CN102566584B - 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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- CN102566584B CN102566584B CN201110430601.2A CN201110430601A CN102566584B CN 102566584 B CN102566584 B CN 102566584B CN 201110430601 A CN201110430601 A CN 201110430601A CN 102566584 B CN102566584 B CN 102566584B
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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
High lifting kind fire truck belongs to single oil cylinder equipment, and operating process complexity is especially turned round centering operation.Jib revolution centering refers to rotates by the jib after drawing in the top of supporting to jib, then overlays jib and supports.Due to the existence in jib root revolution gap, cause being difficult to complete rapidly and accurately the operation of jib revolution centering.Rely on and estimated this operation if simple, 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, to have assisted the centering of jib, directly over jib returns back to jib support, when (being meta), middle bit switch provides to obtain electric signal, turns round centering operation reference for fire fighter.This scheme, because can only detect a point, often easily due to inertia reason, is broken through meta when 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 automatically complete quickly and accurately the revolution centering operation of jib.
High lifting kind engineering machinery jib revolution centering control method provided by the invention, comprises the following steps:
Detecting starts centering signal;
Start after centering signal their state of signal acquisition of sample respectively at least one buffering level sensor and a middle level sensor when detecting;
Corresponding described at least one buffering level sensor and the different conditions of described middle level sensor or logical combination of different conditions, export respectively different control signals, and control jib stops revolution when slowing down at least one times before arrival meta and 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, starts centering signal for detecting;
Position sampling module, for detecting after beginning centering signal, their state of signal acquisition of sample respectively at least one buffering level sensor and a middle level sensor;
Processing module, for corresponding described at least one buffering level sensor and the different conditions of described level sensor or logical combination of different conditions, export respectively different control signals, control when jib slows down at least one times and arrives meta before arrival meta and stop turning round.
The present invention also provides a kind of high lifting kind engineering machinery jib revolution centering control system, comprises turntable control device, also comprises:
Above-mentioned control device, is connected with described turntable control device;
At least one pick-up unit, is arranged on in the two one of turntable and chassis;
Middle level sensor and at least one buffering level sensor, is arranged on another in the two of described turntable and chassis upper, and is connected with described control device, for judging the position on the relative chassis of described turntable with described pick-up unit cooperation.
The present invention also provides a kind of engineering machinery, comprises jib and turntable, and jib is connected with chassis by 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 chassis by turntable, also comprises above-mentioned control system.
Compared with correlation technique, the present invention, by level sensor and at least one buffering level sensor in sampling, has formed between buffer zone before meta, near automatic retarding can realize jib and return back to meta time, to reduce inertia, make jib revolution centering more accurately, reliably and fast.Adopt this control system, whole centering operation completes automatically, and automaticity is high, practical.
Brief description of the drawings
Fig. 1 is the theory diagram of the jib revolution centering control system in some embodiments of the invention.
Fig. 2 is the sensor of jib in some embodiments of the invention revolution centering control system and the installation site schematic diagram of corresponding pick-up unit.
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 in Fig. 2.
Fig. 6 is the enlarged drawing of B portion in Fig. 4.
Fig. 7 is the state variation schematic diagram of two sensors when revolution realizes centering clockwise in some embodiments of the invention.
Fig. 8 is the state variation schematic diagram of two sensors when turning anticlockwise is realized centering in some embodiments of the invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is done to further description.
High lifting kind engineering machinery jib revolution centering control method in some embodiment, comprises the following steps:
Detecting starts centering signal;
Start after centering signal their state of signal acquisition of sample respectively at least one buffering level sensor and a middle level sensor when detecting;
Corresponding described at least one buffering level sensor and the different conditions of described middle level sensor or logical combination of different conditions, export respectively different control signals, and control jib stops revolution when slowing down at least one times before arrival meta and arriving meta.
In order further to improve automated procedures, make engineering machinery automatically start the revolution centering of jib according to oneself state, in certain embodiments, control method further comprises jib attitude detection step, and automatically sends the step of centering commencing signal according to jib attitude.
In some embodiment, can whether reclaim the attitude that puts to judge jib in place by detecting an arm of jib and the angle of surface level and other arm.
High lifting kind engineering machinery jib revolution centering control device in some embodiment, comprising:
Centering instruction detecting module, starts centering signal for detecting;
Position sampling module, for detecting after beginning centering signal, their state of signal acquisition of sample respectively at least one buffering level sensor and a middle level sensor;
Processing module, for corresponding described at least one buffering level sensor and the different conditions of described level sensor or logical combination of different conditions, export respectively different control signals, control when jib slows down at least one times and arrives meta before arrival meta and stop turning round.
In certain embodiments, control device further comprises jib attitude detection module, and centering active module, for automatically sending centering commencing signal according to jib attitude.
