CN105830755B - High branch trimming machinery dynamic counter weight device and control method - Google Patents
High branch trimming machinery dynamic counter weight device and control method Download PDFInfo
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- CN105830755B CN105830755B CN201610152269.0A CN201610152269A CN105830755B CN 105830755 B CN105830755 B CN 105830755B CN 201610152269 A CN201610152269 A CN 201610152269A CN 105830755 B CN105830755 B CN 105830755B
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- counterweight
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
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- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Jib Cranes (AREA)
Abstract
The present invention relates to a kind of high branch trimming machinery dynamic counter weight device and control methods, including：Dynamic counterweight mechanical module, sensor module, dynamic counterweight control module；Dynamic counterweight mechanical module includes weight arm, counterweight arm brace, balance weight mechanism bottom plate, linear guide, bearing, sliding block, clump weight, counterweight motor, shaft coupling, screw rod, feed screw nut；Sensor module is clump weight distance measuring sensor；The clump weight distance measuring sensor is fixed on balance weight mechanism bottom plate；Dynamic counterweight control module includes power supply, dynamic counterweight controller and input/output interface；Clump weight distance measuring sensor and counterweight motor are connected to dynamic counterweight controller by input/output interface；The present invention can tilting moment caused by real-time monitoring high branch trimming machinery boom system, the real-time leveling to boom system can be realized in the high branch trimming machinery course of work.
Description
Technical field
The present invention relates to a kind of graden machine more particularly to a kind of high branch trimming machinery dynamic counter weight device and controlling parties
Method.
Background technique
High branch trimming machinery is that a kind of pruning applied to the tall and big trees in gardens is mechanical, can trimming easily and effectively it is tall and big
Trees side shoot, and in the maintenance for pruning while carrying out pruning crops for rotation.Above-mentioned function is in the patent that applicant has been applied
Has discussion.Specific patent information is as follows, the patent No.：ZL201210194078.2, title：A kind of high-altitude trimming manipulator；Specially
Benefit ZL201410048553.4, title：A kind of guiding locking-type high branch trimming shield stubble saw.But it is used in high branch trimming machinery
In the process since the operating attitude of boom system constantly changes, biggish and real-time change tilting moment can be generated, is shortened
Rollover risk even occurs for the service life of complete machine.In view of the above problems, high branch trimming machinery dynamic counter weight device becomes research
Emphasis.
Below to high branch trimmer tool be described briefly including chassis, jacking system, pivoting support system, boom system and
Shield of pruning stubble saw.Wherein chassis has the devices such as walking wheel, supporting leg, and supporting leg is opened under working condition, guarantees that complete machine is flat
Stability；Jacking system is located on chassis, for improving complete machine working depth；Pivoting support system is located at jacking system top, even
Jacking system and boom system pedestal are connect, boom system is made to have rotary freedom in horizontal plane；Boom system includes boom system
Pedestal, three section main mechanical arms and a section sub-arm protect stubble saw working space for increasing to prune, by servo electricity between adjacent machine arm
Dynamic cylinder driving；Prune shield stubble saw be located at sub-arm end, for prune branch and in real time maintenance pruning crops for rotation.
Retrieval discovery by existing technical literature, patent announcement number：CN202415030U, title：A kind of automatic weighing
Tower crane.It includes clump weight, counterweight arm gear, gear swing rod, spring etc..It is moved by the load change band of tower crane crane arm
Spring is flexible, and spring band moving gear swing rod is rotated with moving gear in turn, and gear rotates to realize moving left and right for clump weight.It is this to match
Weighing method is relatively specific for tower crane, simple and effective.But its control principle is simple, and tower crane structure and high branch trimming are mechanical poor
Not larger, this dynamic Weighting system is not suitable for high branch trimming machinery.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, provide a kind of high branch trimming machinery dynamic counter weight device and
Control method can realize the real-time leveling to boom system in the high branch trimming machinery course of work.
The technical scheme adopted by the invention is that：
A kind of high branch trimming machinery dynamic counter weight device, including：Dynamic counterweight mechanical module, is dynamically matched at sensor module
Weight control module.
The dynamic counterweight mechanical module, including weight arm, counterweight arm brace, balance weight mechanism bottom plate, linear guide, axis
It holds, sliding block, clump weight, counterweight motor, shaft coupling, screw rod, feed screw nut.
