CN106586918B - A kind of folding arm high-altitude operation vehicle control method that automatic amplitude limit can be achieved - Google Patents
A kind of folding arm high-altitude operation vehicle control method that automatic amplitude limit can be achieved Download PDFInfo
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- CN106586918B CN106586918B CN201611042277.6A CN201611042277A CN106586918B CN 106586918 B CN106586918 B CN 106586918B CN 201611042277 A CN201611042277 A CN 201611042277A CN 106586918 B CN106586918 B CN 106586918B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
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- General Engineering & Computer Science (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a kind of folding arm high-altitude operation vehicle control method that automatic amplitude limit can be achieved, used folding arm high-altitude operation vehicle includes bodywork assembly, hydraulic leg, foldable arm rack assembly, workbench, controller (1), supporting leg support reaction detection switch (2), oil passage change-over valve (3), folds arm action control hydraulic valve bank (4), platform range sensor (5), obliquity sensor (6), foldable arm rack assembly angle of revolution sensor (7)；Control method specifically includes：Drive-through operation；Fold the acquisition of arm inclination data；Arm inclination data is folded to compare and judge；Foldable arm rack assembly controls.This folding arm high-altitude operation vehicle control method that automatic amplitude limit can be achieved can realize that folding arm high-altitude operation vehicle automatic decision when there is amplitude limit or platform Anti-bumping protection often saves the safe action that working arm can carry out, and then the stability for preventing dangerous further diffusion caused by maloperation, ensureing vehicle.
Description
Technical field
The present invention relates to a kind of folding arm high-altitude operation vehicle control method, specifically a kind of folding that automatic amplitude limit can be achieved
Arm high-altitude operation vehicle control method, belongs to high-altitude operation vehicle technical field.
Background technology
High-altitude operation vehicle is that transport staff and the equipment using equipment to high-altitude contraposition in high-altitude are installed, tieed up
Shield, the special vehicle cleaned, the good, operation with transaction capabilities compared with traditional operating type such as scaffolding, ladder
The advantages that efficient, job safety, it is now widely used for the infrastructure industry such as electric power, traffic, petrochemical industry, communication, gardens.
High-altitude operation vehicle is generally divided into three classes by arm support type at present：Aerial work platform truck with foldable arm, telescopic boom high-altitude
It Operation Van and by two-stage telescopic arm and cranks arm the mixing arm form high-altitude operation vehicle formed, due to folding arm high-altitude operation vehicle operation
Flexibly, it is applicable in multifarious operating mode, is easy to across obstacle arrival operating position, therefore application is more universal, folds arm high-altitude and makees
The lifting mechanism of getting on the bus of industry vehicle is usually folded by more piece box-shaped arm, can be divided into folding and lower folding, the folding of each joint arm
It is completed by the hydraulic cylinder of each internode with expansion.
Due to factors such as artificial operation error or severe natural conditions in the course of work, arm high-altitude operation vehicle is folded
It will appear unstable phenomenon, overthrow accident even can occur when serious, this can not only damage Operation Van itself but also entail dangers to
Therefore the life security of operator and surrounding pedestrian when carrying out high-altitude operation vehicle entire vehicle design, divide whole vehicle stability
Analysis is very important, and is provided in GB/T9465-2008, and the whole vehicle stability of Operation Van is with Operation Van is static and normal operation
Job platform can carry in the case that Shi Qi does not tumble maximum load describes, and the maximum load is bigger, then makees
The stability of industry vehicle is better, and many scholars researched and analysed the rollover stability of heavy work jibs formula hydraulic locomotive, but
It is only to analyze static whole vehicle stability, the whole vehicle stability under various action situations to folding arm in operation process is without correlation
Analysis.