In certain embodiments, whether jib attitude detection module reclaims by detecting an arm of jib and the angle of surface level and other arm the attitude that puts to judge jib in place.
Fig. 1 shows the high lifting kind engineering machinery jib revolution centering control system in some embodiments of the invention.As shown in Figure 1, this jib revolution centering control system comprises: control device 1, middle level sensor 2, a buffering level sensor 3, turntable control device 4 and centering active control key 5, wherein, control device can be the control device in above-mentioned any embodiment, middle level sensor 2, buffering level sensor 3, turntable control device 4 is all connected with control device 1 with centering active control key 5, this control system also comprises: for the middle level detecting apparatus coordinating with level sensor 2, for the buffering level detecting apparatus coordinating with buffering level sensor 3, middle level detecting apparatus is gentle to be rushed level detecting apparatus and is arranged on chassis, middle level sensor 2 and buffering level sensor 3 are arranged on turntable, centering active control key 5 starts centering signal for providing to control device 1, control device 1 is received and is started after centering signal, their state of signal acquisition of the level sensor 3 of sampling buffering respectively and middle level sensor 2, then the logical combination of the different conditions of corresponding buffering level sensor 3 and middle level sensor 2, export respectively different control signals, control turntable control device 4, and then control jib twice deceleration before arrival meta, while slowly sailing to meta, automatically stop revolution action.
Fig. 2-Fig. 6 shows the installation site of sensor in some embodiment and corresponding pick-up unit.As shown in Fig. 2-Fig. 6, middle level detecting apparatus 2a and buffering level detecting apparatus 3a are arranged on the edge on chassis 100 by support 7, and middle level sensor 2 and buffering level sensor 3 are arranged on the edge of turntable 200 by 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 strip pick-up unit, and buffering level sensor 3 and middle level sensor 2 adopt travel switch.Damaged for fear of travel switch, the both ends of middle level detecting apparatus 2a and buffering level detecting apparatus 3a are designed to inclined-plane.
Suppose that the state when contact of travel switch is not compressed is " 0 ", " 1 " of the state after contact is compressed.As shown in Figure 7, in clockwise revolution centering process, at first, the state of middle level sensor 2 and buffering level sensor 3 is as shown in Fig. 7-1, be " 0 ", while returning back to state shown in Fig. 7-2, in middle level sensor 2 contacts quilts, level detecting apparatus 2a compressive state becomes " 1 ", the state of buffering level sensor 3 is still " 0 ", while returning back to state shown in Fig. 7-3, the state of middle level sensor 2 is still " 1 ", the contact of buffering level sensor 3 is cushioned level detecting apparatus 3a compressive state and also becomes " 1 ", while returning back to state shown in Fig. 7-4, middle level sensor 2 contacts fall into groove 2b state and become " 0 ", the state of buffering level sensor 3 is still " 1 ".Turning anticlockwise centering process as shown in Figure 8, start to finish to centering from centering, the state of middle level sensor 2 and buffering level sensor 3, respectively if Fig. 8-1 is to as shown in Fig. 8-4, is " 0 ", after a period of time while beginning, the state of middle level sensor 2 becomes " 1 ", the state of buffering level sensor 3 is still " 0 ", 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 ".As seen through the above analysis, once turning round clockwise centering process, total four kinds of " 00 " " 10 " " 11 " " 01 " of state logical combination of middle level sensor 2 and buffering level sensor 3, a turning anticlockwise centering process, the state of middle level sensor 2 and buffering level sensor 3 is also total " 00 " " 10 " " 11 " " 01 " four kinds of logical combinations, can find out two kinds of direction centerings, the sequential of four kinds of logical combinations that form is identical.As shown in table 1, control device 1 utilizes four kinds of logical combinations, can realize double reduction centering, specifically: control device 1 detects when the logical combination of middle level sensor 2 and buffering level sensor 3 is " 10 ", controlling turntable controller 4 slows down jib for the first time, in the time detecting that the logical combination of middle level sensor 2 and buffering level sensor 3 is " 11 ", controlling turntable controller 4 slows down jib for the second time, in the time detecting that the logical combination of middle level sensor 2 and buffering level sensor 3 is " 01 ", show that jib has arrived meta, cut off revolution action.Can find out, this embodiment not only can realize in a centering process twice control and slow down, and revolution and turning anticlockwise can be realized centering and operate clockwise.
Understandably, the travel switch in above-described embodiment also can substitute with approach switch.
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 slab detection device, accordingly, buffering level sensor 3 and middle level sensor 2 adopt optoelectronic switch, also can realize above-mentioned measuring ability.