The vertical affixed boom system pedestal lower part in described weight arm one end；Counterweight arm brace one end is fixed in counterweight
Arm, the other end are fixed in boom system pedestal top；The balance weight mechanism bottom plate is fixed on weight arm；Two linear guides pair
Title is installed in parallel in balance weight mechanism bottom plate top front and rear sides；Two bearings are respectively arranged in left and right two on balance weight mechanism bottom plate
Side, bearing face are vertical with linear guide axial direction direction.The screw both end is respectively arranged on two side bearings, screw rod it is axial with
Linear guide is axially parallel；The counterweight motor is mounted on weight arm by motor rack；The shaft coupling connection motor output
Axis and screw rod；The sliding block includes four same sliding blocks, and four sliding blocks are symmetrically mounted in two linear guides, every straight line
Two sliding blocks are installed respectively on guide rail；The clump weight is mounted on four sliding block tops；The feed screw nut is mounted on screw rod,
Feed screw nut side and clump weight are affixed.
The sensor module is clump weight distance measuring sensor；The clump weight distance measuring sensor is fixed on balance weight mechanism bottom
On plate.
The dynamic counterweight control module, including power supply, dynamic counterweight controller and input/output interface.
The power supply preferentially selects 12 volts or 24 volts of DC power supplies；The dynamic counterweight controller preferentially selects STM32 type
Single-chip microcontroller；Input/output interface includes Phototube Coupling, signal amplification and Digital I/O driving circuit；The clump weight ranging passes
Sensor is connected to dynamic counterweight controller by the input/output interface；The counterweight motor passes through the input and output
Interface is connected with dynamic counterweight controller, and dynamic counterweight controller controls the start and stop of counterweight motor by input/output interface.
A kind of specific control process of high branch trimming machinery dynamic counter weight device of the present invention is as follows：
(1) dynamic counterweight control module and sensor initializing；
(2) high branch trimming machinery starts operation.Servo electric jar starts to work and real-time retracted position is fed back to dynamic
Counterweight controller；Meanwhile clump weight distance measuring sensor measures when front-end weight block position and passes the signal to the control of dynamic counterweight
Device；
(3) dynamic counterweight controller receives the live signal of three servo electric jar feedback signals and clump weight position,
When program judges boom system tilting moment beyond safe range, dynamic counterweight controller is driven by input/output interface
The rotation of counterweight motor, and then drive clump weight mobile, it is constantly in boom system tilting moment in safe range.
Signal processing flow is as follows in the present invention：
1) servo electric jar elongation state signal LiBe converted to angle theta between adjacent machine armi：
θi=f (Li) i=1,2,3-------------- (1)
2) angle theta between adjacent machine armiBe converted to boom system tilting moment T：
T=g (θi) i=1,2,3-------------- (2)
3) tilting moment T calculates clump weight theoretical position X；
T in formula0For trimming moment caused by the fixing components such as weight arm, linear guide；G is gravity suffered by clump weight.
4) clump weight theory displacement X is calculated；
Δ X=X-X0--------------(4)
X in formula0The clump weight real-time position signal X measured for clump weight distance measuring sensor0；
5) tilting moment secure threshold is set, and finds out clump weight position deviation secure threshold Xδ, and by Δ X and XδComparison.
If | Δ X |≤X δ, counterweight motor are failure to actuate, and clump weight does not move, and otherwise counterweight motor drives clump weight movement
ΔX。
The beneficial effects of the invention are as follows：
It 1, being capable of tilting moment caused by real-time monitoring high branch trimming machinery boom system.2, counterweight can be adjusted in real time
Block position makes tilting moment caused by boom system in safe range, and the setting of secure threshold effectively prevents clump weight
Frequent movement, also improve the stability of high branch trimming machinery.
Detailed description of the invention
Fig. 1 is high branch trimming machinery schematic diagram.
Fig. 2 is high branch trimming machinery dynamic counter weight device schematic diagram.
Fig. 3 is high branch trimming machinery dynamic counter weight device control process flow chart.
Fig. 4 is high branch trimming machinery boom system size relationship schematic diagram one.
Fig. 5 is high branch trimming machinery boom system size relationship schematic diagram two.
