CN102566584A - Engineering machinery, and control method, device and system for rotation and centering of arm support of engineering machinery - Google Patents
Engineering machinery, and control method, device and system for rotation and centering of arm support of engineering machinery Download PDFInfo
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- CN102566584A CN102566584A CN2011104306012A CN201110430601A CN102566584A CN 102566584 A CN102566584 A CN 102566584A CN 2011104306012 A CN2011104306012 A CN 2011104306012A CN 201110430601 A CN201110430601 A CN 201110430601A CN 102566584 A CN102566584 A CN 102566584A
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Abstract
The invention relates to engineering machinery, and a control method, a control device and a control system for rotation and centering of an arm support of the engineering machinery. The control method comprises the following steps of: detecting a centering start signal; when the centering start signal is detected, respectively sampling signals of at least one buffer position sensor and a middle position sensor to obtain states of at least one buffer position sensor and the middle position sensor; and in correspondence with different states or logic combination of different states of at least one buffer position sensor and the middle position sensor, respectively outputting different control signals, and controlling the arm support to decelerate for at least one time before arriving at a middle position and to stop rotating when arriving at the middle position. The device comprises a centering instruction detection module, a position sampling module and a processing module. The system comprises a rotary table control device, the control device, at least one detection device, the middle position sensor and at least one buffer position sensor. The engineering machinery comprises the control device or the control system. By adoption of the control system, rotation and centering of the arm support can be performed accurately, reliably and quickly.
Description
Technical field
The present invention relates to the arm support control system field of engineering machinery, particularly a kind of control system, control method and control device of high lifting kind engineering machinery jib revolution centering also relate to the engineering machinery that adopts this control device and control system.
Background technology
The high lifting kind fire truck belongs to the single oil cylinder equipment, and operating process is complicated, especially turns round the centering operation.Jib revolution centering is meant the jib after drawing in is rotated to the top that jib supports, and overlays jib then and supports.Because the existence in jib root revolution gap causes being difficult to accomplish rapidly and accurately the operation of jib revolution centering.If simple dependence estimated this operation of completion, require very high to fire fighter's operating experience and professional skill.For this reason, in some correlation techniques, with the position of a middle bit switch detection arm frame, with auxiliary centering of accomplishing jib, directly over jib returns back to the jib support when (being meta), middle bit switch provide electric signal, supply the fire fighter to turn round the centering operation with reference.This scheme often easily owing to the inertia reason, is broken through meta because can only detect a some during practical operation, needs repeatedly near meta, to move back and forth, just can find meta accurately.
Summary of the invention
The present invention aims to provide a kind of high lifting kind engineering machinery jib revolution centering control method, can accomplish the revolution centering operation of jib quickly and accurately automatically.
High lifting kind engineering machinery jib revolution centering control method provided by the invention may further comprise the steps:
Detecting beginning centering signal;
After detecting beginning centering signal, the signal of sample respectively at least one a buffering level sensor and a middle level sensor obtains their state;
Corresponding said at least one buffering level sensor and said in different conditions or the logical combination of different conditions of level sensor, export the Different control signal respectively, the control jib at least once slows down before arriving meta and stops revolution when arriving meta.
The present invention also provides a kind of high lifting kind engineering machinery jib revolution centering control device, comprising:
Centering instruction detecting module is used for detecting beginning centering signal;
The position sampling module is used for after detecting beginning centering signal, and the signal of sample respectively at least one a buffering level sensor and a middle level sensor obtains their state;
Processing module; Be used for corresponding said at least one buffering level sensor and the different conditions of said level sensor or logical combination of different conditions; Export the Different control signal respectively, the control jib at least once slows down before arriving meta and stops revolution when arriving meta.
The present invention also provides a kind of high lifting kind engineering machinery jib revolution centering control system, comprises the turntable control device, also comprises:
Above-mentioned control device is connected with said turntable control device;
At least one pick-up unit is installed in the two one of turntable and chassis;
In level sensor and at least one buffering level sensor, be installed in the two another of said turntable and chassis, and be connected with said control device, be used for cooperating the position on the relative chassis of the said turntable of judgement with said pick-up unit.
