CN105830755A - Dynamic counterweight device of high-branch pruning machine and control method for dynamic counterweight device - Google Patents

Abstract

The invention relates to a dynamic counterweight device of a high-branch pruning machine and a control method for the dynamic counterweight device. The dynamic counterweight device comprises a dynamic counterweight mechanical module, a sensor module and a dynamic counterweight control module; the dynamic counterweight mechanical module comprises a counterweight arm, a counterweight arm pull rod, a counterweight mechanism bottom plate, linear guide rails, bearings, sliding blocks, a counterweight block, a counterweight motor, a coupler, a lead screw and a lead screw nut; the sensor module is a counterweight block ranging sensor; the counterweight block ranging sensor is fixed on the counterweight mechanism bottom plate; the dynamic counterweight control module comprises a power supply, a dynamic counterweight controller and an input/output interface; and the counterweight block ranging sensor and the counterweight motor are connected to the dynamic counterweight controller through the input/output interface. According to the dynamic counterweight device of the high-branch pruning machine and the control method for the dynamic counterweight device, an overturning moment generated by an arm support system of the high-branch pruning machine can be monitored in real time, and the real-time leveling for the arm support system can be achieved during the work of the high-branch pruning machine.

Description

High branch trimming machinery dynamically counter weight device and control method

Technical field

The present invention relates to a kind of graden machine, particularly relate to a kind of high branch trimming machinery dynamically counter weight device and controlling party Method.

Background technology

High branch trimming machinery is a kind of pruning machinery being applied to the tall and big trees in gardens, it is possible to pruning easily and effectively is tall and big Trees side shoot, and in the maintenance carrying out pruning crops for rotation of pruning simultaneously.Above-mentioned functions is in the patent that applicant has been applied for Discuss.Concrete patent information is as follows, the patent No.: ZL201210194078.2, title: a kind of high-altitude trimming mechanical hand；Specially Profit ZL201410048553.4, title: a kind of guide card locking-type high branch trimming protects stubble saw.But use at high branch trimming machinery During be continually changing due to the operating attitude of boom system, the bigger and tilting moment of real-time change can be produced, shorten Even there is rollover risk in the service life of complete machine.For problem above, high branch trimming machinery dynamically counter weight device becomes research Emphasis.

Below high branch trimmer tool is described briefly include chassis, jacking system, pivoting support system, boom system and Stubble saw is protected in pruning.Wherein chassis is with the device such as walking wheel, supporting leg, and under duty, supporting leg is opened, it is ensured that complete machine is put down Stability；Jacking system is positioned on chassis, is used for improving complete machine working depth；Pivoting support system is positioned at jacking system top, even Connect jacking system and boom system base, make boom system have rotary freedom in horizontal plane；Boom system includes boom system Base, three joint main frame mechanical arm and a joint sub-arm, be used for increasing pruning and protect stubble saw work space, by servo electricity between adjacent machine arm Dynamic cylinder drives；Pruning is protected stubble saw and is positioned at sub-arm end, is used for prune branch real-time maintenance pruning crops for rotation.

Retrieval through prior art literature finds, patent announcement number: CN202415030U, title: a kind of automatic weighing Tower crane.It includes balancing weight, weight arm gear, gear fork, spring etc..It is moved by the load change band of tower crane crane arm Spring stretches, and spring band moving gear fork and then driven gear rotate, and pinion rotation realizes moving left and right of balancing weight.This join Weighing method is relatively specific for tower crane, the most effectively.But its control principle is simple, and tower crane structure is poor with high branch trimming machinery The biggest, this dynamic Weighting system is not suitable for high branch trimming machinery.

Summary of the invention

The present invention is directed to deficiencies of the prior art, it is provided that a kind of high branch trimming machinery dynamically counter weight device and Control method, it is possible to realize the real-time leveling to boom system in high branch trimming machinery work process.

The technical solution adopted in the present invention is:

A kind of high branch trimming machinery dynamically counter weight device, including: dynamically counterweight mechanical module, sensor assembly, dynamically join Weight control module.