In figure：1 chassis, 2 jacking systems, 3 weight arms, 4 boom system pedestals, 5 counterweight arm braces, 6 servo electric jars, 7
Shield of pruning stubble saw, 8 boom systems, 9 pivoting support systems, 10 balance weight mechanism bottom plates, 11 counterweight motors, 12 shaft couplings, 13 counterweights
Block, 14 feed screw nuts, 15 sliding blocks, 16 linear guides, 17 screw rods, 18 bearings, 19 clump weight distance measuring sensors
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Present invention may apply to existing common folding-jib Work machines, such as branches of tall trees involved in this embodiment
Trimming is mechanical.High branch trimming machinery involved in the present embodiment is described briefly first, structure is as shown in Figure 2：It includes
Chassis 1, jacking system 2, pivoting support system 9, boom system 8 and shield stubble saw 7 of pruning.Wherein chassis 1 is with walking wheel, branch
The devices such as support leg, supporting leg is opened under working condition, guarantees complete machine stationarity；Jacking system 2 is located on chassis 1, for improving
Complete machine working depth；Pivoting support system 9 is located at 2 top of jacking system, connects jacking system 2 and boom system pedestal 4, makes arm
Frame system 8 has rotary freedom in horizontal plane；Boom system 8 includes boom system pedestal 4, three section main mechanical arms and section auxiliary
Arm is sawed 7 working spaces for increasing shield stubble of pruning, is driven between adjacent machine arm by servo electric jar 6；Shield of pruning stubble saw 7 is located at
Sub-arm end, for prune branch and in real time conserve pruning crops for rotation.
A kind of high branch trimming machinery dynamic counter weight device of the present invention, including：Dynamic counterweight mechanical module, sensor
Module, dynamic counterweight control module.
The dynamic counterweight mechanical module, including weight arm 3, counterweight arm brace 5, balance weight mechanism bottom plate 10, linear guide
16, bearing 18, sliding block 15, clump weight 13, counterweight motor 11, shaft coupling 12, screw rod 17, feed screw nut 14.
Vertical affixed 4 lower part of boom system pedestal in described 3 one end of weight arm；Described 5 one end of counterweight arm brace, which is fixed in, matches
Weighing arm 3, the other end are fixed in 4 top of boom system pedestal；The balance weight mechanism bottom plate 10 is fixed on weight arm 3, for pacifying
Fill each component of dynamic counter weight device；The linear guide 16 is horizontally installed to 10 top of balance weight mechanism bottom plate, two linear guides
It is symmetrically installed；The bearing 18 includes two bearings, is respectively arranged on balance weight mechanism bottom plate 10, bearing face and linear guide
16 axial directions are vertical.17 both ends of screw rod are installed on bearing 18, and screw rod 17 is axial axial parallel with linear guide 16；Institute
Counterweight motor 11 is stated to be mounted on weight arm 3 by motor rack；The shaft coupling 12 links counterweight motor output shaft and screw rod 17；
The sliding block 15 includes four same sliding blocks, installs two sliding blocks 15 respectively in two linear guides 16, sliding block 15 can edge
Linear guide 16 is slided；The clump weight 13 is mounted on four sliding blocks；The feed screw nut 14 is mounted on screw rod 17, screw rod
14 side of nut and clump weight 13 are affixed.
The sensor module includes clump weight distance measuring sensor 19, and the distance measuring sensor is passed using the common ranging in market
Sensor, such as ultrasonic distance-measuring sensor.Clump weight distance measuring sensor 19 is fixed on balance weight mechanism bottom plate 10, for measuring
13 position of clump weight.
The dynamic counterweight control module, including power supply, dynamic counterweight controller and input/output interface.
The power supply preferentially selects 12 volts or 24 volts of DC power supplies, and the power supply is counterweight motor and power supply；The dynamic
Counterweight controller preferentially selects STM32 type single-chip microcontroller；The input/output interface includes Phototube Coupling, signal amplification and number
IO driving circuit；The clump weight distance measuring sensor is connected to dynamic counterweight controller by the 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.