The present invention also provides a kind of engineering machinery, comprises jib and turntable, and jib is connected with the chassis through turntable, also comprises above-mentioned control device.
The present invention also provides a kind of engineering machinery, comprises jib and turntable, and jib is connected with the chassis through turntable, also comprises above-mentioned control system.
Compare with correlation technique; The present invention has formed before meta between buffer zone through level sensor in the sampling and at least one buffering level sensor, can realize slowing down automatically when jib returns back near the meta; To reduce inertia, make jib revolution centering more accurately, reliably and fast.Adopt this control system, whole centering operation is accomplished automatically, and automaticity is high, and is practical.
Description of drawings
Fig. 1 is the theory diagram of the jib revolution centering control system in the some embodiments of the invention.
Fig. 2 is the sensor of the jib revolution centering control system in the some embodiments of the invention and the installation site synoptic diagram of the pick-up unit of correspondence.
Fig. 3 and Fig. 4 are respectively vertical view and the left view of Fig. 2.
Fig. 5 is the enlarged drawing of A portion among Fig. 2.
Fig. 6 is the enlarged drawing of B portion among Fig. 4.
Fig. 7 is that two sensor status changed synoptic diagram when revolution realized centering clockwise in the some embodiments of the invention.
Fig. 8 is that two sensor status changed synoptic diagram when turning anticlockwise was realized centering in the some embodiments of the invention.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is done explanation further.
High lifting kind engineering machinery jib revolution centering control method among some embodiment may further comprise the steps:
Detecting beginning centering signal;
After detecting beginning centering signal, the signal of sample respectively at least one a buffering level sensor and a middle level sensor obtains their state;
Corresponding said at least one buffering level sensor and said in different conditions or the logical combination of different conditions of level sensor, export the Different control signal respectively, the control jib at least once slows down before arriving meta and stops revolution when arriving meta.
In order further to improve automated procedures; Make engineering machinery start the revolution centering of jib automatically according to oneself state; In certain embodiments, control method further comprises jib attitude detection step and sends the step of centering commencing signal according to the jib attitude automatically.
Among some embodiment, whether a arm that can be through detecting jib and the angle of surface level and other arm reclaim to put in place is judged the attitude of jib.
High lifting kind engineering machinery jib revolution centering control device among some embodiment comprises:
Centering instruction detecting module is used for detecting beginning centering signal;
The position sampling module is used for after detecting beginning centering signal, and the signal of sample respectively at least one a buffering level sensor and a middle level sensor obtains their state;
Processing module; Be used for corresponding said at least one buffering level sensor and the different conditions of said level sensor or logical combination of different conditions; Export the Different control signal respectively, the control jib at least once slows down before arriving meta and stops revolution when arriving meta.
In certain embodiments, control device further comprises jib attitude detection module and centering active module, is used for sending the centering commencing signal automatically according to the jib attitude.
In certain embodiments, whether the angle of an arm and the surface level of jib attitude detection module through detecting jib and other arm reclaim to put in place and judge the attitude of jib.
Fig. 1 shows the high lifting kind engineering machinery jib revolution centering control system in the some embodiments of the invention.As shown in Figure 1; This jib revolution centering control system comprises: control device 1, middle level sensor 2, buffering level sensor 3, turntable control device 4 and a centering are activated operating key 5; Wherein, control device can be the control device among above-mentioned any embodiment, and middle level sensor 2, buffering level sensor 3, turntable control device 4 and centering are activated operating key 5 and all be connected with control device 1; This control system also comprises: be used for a middle level detecting apparatus cooperating with level sensor 2; A buffering level detecting apparatus that is used for cooperating with buffering level sensor 3, middle level detecting apparatus is gentle to be installed on the chassis towards level detecting apparatus, and middle level sensor 2 is installed on the turntable with buffering level sensor 3; Centering is activated operating key 5 and is used for to control device 1 beginning centering signal being provided; After control device 1 was received beginning centering signal, the signal of level sensor 3 of sampling buffering respectively and middle level sensor 2 obtained their state, the logical combination of the different conditions of corresponding then buffering level sensor 3 and middle level sensor 2; Export the Different control signal respectively; Control turntable control device 4, and then twice deceleration before arriving meta of control jib stop the revolution action automatically when slowly sailing to meta.
