage 248, from the boom cable 216.
During the pipelaying operation, the boom 164 may be subjected to various forces (or moments), for example, due to weight and position of the load suspended from the lifting hook 176. Such forces (or moments), if unaccounted for, may affect the stability of the pipelayer 100′, and in worst scenarios, may result in tipping of the pipelayer 100′. Therefore, determination of such forces (or moments) is necessary to avoid dangerous tipping situations and hence, to enhance the stability of the pipelayer 100′. To determine the forces (or moments) applied to the boom 164 due to the suspended load, load (e.g., tension) from the boom cable 216 is to be measured.
In this regard, the present disclosure provides the system 244, e.g., the linkage 248 having the clevis bracket 256 and the yoke 260 and the load cell 252 coupled between the second boom block 212, 316 and the linkage 248 (e.g., to the yoke 260). Coupling the load cell 252 to the yoke 260 may prevent the load cell 252 from directly contacting dirt, debris, or other foreign material present on the installation site. In addition, a hard-wired connection between the load cell 252 and other electronic/electrical devices (e.g., a controller associated with the pipelayer 100′) may be established for fast, reliable, and inexpensive transfer of information (signals) between the load cell 252 and the electronic/electrical devices.
Further, pivoting of the clevis bracket 256 (with respect to the frame 220) about the first axis of rotation ‘X1’ allows the yoke 260 and the second boom block 212, 316 to follow the pivoting movement of the boom 164 in the vertical plane (as shown in
Generating the signal corresponding to the tension sustained in the yoke 260 in response to the actual load from the boom cable 216 aids in accurately determining the forces (or moments) applied to the boom 164 due to the suspended load. For example, the load cell 252 may transmit the signal (indicative of the tension in response to the actual load from the boom cable 216) to a controller (not shown) associated with the pipelayer 100′. The controller may process the signal received from the load cell 252 to accurately determine the forces (or moments) applied to the boom 164 due to the load suspended from the lifting hook 176.
The system 244 may be retrofitted on any machine equipped with a boom, such as pipelayers, dragline excavators, rope shovels, cranes, etc., with little or no modification to existing systems, in turn, improving flexibility and compatibility. The system 244 facilitates a simple, fast, and accurate measurement of the actual load (and not any component of the load) from the boom cable 216. Directly measuring the actual load from the boom cable 216 (instead of any component of the load from the boom cable 216) may significantly reduce processing time and power requirement of the controller for determining the forces (or moments) applied to the boom 164 during the pipelaying operation. This may enable an operator of the pipelayer 100′ to control the pipelayer 100′ safely and efficiently.
Unless explicitly excluded, the use of the singular to describe a component, structure, or operation does not exclude the use of plural such components, structures, or operations or their equivalents. The use of the terms “a” and “an” and “the” and “at least one” or the term “one or more,” and similar referents in the context of describing the invention (especially in the context of the following claims) are to be construed to cover both the singular and the plural, unless otherwise indicated herein or clearly contradicted by context. The use of the term “at least one” followed by a list of one or more items (for example, “at least one of A and B” or one or more of A and B″) is to be construed to mean one item selected from the listed items (A or B) or any combination of two or more of the listed items (A and B; A, A and B; A, B and B), unless otherwise indicated herein or clearly contradicted by context. Similarly, as used herein, the word “or” refers to any possible permutation of a set of items. For example, the phrase “A, B, or C” refers to at least one of A, B, C, or any combination thereof, such as any of: A; B; C; A and B; A and C; B and C; A, B, and C; or multiple of any item such as A and A; B, B, and C; A, A, B, C, and C; etc.
It will be apparent to those skilled in the art that various modifications and variations can be made to the system and/or the pipelayer of the present disclosure without departing from the scope of the disclosure. Other embodiments will be apparent to those skilled in the art from consideration of the specification and practice of the system and/or the pipelayer disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope of the disclosure being indicated by the following claims and their equivalent.