A kind of high branch trimming machinery dynamic counter weight device of the present invention, specific control process are as follows：
(1) dynamic counterweight control module and the initialization of clump weight distance measuring sensor；
(2) high branch trimming machinery starts operation.Servo electric jar 6 starts to work and real-time retracted position is fed back to dynamic
Counterweight controller；Meanwhile clump weight distance measuring sensor 19 measures when 13 position of front-end weight block and passes the signal to dynamic counterweight
Controller；
(3) dynamic counterweight controller receives the live signal of three servo electric jar feedback signals and clump weight position,
When program judges tilting moment beyond safe range, dynamic counterweight controller drives counterweight motor by input/output interface
11 rotations, and then drive clump weight 13 mobile, it is constantly in 8 tilting moment of boom system in safe range.
A kind of high branch trimming machinery dynamic counter weight device of the present invention, signal processing flow are as follows：
1) servo electric jar elongation state signal LiBe converted to angle theta between adjacent machine armi：
θi=f (Li) i=1,2,3-------------- (1)
In conjunction with Fig. 4 by taking the jib lubbing mechanism between the first joint arm and pedestal as an example, l1With θ1Between function corresponding relationship such as
Under：
A, B, C, D, E respectively represent five points in formula, n, p, q, r, t, α, for the constant in mechanical mechanism.
θ2θ3With l2l3Between relationship also acquire in this way.
2) angle theta between adjacent machine armiBe converted to boom system tilting moment T：
T=g (θi) i=1,2,3-------------- (2)
In conjunction with Fig. 5, the detailed corresponding relationship of function (2) is as follows：
T=G1D1+G2D2+G3D3
=G1L1,0·sinθ1+G2[L1·sinθ1-L2,1·sin(θ1+θ2)]+G3[L1·sinθ1-L2,1·sin(θ1+θ2)
±L3,2·sin(θ1+θ2+θ3)]
L in formulaiFor the length of the i-th section mechanical arm；Li,i-1Machine is saved for the i-th section mechanical arm mass center to the i-th section mechanical arm and i-1
The length of tool arm hinge joint.
3) tilting moment T calculates clump weight theoretical position X；
T in formula0For weight arm, linear guide, etc. trimming moment caused by fixing components；G is gravity suffered by clump weight.
4) clump weight theory displacement X is calculated；
Δ X=X-X0--------------(4)
X in formula0The clump weight real-time position signal X measured for clump weight distance measuring sensor0；
5) tilting moment secure threshold is set, and finds out clump weight position deviation secure threshold Xδ, and by Δ X and XδComparison.
If | Δ X |≤Xδ, counterweight motor is failure to actuate, and clump weight does not move, and otherwise counterweight motor drives clump weight movement
ΔX。
Claims (1)
1. a kind of control method of high branch trimming machinery dynamic counter weight device, it is characterised in that：Steps are as follows：
（1）Dynamic counterweight control module and sensor initializing；
（2）High branch trimming machinery starts operation；Servo electric jar starts to work and real-time retracted position is fed back to dynamic counterweight
Controller；Meanwhile clump weight distance measuring sensor measures when front-end weight block position and passes the signal to dynamic counterweight controller；
（3）Dynamic counterweight controller receives the live signal of three servo electric jar feedback signals and clump weight position, works as journey
When sequence judges boom system tilting moment beyond safe range, dynamic counterweight controller drives counterweight by input/output interface
Motor rotation, and then drive clump weight mobile, it is constantly in boom system tilting moment in safe range；
Signal processing flow is as follows：
1）Servo electric jar elongation state signalBe converted to angle between adjacent machine arm：
--------------(1)
A, B, C, D, E respectively represent five points in formula, n, p, q, r, t, α, for the constant in mechanical mechanism；
With Between relationship also acquire in this way；
2）Angle between adjacent machine armBe converted to boom system tilting moment：
--------------(2)
In formulaIt isSave the length of mechanical arm；It isMechanical arm mass center is saved to theSave mechanical arm withSave mechanical arm
The length of hinge joint；
3）Tilting momentCalculate clump weight theoretical position；
--------------(3)
In formulaFor trimming moment caused by weight arm, linear guide；For gravity suffered by clump weight；
4）Calculate the displacement of clump weight theory；
--------------(4)
In formulaThe clump weight real-time position signal measured for clump weight distance measuring sensor；