Understandably, realizing twice control in a centering process slows down, and revolution and turning anticlockwise can be realized centering operation clockwise, the position of buffering level sensor 3 and middle level sensor 2, and the length and location of middle level detecting apparatus 2a and buffering level detecting apparatus 3a, be not limited to position relationship and length relation in Fig. 2-6, for example: buffering level sensor 3 and middle level sensor 2 can be installed separately, correspondingly middle level detecting apparatus 2a and buffering level detecting apparatus 3a are also installed separately, the length of middle level detecting apparatus 2a and buffering level detecting apparatus 3a also can change, etc..As long as can meet the following conditions: in a 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 neutralizing clockwise revolution centering, and the sequential of four kinds of logical combinations that form is identical.In certain embodiments, by the length of middle level detecting apparatus 2a (while being provided with crashproof inclined-plane at two ends, this length does not comprise the chamfered portion at two ends) be designed to: be greater than 2 times of length of buffering level detecting apparatus 3a and be less than 4 times of length of buffering level detecting apparatus 3a, this design also can realize in a centering process that twice control is slowed down and revolution and turning anticlockwise can be realized centering operation clockwise.
In above embodiment, adopt two strips or tabular pick-up unit, in testing process, after sensor states upset, can maintain a period of time, be called " face " and detect, two sensors and two pick-up units coordinate, and utilize this " face " detection mode, a centering process is divided into normal speed district, primary speed-down district and double reduction district, and 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 it is (only clockwise only to need to realize one direction, or only counterclockwise) revolution centering, can rush level sensor and be arranged on same circumference gentle middle level sensor, share a strip pick-up unit, so also a centering process can be divided into three intervals, can distinguish corresponding normal speed district, primary speed-down district and double reduction district.Understandably, if increase the quantity of buffering level sensor, a centering process can be divided into more interval.
In certain embodiments, if it is (only clockwise only to need to realize one direction, or only counterclockwise) revolution centering, can also rush level sensor and be arranged on different circumference gentle middle level sensor, for they arrange respectively strip pick-up unit, also can easily a centering process be divided into three intervals.Similarly, if increase the quantity of buffering level sensor, a centering process can be divided into more interval.
Above-described embodiment all adopts " face " detection mode.While adopting " point " detection mode also can realize jib and approach meta, control and slow down.For example: in certain embodiments, adopt a pick-up unit, middle level sensor and even number buffering level sensor, even number is cushioned to level sensor and be symmetricly set on level sensor both sides in this, in revolution centering process, first buffering level sensor meets with pick-up unit, and control device is controlled deceleration accordingly, when then middle level sensor and pick-up unit meet, controls and stops revolution.
As shown in Figure 1, in some embodiment, turntable control device 4 comprises proportioning valve 41, and control device 1, by control ratio valve 41, can be controlled the speed of gyration of turntable, thereby reaches the object of the speed of gyration of controlling jib.Understandably, turntable control device also can adopt other speed adjusting device to realize speed governing, for example, in the time adopting motor to drive revolution, can adopt alignment circuit.
Understandably, in some embodiment, can only adopt and manually activate centering operation, accordingly, provide and start centering signal to control device 1 by centering active control key is set, wherein centering active control key can be the simulation operating key of realizing on button, switch or touch-screen.In these embodiment, no matter jib is in which kind of attitude, all can control revolution centering.In other embodiment, adopt the particular pose of jib automatically to trigger centering operation, particularly, can jib attitude detecting sensor be set at jib, they are connected with control device 1, and adopt the aforesaid control device with jib attitude detection module and centering active module, and conventionally can be designed as other arm that is less than prevalue and jib at an arm of jib and the angle of surface level and reclaim while putting in place, send and start centering signal.Understandably, in some better embodiment, can comprise above-mentioned manual activation centering pattern and automatic activation centering pattern simultaneously.
In some embodiment, control device 1 can adopt the programmable logic controller (PLC) (PLC) of engineering machinery self, also can or adopt common microprocessor with an independent PLC.
Control method, control device and the control system of the various embodiments described above can be applicable to variously have jib and turntable, and the engineering machinery that is connected with chassis by turntable of jib, as aerial ladder truck, crane etc.After application, can, by the accurate centering of single job, greatly shorten and receive terraced operating process and running time.
Compared with correlation technique, some embodiments of the invention at least have the following advantages:
1. near automatic retarding can realize jib and return back to meta time, and can multi-stage speed-reducing, to reduce inertia, make jib revolution centering more accurately, reliable and fast.
2. return back to the front automatic retarding of meta, automatically cut off rotary motive power while then slowly returning back to meta, whole centering operation completes automatically, and automaticity is high, practical.
3. no matter clockwise direction revolution, or counterclockwise revolution, can be automatically, centering exactly.