Fig. 2-Fig. 6 shows the installation site of sensor among some embodiment and corresponding pick-up unit.Like Fig. 2-shown in Figure 6, middle level detecting apparatus 2a and buffering level detecting apparatus 3a are installed in the edge on chassis 100 through support 7, and middle level sensor 2 and buffering level sensor 3 are installed in the edge of turntable 200 through support 6.Middle level detecting apparatus 2a is the strip pick-up unit of middle band groove 2b, and buffering level detecting apparatus 3a is the strip pick-up unit, and buffering level sensor 3 adopts travel switches with middle level sensor 2.Be damaged for fear of travel switch, middle level detecting apparatus 2a is designed to the inclined-plane with the both ends of cushioning level detecting apparatus 3a.
State when the contact of supposing travel switch is not compressed is " 0 ", " 1 " of the state after the contact is compressed.As shown in Figure 7, turning round clockwise in the centering process, initial; The state of middle level sensor 2 and buffering level sensor 3 is " 0 ", when returning back to state shown in Fig. 7-2 shown in Fig. 7-1; Level detecting apparatus 2a compressive state becomes " 1 " in the quilt of middle level sensor 2 contacts, and the state of buffering level sensor 3 is " 0 " still, when returning back to state shown in Fig. 7-3; The state of middle level sensor 2 still is " 1 ", and the contact of buffering level sensor 3 is cushioned level detecting apparatus 3a compressive state and also becomes " 1 ", when returning back to state shown in Fig. 7-4; Middle level sensor 2 contacts fall into groove 2b state and become " 0 ", and the state of buffering level sensor 3 still is " 1 ".Turning anticlockwise centering process is as shown in Figure 8, begin to finish from centering to centering, the state of middle level sensor 2 and buffering level sensor 3 respectively like Fig. 8-1 to shown in Fig. 8-4; Be " 0 " when promptly beginning, after a period of time, the state of middle level sensor 2 becomes " 1 "; The state of buffering level sensor 3 still is " 0 ", and more after a period of time, the state of buffering level sensor 3 also becomes " 1 "; After a period of time, middle level sensor 2 contacts fall into groove 2b state and become " 0 ".Can find out through above analysis; Once turning round the centering process clockwise; Four kinds of logical combinations in total " 00 " " 10 " " 11 " " 01 " of state of middle level sensor 2 and buffering level sensor 3, a turning anticlockwise centering process, middle level sensor 2 also is total " 00 " " 10 " " 11 " " 01 " four kinds of logical combinations with the state that cushions level sensor 3; Can find out two kinds of direction centerings, the sequential of formed four kinds of logical combinations is identical.As shown in table 1; Control device 1 utilizes four kinds of logical combinations, can realize double reduction centering, specifically: when the logical combination of level sensor 2 and buffering level sensor 3 was for " 10 " during control device 1 detected; Control turntable controller 4 slows down jib for the first time; When the logical combination of level sensor 2 and buffering level sensor 3 was for " 11 " in detecting, control turntable controller 4 slowed down jib for the second time, when the logical combination of level sensor 2 and buffering level sensor 3 is for " 01 " in detecting; Show that jib has arrived meta, cut off the revolution action.Can find out that this embodiment can realize that not only twice control is slowed down in centering process, and revolution and turning anticlockwise can realize that centering operates clockwise.
Be appreciated that ground, the travel switch in the foregoing description also can be used near switch and substitute.