5）Tilting moment secure threshold is set, and finds out clump weight position deviation secure threshold, and willWithComparison；
If, counterweight motor is failure to actuate, and clump weight does not move, and otherwise counterweight motor drives clump weight movement；
Realize the high branch trimming machinery dynamic counter weight device of above-mentioned control method, including：Dynamic counterweight mechanical module, sensor die
Block, dynamic counterweight control module；
The dynamic counterweight mechanical module, including weight arm, counterweight arm brace, balance weight mechanism bottom plate, linear guide, bearing, cunning
Block, clump weight, counterweight motor, shaft coupling, screw rod and feed screw nut；
The vertical affixed boom system pedestal lower part in described weight arm one end；Counterweight arm brace one end is fixed in weight arm, separately
One end is fixed in boom system pedestal top；The balance weight mechanism bottom plate is fixed on weight arm；Two linear guides are symmetrically put down
Row is mounted on balance weight mechanism bottom plate top front and rear sides；Two bearings are respectively arranged in the left and right sides, axis on balance weight mechanism bottom plate
Socket end face is vertical with linear guide axial direction direction；The screw both end is respectively arranged on two side bearings, screw rod axial direction and straight line
Guide rail is axially parallel；The counterweight motor is mounted on weight arm by motor rack；Shaft coupling connection motor output shaft with
Screw rod；The sliding block includes four same sliding blocks, and four sliding blocks are symmetrically mounted in two linear guides, every linear guide
It is upper that two sliding blocks are installed respectively；The clump weight is mounted on four sliding block tops；The feed screw nut is mounted on screw rod, screw rod
Nut side and clump weight are affixed；
The sensor module is clump weight distance measuring sensor；The clump weight distance measuring sensor is fixed on balance weight mechanism bottom plate
On；
The dynamic counterweight control module, including power supply, dynamic counterweight controller and input/output interface；
The power supply is 12 volts or 24 volts of DC power supplies；The dynamic counterweight controller is STM32 type single-chip microcontroller；Input and output connect
Mouth includes Phototube Coupling, signal amplification and Digital I/O driving circuit；The clump weight distance measuring sensor passes through the input
Output interface is connected to dynamic counterweight controller；The counterweight motor passes through the input/output interface and the control of dynamic counterweight
Device processed is connected, and dynamic counterweight controller controls the start and stop of counterweight motor by input/output interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152269.0A CN105830755B (en) | 2016-03-17 | 2016-03-17 | High branch trimming machinery dynamic counter weight device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152269.0A CN105830755B (en) | 2016-03-17 | 2016-03-17 | High branch trimming machinery dynamic counter weight device and control method |
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| CN105830755A CN105830755A (en) | 2016-08-10 |
| CN105830755B true CN105830755B (en) | 2018-11-20 |
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| WO2018119689A1 (en) * | 2016-12-27 | 2018-07-05 | 刘颖 | Clamping mechanism for plant cutting |
| CN106938626A (en) * | 2017-04-24 | 2017-07-11 | 山东七运集团有限公司 | A kind of self-propelled Visual retrieval car |
| CN108401707A (en) * | 2018-05-14 | 2018-08-17 | 北方民族大学 | A kind of tall and big tree trimming machine in gardens |
| CN110214570A (en) * | 2018-10-18 | 2019-09-10 | 韦锋 | A kind of highway greenbelt clipping device |
| CN110692380A (en) * | 2019-10-18 | 2020-01-17 | 国网河南省电力公司濮阳供电公司 | High-efficient tall and big trees intelligence removes branch device |
| CN113716500A (en) * | 2021-08-24 | 2021-11-30 | 中国南方电网有限责任公司超高压输电公司昆明局 | Maintenance forklift platform and counterweight calculation method |
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|---|---|---|---|---|
| FR2546030A1 (en) * | 1983-05-20 | 1984-11-23 | Eden Vert Sa | Machine for cutting trees in alignment and method for cutting with the aid of this machine |
| FR2942099A1 (en) * | 2009-02-18 | 2010-08-20 | Cpur Eco | ONBOARD SIZE DEVICE |
| CN102668898A (en) * | 2012-06-13 | 2012-09-19 | 苑进 | High-altitude pruning manipulator |
| CN103900813A (en) * | 2014-04-23 | 2014-07-02 | 清华大学 | Device for measuring rotational inertia and friction moment of ball screw |
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