Described dynamic counterweight mechanical module, including weight arm, weight arm pull bar, balance weight mechanism base plate, line slideway, axle Hold, slide block, balancing weight, counterweight motor, shaft coupling, screw mandrel, feed screw nut.

Vertical affixed boom system base bottom, described weight arm one end；Described weight arm pull bar one end is fixed in counterweight Arm, the other end is fixed in boom system base top；Described balance weight mechanism base plate is fixed on weight arm；Two line slideways pair Claim to be installed in parallel in both sides before and after balance weight mechanism base plate top；Two bearings are respectively arranged on balance weight mechanism base plate left and right two Side, bearing face is vertical with line slideway axial direction.Described screw mandrel two ends are respectively arranged on two side bearings, screw mandrel axially with Line slideway is axially in parallel；Described counterweight motor is arranged on weight arm by motor rack；Described shaft coupling connects motor output Axle and screw mandrel；Described slide block includes that four same slide blocks, four slide blocks are symmetrically mounted on two line slideways, every straight line Two slide blocks it are respectively mounted on guide rail；Described balancing weight is arranged on four slide block tops；Described feed screw nut is arranged on screw mandrel, Feed screw nut side is affixed with balancing weight.

Described sensor assembly is balancing weight distance measuring sensor；Described balancing weight distance measuring sensor is fixed at the bottom of balance weight mechanism On plate.

Described dynamic counterweight control module, including power supply, dynamic counterweight controller and input/output interface.

Described power supply preferentially selects 12 volts or 24 volts of DC sources；STM32 type preferentially selected by described dynamic counterweight controller Single-chip microcomputer；Input/output interface includes that Phototube Coupling, signal amplify and Digital I/O drive circuit；Described balancing weight range finding passes Sensor is connected to dynamic counterweight controller by described input/output interface；Described counterweight motor is by described input and output Interface is connected with dynamic counterweight controller, and dynamic counterweight controller controls counterweight motor start and stop by input/output interface.

The concrete control process of a kind of high branch trimming of present invention machinery dynamically counter weight device is as follows:

(1) dynamic counterweight control module and sensor initializing；

(2) high branch trimming machinery starts operation.Servo electric jar is started working and is fed back to dynamically by real-time retracted position Counterweight controller；Meanwhile, balancing weight distance measuring sensor records when front-end weight block position and passes the signal to the control of dynamic counterweight Device；

(3) dynamically counterweight controller receives three servo electric jar feedback signals and the live signal of balancing weight position, When program judges boom system tilting moment beyond safety range, dynamic counterweight controller is driven by input/output interface Counterweight electric machine rotation, and then drive balancing weight to move, make boom system tilting moment be constantly in safety range.

In the present invention, signal processing flow is as follows:

1) servo electric jar elongation state signal L_iBe converted to angle theta between adjacent machine arm_i:

θ_i=f (L_i) i=1,2,3--------------(1)

2) angle theta between adjacent machine arm_iBe converted to boom system tilting moment T:

T=g (θ_i) i=1,2,3--------------(2)

3) tilting moment T calculates balancing weight theoretical position X；

$X=\frac{T-T_0}{G}---\left(3\right)$

T in formula₀Trimming moment produced by the fixing component such as weight arm, line slideway；G is gravity suffered by balancing weight.

4) balancing weight theory displacement X is calculated；

Δ X=X-X₀--------------(4)

X in formula₀Balancing weight real-time position signal X recorded for balancing weight distance measuring sensor₀；

5) set tilting moment secure threshold, and obtain balancing weight position deviation secure threshold X_δ, and by Δ X and X_δContrast.

If | Δ X | is≤X δ, counterweight motor is failure to actuate, and balancing weight does not moves, otherwise the motion of counterweight driven by motor balancing weight ΔX。

The invention has the beneficial effects as follows:

1, tilting moment produced by high branch trimming mechanical arm frame system can be monitored in real time.2, counterweight can be adjusted in real time Block position, makes tilting moment produced by boom system in safety range, and the setting of secure threshold effectively prevent balancing weight Frequent motion, also improve the stability of high branch trimming machinery.