The higher limited amplitude protection dress of safety coefficient is equipped on arm high-altitude operation vehicle to ensure that whole vehicle stability usually folds
It sets, that is, limits the amplitude of each folding arm expansion, due to folding the special construction of arm high-altitude operation vehicle, lead to fold arm in different changes
Arm is folded when argument is spent, and similarly action sometimes safely moves, is dangerous play sometimes, is especially under complex working condition
Across obstacle or evacuation barrier often need to carry out the super width operation within the scope of the ultimate factor of safety across amplitude limit to realize work
Make the anticollision of platform, typically operating personnel rule of thumb carry out super width across obstacle or evacuation barrier on workbench
The safe action of operation, this only relies on the operating experience by means of operating personnel and carries out safe action there are security risks, if operating personnel
It is not yet done to field working conditions or Operation Van's operation that dangerous further diffusion even car body can be caused to tumble, the solution used at present
It is the everything for directly forbidding getting on the bus, leans on the safe operating mode of emergency recovery, but this so that folding arm operation becomes more complex, tired
It is difficult.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of folding arm high-altitude operation vehicle control method that automatic amplitude limit can be achieved,
Folding arm high-altitude operation vehicle automatic decision when there is amplitude limit or platform Anti-bumping protection can be achieved and often save the peace that working arm can carry out
Full action, and then the stability for preventing dangerous further diffusion caused by maloperation, ensureing vehicle.
To achieve the above object, this can be achieved to fold used in the folding arm high-altitude operation vehicle control method of automatic amplitude limit
Arm high-altitude operation vehicle includes bodywork assembly, hydraulic leg, foldable arm rack assembly, workbench, controller, the detection of supporting leg support reaction
Switch, folds arm action control hydraulic valve bank, platform range sensor, obliquity sensor, foldable arm rack assembly at oil passage change-over valve
Angle of revolution sensor；The foldable arm rack assembly angle of revolution sensor is mounted on the turntable of the bodywork assembly；
The foldable arm rack assembly includes that more piece folds arm, and the obliquity sensor quantity coordinates and divides with the quantity for folding arm
It An Zhuan not save often and fold on arm；The minor details that the workbench is mounted on foldable arm rack assembly by self-level(l)ing device are rolled over
On folded arm, the platform range sensor is set as more than one piece, and it is flat that more than one piece platform range sensor is at least separately mounted to work
Four front, lower part, left part and right part positions of platform；The folding arm action control hydraulic valve bank is mounted on the car body
On the turntable of assembly；The oil passage change-over valve is mounted on the bodywork assembly；The supporting leg support reaction detection switch
It is respectively arranged on four hydraulic legs；The controller is mounted on the turntable of the bodywork assembly, and controller includes
Oil circuit switching control circuit, limited amplitude protection backfeed loop, workbench anticollision backfeed loop, folding arm inclination data acquire back
Road, inclination data multilevel iudge circuit and fold the super width control loop of arm, controller respectively with foldable arm rack assembly angle of revolution
Sensor folds arm obliquity sensor, platform range sensor, folds arm action control hydraulic valve bank, oil passage change-over valve and branch
Leg support reaction detection switch is electrically connected, and controller is electrically connected with vehicle-mounted limited amplitude protection device, the turntable of controller and bodywork assembly
Driving electrical connection；
This folding arm high-altitude operation vehicle control method that automatic amplitude limit can be achieved specifically includes following steps：
A. drive-through operation：The folding arm high-altitude operation vehicle that this first can be achieved to automatic amplitude limit rests in the appropriate position of Work places
It sets, then controls hydraulic leg and stretch out and be supported in ground, oil circuit switching control loop starts, controller is first to supporting leg
Support reaction detection switch is detected, if at least one supporting leg support reaction detection switch does not act, controller control oil
Road switching valve makes oil circuit be maintained at progress drive-through operation of getting off；When all supporting leg support reaction detection switch have acted and will
After signal feeds back to controller, controller control oil passage change-over valve, which switches to oil circuit, gets on the bus, and allows to carry out operation of getting on the bus；