It is also understood that ground; Middle level detecting apparatus 2a adopts the notched slab detection device in middle, and buffering level detecting apparatus 3a adopts the slab detection device, accordingly; Buffering level sensor 3 adopts optoelectronic switch with middle level sensor 2, also can realize above-mentioned measuring ability.
Be appreciated that ground; Realize in centering process that twice control is slowed down and revolution and turning anticlockwise can be realized the centering operation clockwise; Length and the position of the position of buffering level sensor 3 and middle level sensor 2 and middle level detecting apparatus 2a and buffering level detecting apparatus 3a; Be not limited to position relation and length relation among Fig. 2-6, for example: can buffering level sensor 3 be installed separately with middle level sensor 2, correspondingly middle level detecting apparatus 2a and buffering level detecting apparatus 3a also be installed separately; Middle level detecting apparatus 2a also can change with the length of buffering level detecting apparatus 3a, or the like.As long as can meet the following conditions: in centering process; The state of buffering level sensor 3 and middle level sensor 2 can form four kinds of different logical combinations; And turning anticlockwise is to the revolution centering clockwise that neutralizes, and the sequential of formed four kinds of logical combinations is identical.In certain embodiments; With the length of middle level detecting apparatus 2a (when being provided with crashproof inclined-plane at two ends; This length does not comprise the chamfered portion at two ends) be designed to: greater than 2 times of the length of buffering level detecting apparatus 3a and less than 4 times of the length of buffering level detecting apparatus 3a, this design can realize also in centering process that twice control is slowed down and revolution and turning anticlockwise can be realized the centering operation clockwise.
Among the above embodiment, adopt two strips or tabular pick-up unit, in the testing process; Can keep a period of time after the sensor states upset; Be called " face " and detect, two sensors and two pick-up units cooperate, and utilize this " face " detection mode; A centering process is divided into normal speed district, one-level deceleration area and double reduction district, and the both direction revolution all can realize centering.But the present invention is not limited to this, can also adopt following embodiment.
In certain embodiments; If only need realize that folk prescription is to (promptly only clockwise; Or only counterclockwise) revolution centering, then can middle level sensor be eased up is arranged on the same circumference a shared strip pick-up unit towards level sensor; So also can a centering process be divided into three intervals, can distinguish corresponding normal speed district, one-level deceleration area and double reduction district.Be appreciated that ground,, then can a centering process be divided into more interval if increase the quantity of buffering level sensor.
In certain embodiments; If only need realize that folk prescription is to (promptly only clockwise; Or only counterclockwise) revolution centering; Can also middle level sensor be eased up is arranged on the different circumference towards level sensor, for they are provided with the strip pick-up unit respectively, also can at an easy rate a centering process be divided into three intervals.Likewise, if increase the quantity of buffering level sensor, then can a centering process be divided into more interval.
The foregoing description all adopts " face " detection mode.Control is slowed down when adopting " point " detection mode also can realize jib near meta.For example: in certain embodiments; Adopt a pick-up unit, middle level sensor and even number buffering level sensor cushion level sensor with even number and are symmetricly set on level sensor both sides in this; In the revolution centering process; The buffering level sensor at first meets with pick-up unit, and control device is controlled deceleration in view of the above, then controls when middle then level sensor and pick-up unit meet to stop revolution.
As shown in Figure 1, among some embodiment, turntable control device 4 comprises proportioning valve 41, and control device 1 can be controlled the speed of gyration of turntable through control ratio valve 41, thereby reaches the purpose of the speed of gyration of control jib.Be appreciated that ground, the turntable control device also can adopt other speed adjusting device to realize speed governing, for example, when adopting the motor-driven revolution, then can adopt alignment circuit.