Accompanying drawing explanation

Fig. 1 is high branch trimming machinery schematic diagram.

Fig. 2 is high branch trimming machinery dynamically counter weight device schematic diagram.

Fig. 3 is that high branch trimming machinery dynamically counter weight device controls process flow diagram flow chart.

Fig. 4 is high branch trimming mechanical arm frame system dimension relation schematic diagram one.

Fig. 5 is high branch trimming mechanical arm frame system dimension relation schematic diagram two.

In figure: 1 chassis, 2 jacking systems, 3 weight arms, 4 boom system bases, 5 weight arm pull bars, 6 servo electric jars, 7 Stubble saw, 8 boom systems, 9 pivoting support systems, 10 balance weight mechanism base plates, 11 counterweight motors, 12 shaft couplings, 13 counterweights are protected in pruning Block, 14 feed screw nuts, 15 slide blocks, 16 line slideways, 17 screw mandrels, 18 bearings, 19 balancing weight distance measuring sensors

Detailed description of the invention

The invention will be further described below in conjunction with the accompanying drawings.

Present invention may apply to existing common folding-jib Work machine, branches of tall trees involved in such as the present embodiment Prune machinery.First the high branch trimming machinery involved by the present embodiment is described briefly, its structure as shown in Figure 2: it includes Stubble saw 7 is protected in chassis 1, jacking system 2, pivoting support system 9, boom system 8 and pruning.Wherein chassis 1 with walking wheel, The devices such as support leg, under duty, supporting leg is opened, it is ensured that complete machine stationarity；Jacking system 2 is positioned on chassis 1, is used for improving Complete machine working depth；Pivoting support system 9 is positioned at jacking system 2 top, connects jacking system 2 and boom system base 4, makes arm Frame system 8 has rotary freedom in horizontal plane；Boom system 8 includes boom system base 4, three joint main frame mechanical arm and a joint auxiliary Arm, is used for increasing pruning and protects stubble and saw 7 work spaces, driven by servo electric jar 6 between adjacent machine arm；Pruning is protected stubble saw 7 and is positioned at Sub-arm end, is used for prune branch real-time maintenance pruning crops for rotation.

A kind of high branch trimming machinery dynamically counter weight device of the present invention, including: dynamically counterweight mechanical module, sensor Module, dynamic counterweight control module.

Described dynamic counterweight mechanical module, including weight arm 3, weight arm pull bar 5, balance weight mechanism base plate 10, line slideway 16, bearing 18, slide block 15, balancing weight 13, counterweight motor 11, shaft coupling 12, screw mandrel 17, feed screw nut 14.

Vertical affixed boom system base 4 bottom, described weight arm 3 one end；Described weight arm pull bar 5 one end is fixed in joins Weighing arm 3, the other end is fixed in boom system base 4 top；Described balance weight mechanism base plate 10 is fixed on weight arm 3, is used for pacifying Fill each parts of dynamic counter weight device；Described line slideway 16 is horizontally installed to balance weight mechanism base plate 10 top, two line slideways It is symmetrically installed；Described bearing 18 includes two bearings, is respectively arranged on balance weight mechanism base plate 10, bearing face and line slideway 16 axial directions are vertical.Described screw mandrel 17 two ends are installed on bearing 18, and screw mandrel 17 is the most axially in parallel with line slideway 16；Institute State counterweight motor 11 to be arranged on weight arm 3 by motor rack；Described shaft coupling 12 links counterweight motor output shaft and screw mandrel 17； Described slide block 15 includes four same slide blocks, and two line slideways 16 are respectively mounted two slide blocks 15, and slide block 15 can edge Line slideway 16 slides；Described balancing weight 13 is arranged on four slide blocks；Described feed screw nut 14 is arranged on screw mandrel 17, screw mandrel Nut 14 side is affixed with balancing weight 13.

Described sensor assembly includes balancing weight distance measuring sensor 19, and described distance measuring sensor uses the common range finding in market to pass Sensor, such as ultrasonic distance-measuring sensor.Balancing weight distance measuring sensor 19 is fixed on balance weight mechanism base plate 10, is used for measuring Balancing weight 13 position.