B. the acquisition of arm inclination data is folded：Foldable arm rack assembly carries out expansion action, limited amplitude protection backfeed loop and work
Platform anticollision feedback loop starts, it is each to fold arm fold expansion in the process once there is limited amplitude protection, vehicle-mounted limited amplitude protection
Device feedback information folds arm inclination data acquisition circuit and starts to work, controller reads each folding respectively in real time to controller
The angle-data information of obliquity sensor feedback on arm carries out data acquisition and stores；
Once respectively fold arm fold expansion during platform range sensor Real-time Feedback workbench front and/or under
There are barrier, controller reads foldable arm rack assembly angle of revolution sensor, each folding respectively in real time for side and/or left or right
The angle-data information of obliquity sensor feedback on folded arm carries out data acquisition and stores；
C. arm inclination data is folded to compare and judge：Inclination data multilevel iudge loop starts, controller will be real-time
Foldable arm rack assembly angle of revolution sensor and/or each obliquity sensor feedback angle-data information and preset setting it is each
The reference value information and/or security parameter group information of obliquity sensor carry out comparison in difference one by one respectively, and according to comparison result
And preset setting safe action programmed decision foldable arm rack assembly and/or each direction of rotation for folding arm safe action and/or
Become width direction；
D. foldable arm rack assembly controls：Controller controls the turntable driving of bodywork assembly and/or folds arm action control liquid
Pressure valve group closes the valve road of non-security direction of action, allows the valve road for opening safe action direction.
As the further control program of the present invention, if platform range sensor feeds back obstacle level in the step d
When the left or right of workbench, controller is controlled according to the direction of rotation that the turntable of the bodywork assembly of judgement safely moves
The turntable driving of bodywork assembly processed closes the valve road of non-security action direction of rotation, allows the valve for opening safe action direction of rotation
Road.
As the further control program of the present invention, if platform range sensor feeds back obstacle level in the step d
When the front or lower section of workbench, controller is folded according to each luffing direction controlling for folding arm safe action of judgement
Arm action control hydraulic valve bank closes non-security action and becomes the valve road of width direction, allows to open the valve that safe action becomes width direction
Road.
Scheme as a further improvement on the present invention, the obliquity sensor are electrically connected with the controller by CAN bus.
Compared with prior art, this folding arm high-altitude operation vehicle control method that automatic amplitude limit can be achieved is folding arm high-altitude
When amplitude limit occurs in Operation Van, controller combines operating mode at that time by folding the angle signal and parameter preset that arm acquires to every section
Compare calculating, judges that often section folds the safe action that arm can carry out, while forbidding dangerous play, in the feelings for not cutting off action of getting on the bus
Under condition, automatic decision safe action is realized, continue Operation Van's work；If there is platform Anti-bumping protection, controller meeting when work
After reading platform specific direction platform range sensor action by barrier orientation combine folding arm angle at that time in advance
Setting anticollision parameter group is compared calculating, to judge the action for the separate rammer that can be carried out, forbids dangerous play, controls
Device processed can without operating personnel's experience and it is artificial judge in the case of realize automatic amplitude limit or platform Anti-bumping protection, safely may be used
It leans on, high degree of automation, the stability that dangerous further diffusion caused by maloperation can be prevented, ensure vehicle..
Description of the drawings
Structural schematic diagram when Fig. 1 is the first working condition of the invention；
Structural schematic diagram when Fig. 2 is second of working condition of the invention；
Fig. 3 is the control flow chart of the present invention.
In figure：1, controller, 2, supporting leg support reaction detection switch, 3, oil passage change-over valve, 4, fold arm action control hydraulic pressure
Valve group, 5, platform range sensor, 6, obliquity sensor, 6A, a joint arm obliquity sensor, 6B, two joint arm obliquity sensors,
6C, obliquity sensor of cranking arm, 7, foldable arm rack assembly angle of revolution sensor, R, operation amplitude.