4. adopt travel switch, optoelectronic switch or approach switch to detect, compared with adopting expensive displacement coder, cost is low, easy for installation.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is also not only confined to above-described embodiment, and all technical schemes belonging under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (18)
1. a high lifting kind engineering machinery jib revolution centering control method, is characterized in that, comprises the following steps:
Detecting starts centering signal;
Start after centering signal their state of signal acquisition of sample respectively at least one buffering level sensor and a middle level sensor when detecting;
Corresponding described at least one buffering level sensor and the different conditions of described middle level sensor or logical combination of different conditions, export respectively different control signals, and control jib stops revolution when slowing down at least one times before arrival meta and arriving meta;
Wherein, the logical combination of described different conditions comprises four kinds of logical combinations, at turning anticlockwise to neutralizing in clockwise revolution centering process, the sequential of described four kinds of logical combinations is identical, by the time sequencing of centering process, the second logical combination slows down for controlling for the first time, and the third logical combination is for further controlling for the second time and slow down, and the 4th kind of logical combination stops revolution for controlling.
2. control method according to claim 1, is characterized in that, also comprises jib attitude detection step, and automatically sends the step of centering commencing signal according to jib attitude.
3. control method according to claim 2, is characterized in that: described jib attitude comprises whether an arm of jib and the angle of surface level and other arm 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, starts centering signal for detecting;
Position sampling module, for detecting after beginning centering signal, their state of signal acquisition of sample respectively at least one buffering level sensor and a middle level sensor;
Processing module, for corresponding described at least one buffering level sensor and the different conditions of described level sensor or logical combination of different conditions, export respectively different control signals, control when jib slows down at least one times and arrives meta before arrival meta and stop turning round;
Wherein, the logical combination of described different conditions comprises four kinds of logical combinations, at turning anticlockwise to neutralizing in clockwise revolution centering process, the sequential of described four kinds of logical combinations is identical, by the time sequencing of centering process, the second logical combination slows down for controlling for the first time, and the third logical combination is for further controlling for the second time and slow down, and the 4th kind of logical combination stops revolution for controlling.
5. control device according to claim 4, is characterized in that, also comprises jib attitude detection module, and centering active module, for automatically sending centering commencing signal according to jib attitude.
6. control device according to claim 5, is characterized in that: described jib attitude comprises whether an arm of jib and the angle of surface level and other arm reclaim and puts in place.
7. a high lifting kind engineering machinery jib revolution centering control system, comprises turntable control device, it is characterized in that, also comprises:
Control device described in claim 4-6 any one, is connected with described turntable control device;
At least one pick-up unit, is arranged on in the two one of turntable and chassis;
Middle level sensor and at least one buffering level sensor, is arranged on another in the two of described turntable and chassis upper, and is connected with described control device, for judging the position on the relative chassis of described turntable with described pick-up unit cooperation.
8. control system according to claim 7, is characterized in that: described at least one pick-up unit comprises a middle level detecting apparatus and a buffering level detecting apparatus, and described at least one buffering level sensor comprises a buffering level sensor.
9. control system according to claim 8, it is characterized in that: described middle level detecting apparatus is the strip pick-up unit of middle band groove, described buffering level detecting apparatus is strip pick-up unit, and described buffering level sensor and described middle level sensor comprise travel switch or approach switch.
10. control system according to claim 8, it is characterized in that: described middle level detecting apparatus is the notched slab detection device in middle, described buffering level detecting apparatus is slab detection device, and described buffering level sensor and described middle level sensor are optoelectronic switch.
Control system described in 11. according to Claim 8-10 any one, is characterized in that: the length of described middle level detecting apparatus is greater than 2 times of length of described buffering level detecting apparatus and is less than 4 times of length of described buffering level detecting apparatus.
12. control system according to claim 7, it is characterized in that: described at least one pick-up unit comprises a pick-up unit, described at least one buffering level sensor comprises even number buffering level sensor, and described even number buffering level sensor is symmetricly set on described middle level sensor both sides.
13. control system according to claim 7, is characterized in that: also comprise centering active control key, start centering signal for providing to described control device.
14. control system according to claim 7, is characterized in that: also comprise jib attitude detecting sensor, be connected with described control device, to detect the attitude of jib.
15. control system according to claim 7, is characterized in that: described control device is the programmable logic controller (PLC) of this project machinery self.
16. control system according to claim 7, is characterized in that: described turntable control device comprises proportioning valve.
17. 1 kinds of engineering machinery, comprise jib and turntable, and jib is connected with chassis by turntable, it is characterized in that: also comprise the control device described in claim 4-6 any one.
18. 1 kinds of engineering machinery, comprise jib and turntable, and jib is connected with chassis by turntable, it is characterized in that: also comprise the control system described in claim 7-16 any one.
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| CN103744434B (en) * | 2013-11-14 | 2016-08-24 | 徐州重型机械有限公司 | Rotary table automatic deceleration centering method for controlling stopping and device |
| 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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| CP03 | Change of name, title or address |