Described dynamic counterweight control module, including power supply, dynamic counterweight controller and input/output interface.

Described power supply preferentially selects 12 volts or 24 volts of DC sources, and described power supply is counterweight motor and power supply；Described dynamically STM32 type single-chip microcomputer preferentially selected by counterweight controller；Described input/output interface includes that Phototube Coupling, signal amplify and numeral IO drive circuit；Described balancing weight distance measuring sensor is connected to dynamic counterweight controller by described input/output interface；Institute The input/output interface that the counterweight motor stated passes through is connected with dynamic counterweight controller, and dynamic counterweight controller passes through input and output Interface Controller counterweight motor start and stop.

One high branch trimming of the present invention machinery dynamically counter weight device, concrete control process is as follows:

(1) dynamically counterweight control module and balancing weight distance measuring sensor initialize；

(2) high branch trimming machinery starts operation.Servo electric jar 6 is started working and is fed back to dynamically by real-time retracted position Counterweight controller；Meanwhile, balancing weight distance measuring sensor 19 records when front-end weight block 13 position and passes the signal to dynamic counterweight Controller；

(3) dynamically counterweight controller receives three servo electric jar feedback signals and the live signal of balancing weight position, When program judges that tilting moment exceeds safety range, dynamic counterweight controller drives counterweight motor by input/output interface 11 rotate, and then drive balancing weight 13 to move, and make boom system 8 tilting moment be constantly in safety range.

One high branch trimming of the present invention machinery dynamically counter weight device, signal processing flow is as follows:

1) servo electric jar elongation state signal L_iBe converted to angle theta between adjacent machine arm_i:

θ_i=f (L_i) i=1,2,3--------------(¹)

In conjunction with Fig. 4 as a example by the jib lubbing mechanism between first segment arm and base, l₁With θ₁Between function corresponding relation such as Under:

$\begin{array}{c}{\mathrm{\θ}}_1=\∠ADC+\∠ADE+\mathrm{\α}\\ =\arccos \frac{q+p\[(p^2+n^2-{l_1}^2)/2pn\]}{\sqrt{p^2+q^2+2pq\[(p^2+n^2-{l_1}^2)/2pn\]}}+\arccos \frac{p^2+q^2+2pq\[(p^2+n^2-{l_1}^2)/2p\·n+r^2-t^2}{2r\sqrt{p^2+q^2+2pq\[(p^2+n^2-{l_1}^2)/2p\·n\]}}+\mathrm{\α}\end{array}$

In formula, A, B, C, D, E represent five points respectively, n, p, q, r, t, α, for the constant in mechanical mechanism.

θ₂θ₃With l₂l₃Between relation try to achieve the most in this way.

2) angle theta between adjacent machine arm_iBe converted to boom system tilting moment T:

T=g (θ_i) i=1,2,3--------------(2)

In conjunction with Fig. 5, the detailed corresponding relation of function (2) is as follows:

T=G₁D₁+G₂D₂+G₃D₃

=G₁L_1,0·sinθ₁+G₂[L₁·sinθ₁-L_2,1·sin(θ₁+θ₂)]+G₃[L₁·sinθ₁-L_2,1·sin(θ₁+θ₂) ±L_3,2·sin(θ₁+θ₂+θ₃)]

L in formula_iIt is the length of the i-th joint mechanical arm；L_i,_i-1It is that the i-th joint mechanical arm barycenter saves machine to the i-th joint mechanical arm with i-1 The length of mechanical arm hinge joint.

3) tilting moment T calculates balancing weight theoretical position X；

$X=\frac{T-T_0}{G}---\left(3\right)$

T in formula₀For weight arm, line slideway, etc. trimming moment produced by fixing component；G is gravity suffered by balancing weight.

4) balancing weight theory displacement X is calculated；

Δ X=X-X₀--------------(4)

X in formula₀Balancing weight real-time position signal X recorded for balancing weight distance measuring sensor₀；

5) set tilting moment secure threshold, and obtain balancing weight position deviation secure threshold X_δ, and by Δ X and X_δContrast.