Be appreciated that ground; Among some embodiment, can only adopt and manually activate the centering operation, accordingly; To control device 1 beginning centering signal is provided through centering activation operating key is set, wherein centering activation operating key can be the simulation operating key of realizing on button, switch or the touch-screen.Among these embodiment, no matter which kind of attitude jib is in, all may command revolution centering.Among the other embodiment; Adopt the particular pose of jib to trigger the centering operation automatically, particularly, can the jib attitude detecting sensor be set at jib; They are connected with control device 1; And adopt aforesaid control device with jib attitude detection module and centering active module, and can be designed as usually at the angle of arm of jib and surface level and reclaim when putting in place less than other arm of prevalue and jib, send beginning centering signal.Be appreciated that ground, in some better embodiment, can comprise above-mentioned manual activation centering pattern simultaneously and activate the centering pattern automatically.
Among some embodiment, control device 1 can adopt the programmable logic controller (PLC) (PLC) of engineering machinery self, also can use an independent PLC or adopt common microprocessor.
The control method of above-mentioned each embodiment, control device and control system can be applicable to variously have jib and turntable, and the engineering machinery that is connected with the chassis through turntable of jib, like aerial ladder truck, crane etc.After the application, can shorten greatly and receive terraced operating process and running time through the accurate centering of single job.
Compare with correlation technique, some embodiments of the invention have the following advantages at least:
1. can realize slowing down automatically when jib returns back near the meta, but and multi-stage speed-reducing, to reduce inertia, make jib revolution centering more accurately, reliable and fast.
2. slow down automatically before returning back to meta, cut off rotary motive power when slowly returning back to meta then automatically, whole centering operation is accomplished automatically, and automaticity is high, and is practical.
3. no matter CW revolution, still revolution counterclockwise can be automatically, centering exactly.
4. adopt travel switch, optoelectronic switch or detect near switch, compare with adopting expensive displacement coder, cost is low, and is easy for installation.
The above only is a preferred implementation of the present invention, and protection scope of the present invention also not only is confined to the foregoing description, and all technical schemes that belongs under the thinking of the present invention all belong to protection scope of the present invention.Should be pointed out that for those skilled in the art in the some improvement and the retouching that do not break away under the principle of the invention prerequisite, these improvement and retouching also should be regarded as protection scope of the present invention.
Claims (20)
1. a high lifting kind engineering machinery jib revolution centering control method is characterized in that, may further comprise the steps:
Detecting beginning centering signal;
After detecting beginning centering signal, the signal of sample respectively at least one a buffering level sensor and a middle level sensor obtains their state;
Corresponding said at least one buffering level sensor and said in different conditions or the logical combination of different conditions of level sensor, export the Different control signal respectively, the control jib at least once slows down before arriving meta and stops revolution when arriving meta.
2. control method according to claim 1 is characterized in that, also comprises jib attitude detection step and sends the step of centering commencing signal according to the jib attitude automatically.
3. control method according to claim 2 is characterized in that: said jib attitude comprises whether angle and other arm of an arm and the surface level of jib reclaim and puts in place.
4. a high lifting kind engineering machinery jib revolution centering control device is characterized in that, comprising:
Centering instruction detecting module is used for detecting beginning centering signal;
The position sampling module is used for after detecting beginning centering signal, and the signal of sample respectively at least one a buffering level sensor and a middle level sensor obtains their state;
Processing module; Be used for corresponding said at least one buffering level sensor and the different conditions of said level sensor or logical combination of different conditions; Export the Different control signal respectively, the control jib at least once slows down before arriving meta and stops revolution when arriving meta.
5. control device according to claim 4 is characterized in that, also comprises jib attitude detection module and centering active module, is used for sending the centering commencing signal automatically according to the jib attitude.
6. control device according to claim 5 is characterized in that: said jib attitude comprises whether angle and other arm of an arm and the surface level of jib reclaim and puts in place.
7. a high lifting kind engineering machinery jib revolution centering control system comprises the turntable control device, it is characterized in that, also comprises:
Any described control device of claim 4-6 is connected with said turntable control device;
At least one pick-up unit is installed in the two one of turntable and chassis;
In level sensor and at least one buffering level sensor, be installed in the two another of said turntable and chassis, and be connected with said control device, be used for cooperating the position on the relative chassis of the said turntable of judgement with said pick-up unit.