If | Δ X | is≤X_δ, counterweight motor is failure to actuate, and balancing weight does not moves, otherwise the motion of counterweight driven by motor balancing weight ΔX。

Claims (2)

1. a high branch trimming machinery dynamically counter weight device, it is characterised in that including: dynamically counterweight mechanical module, sensor die Block, dynamic counterweight control module；

Described dynamic counterweight mechanical module, including weight arm, weight arm pull bar, balance weight mechanism base plate, line slideway, bearing, cunning Block, balancing weight, counterweight motor, shaft coupling, screw mandrel and feed screw nut；

Vertical affixed boom system base bottom, described weight arm one end；Described weight arm pull bar one end is fixed in weight arm, separately One end is fixed in boom system base top；Described balance weight mechanism base plate is fixed on weight arm；Two line slideway symmetries are put down Row is arranged on both sides before and after balance weight mechanism base plate top；Two bearings are respectively arranged in the left and right sides on balance weight mechanism base plate, axle Socket end face is vertical with line slideway axial direction；Described screw mandrel two ends are respectively arranged on two side bearings, and screw mandrel is axially and straight line Guide rail is axially in parallel；Described counterweight motor is arranged on weight arm by motor rack；Described shaft coupling connect motor output shaft with Screw mandrel；Described slide block includes that four same slide blocks, four slide blocks are symmetrically mounted on two line slideways, every line slideway On be respectively mounted two slide blocks；Described balancing weight is arranged on four slide block tops；Described feed screw nut is arranged on screw mandrel, screw mandrel Nut side is affixed with balancing weight；

Described sensor assembly is balancing weight distance measuring sensor；Described balancing weight distance measuring sensor is fixed on balance weight mechanism base plate On；

Described dynamic counterweight control module, including power supply, dynamic counterweight controller and input/output interface；

Described power supply is 12 volts or 24 volts of DC sources；Described dynamic counterweight controller is STM32 type single-chip microcomputer；Input and output connect Mouth includes that Phototube Coupling, signal amplify and Digital I/O drive circuit；Described balancing weight distance measuring sensor is by described input Output interface is connected to dynamic counterweight controller；Described counterweight motor is by described input/output interface and dynamic counterweight control Device processed is connected, and dynamic counterweight controller controls counterweight motor start and stop by input/output interface.

The control method of a kind of high branch trimming the most as claimed in claim 1 machinery dynamically counter weight device:

(1) dynamic counterweight control module and sensor initializing；

(2) high branch trimming machinery starts operation；Servo electric jar is started working and real-time retracted position is fed back to dynamic counterweight Controller；Meanwhile, balancing weight distance measuring sensor records when front-end weight block position and passes the signal to dynamic counterweight controller；

(3) dynamically counterweight controller receives three servo electric jar feedback signals and the live signal of balancing weight position, works as journey When sequence judges boom system tilting moment beyond safety range, dynamic counterweight controller drives counterweight by input/output interface Electric machine rotation, and then drive balancing weight to move, make boom system tilting moment be constantly in safety range；

In the present invention, signal processing flow is as follows:

1) servo electric jar elongation state signal L_iBe converted to angle theta between adjacent machine arm_i:

θ_i=f (L_i) i=1,2,3--------------(1)

2) angle theta between adjacent machine arm_iBe converted to boom system tilting moment T:

T=g (θ_i) i=1,2,3--------------(2)

3) tilting moment T calculates balancing weight theoretical position X；

$X=\frac{T-T_0}{G}---\left(3\right)$

T in formula₀Trimming moment produced by the fixing component such as weight arm, line slideway；G is gravity suffered by balancing weight；

4) balancing weight theory displacement △ X is calculated；

△ X=X-X₀ --------------(4)

X in formula₀Balancing weight real-time position signal X recorded for balancing weight distance measuring sensor₀；

5) set tilting moment secure threshold, and obtain balancing weight position deviation secure threshold X_δ, and by △ X and X_δContrast；

If | △ X | is≤X_δ, counterweight motor is failure to actuate, and balancing weight does not moves, otherwise counterweight driven by motor balancing weight motion △ X.