8. control system according to claim 7 is characterized in that: said at least one pick-up unit comprises a middle level detecting apparatus and a buffering level detecting apparatus, and said at least one buffering level sensor comprises a buffering level sensor.
9. control system according to claim 8; It is characterized in that: level detecting apparatus is the strip pick-up unit of middle band groove in said; Said buffering level detecting apparatus is the strip pick-up unit, and said buffering level sensor and said meta sensor comprise travel switch or near switch.
10. control system according to claim 8; It is characterized in that: level detecting apparatus is the notched slab detection device in middle in said; Said buffering level detecting apparatus is the slab detection device, and said buffering level sensor and said middle level sensor are optoelectronic switch.
11. any according to Claim 8-10 described control system; It is characterized in that; Said buffering level sensor and said in level sensor the position and said in the length and the position of level detecting apparatus and said buffering level detecting apparatus meet the following conditions: in centering process; Said buffering level sensor and said meta sensor status can form four kinds of different logical combinations; And turning anticlockwise is to the revolution centering clockwise that neutralizes, and the sequential of formed four kinds of logical combinations is identical.
12. any according to Claim 8-10 described control system is characterized in that: the length of level detecting apparatus is greater than 2 times of the length of said buffering level detecting apparatus and less than 4 times of the length of said buffering level detecting apparatus in said.
13. control system according to claim 11; It is characterized in that: by the time sequencing of centering process; Second kind of logical combination is used for control and slows down for the first time, and the third logical combination is used for further control and slows down for the second time, and the 4th kind of logical combination is used for control and stops revolution.
14. control system according to claim 7; It is characterized in that: said at least one pick-up unit comprises a pick-up unit; Said at least one buffering level sensor comprises even number buffering level sensor, and said even number buffering level sensor is symmetricly set on said middle level sensor both sides.
15. control system according to claim 7 is characterized in that: also comprise centering activation operating key, be used for beginning centering signal being provided to said control device.
16. control system according to claim 7 is characterized in that: also comprise the jib attitude detecting sensor, be connected, to detect the attitude of jib with said control device.
17. control system according to claim 7 is characterized in that: said control device is the programmable logic controller (PLC) of this project machinery self.
18. control system according to claim 7 is characterized in that: said turntable control device comprises proportioning valve.
19. an engineering machinery comprises jib and turntable, jib is connected with the chassis through turntable, it is characterized in that: also comprise any described control device of claim 4-6.
20. an engineering machinery comprises jib and turntable, jib is connected with the chassis through turntable, it is characterized in that: also comprise any described control system of claim 7-18.
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| CN103744434A (en) * | 2013-11-14 | 2014-04-23 | 徐州重型机械有限公司 | Rotary table automatic deceleration centering stop control method and apparatus |
| CN104984507A (en) * | 2015-07-07 | 2015-10-21 | 明光浩淼安防科技股份公司 | Automatic centering method of elevating fire truck rotary table |
| CN107783556A (en) * | 2016-08-31 | 2018-03-09 | 天津市泓金泰特种机械有限公司 | A kind of reaction arm for Mechanical course |
| CN110501953A (en) * | 2019-08-30 | 2019-11-26 | 三一汽车制造有限公司 | The control device that automatically resets, method and wet-spraying machine, the storage medium of rotary system |
| CN114733116A (en) * | 2022-03-29 | 2022-07-12 | 北京中卓时代消防装备科技有限公司 | Airport fire engine puncture arm control system |
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Address after: 410200 No. 997, Section 2, Tengfei Road, Wangcheng District, Changsha City, Hunan Province Patentee after: Hunan Zoomlion emergency equipment Co., Ltd Address before: 410013 Zhonglian Science Park, No. 361 South Bank Road, Hunan, Changsha Patentee before: Changsha Zhonglian fire fighting Machinery Co., Ltd |
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