Specific implementation mode
The present invention will be further described below in conjunction with the accompanying drawings (folds the direction of arm installation with workbench and minor details below
It is described for rear).
As shown in Figure 1 and Figure 2, this can be achieved to fold used in the folding arm high-altitude operation vehicle control method of automatic amplitude limit
Arm high-altitude operation vehicle includes bodywork assembly, hydraulic leg, foldable arm rack assembly, workbench, controller 1, the inspection of supporting leg support reaction
Slowdown monitoring switch 2, oil passage change-over valve 3 fold arm action control hydraulic valve bank 4, platform range sensor 5, obliquity sensor 6, fold
Arm support assembly angle of revolution sensor 7.
The foldable arm rack assembly angle of revolution sensor 7 is mounted on the turntable of the bodywork assembly, for examining
Survey the angle of revolution of foldable arm rack assembly.
The foldable arm rack assembly includes that more piece folds arm, 6 quantity of obliquity sensor and the quantity for folding arm
Coordinate and be separately mounted to every section and fold on arm, for detecting the inclination angle that often section folds arm.
The minor details that the workbench is mounted on foldable arm rack assembly by self-level(l)ing device fold on arm, described
Platform range sensor 5 is set as more than one piece, more than one piece platform range sensor 5 be at least separately mounted to workbench front, under
Four portion, left part and right part positions, for detecting the distance between workbench and barrier.
The arm action control hydraulic valve bank 4 that folds is mounted on the turntable of the bodywork assembly, for controlling folding
The action of folded arm.
The oil passage change-over valve 3 is mounted on the bodywork assembly, for controlling the oil circuit got off and got on the bus.
The supporting leg support reaction detection switch 2 is respectively arranged on four hydraulic legs, is used for detecting four liquid respectively
Whether pressure supporting leg lands support in fact.
The controller 1 is mounted on the turntable of the bodywork assembly, for acquiring foldable arm rack assembly angle of revolution
It spends sensor 7, fold the feedback signal of arm obliquity sensor 6, platform range sensor 5 and supporting leg support reaction detection switch 2 simultaneously
Control folds arm action control hydraulic valve bank 4, and controller 1 includes oil circuit switching control circuit, limited amplitude protection backfeed loop, work
Platform anticollision backfeed loop folds arm inclination data acquisition circuit, inclination data multilevel iudge circuit and folds the super width control of arm
Circuit, controller 1 respectively with foldable arm rack assembly angle of revolution sensor 7, fold arm obliquity sensor 6, platform Distance-sensing
Device 5 folds arm action control hydraulic valve bank 4, oil passage change-over valve 3 and supporting leg support reaction detection switch 2 and is electrically connected, controller 1 with
Vehicle-mounted limited amplitude protection device electrical connection, controller 1 are electrically connected with the driving of the turntable of bodywork assembly.
As shown in figure 3, this folding arm high-altitude operation vehicle control method that automatic amplitude limit can be achieved specifically includes following steps：
A. drive-through operation：The folding arm high-altitude operation vehicle that this first can be achieved to automatic amplitude limit rests in the appropriate position of Work places
It sets, then controls hydraulic leg and stretch out and be supported in ground, oil circuit switching control loop starts, controller 1 is first to branch
Leg support reaction detection switch 2 is detected, if at least one supporting leg support reaction detection switch 2 does not act, controller 1 is controlled
Oil passage change-over valve 3 processed makes oil circuit be maintained at progress drive-through operation of getting off；When all supporting leg support reaction detection switch 2 have been moved
After making and signal being fed back to controller 1, controller 1 thinks that four vertical leg supports are real, and controller 1 controls oil passage change-over valve 3
Oil circuit is switched to and is got on the bus, allows to carry out operation of getting on the bus.
B. the acquisition of arm inclination data is folded：Foldable arm rack assembly carries out expansion action, limited amplitude protection backfeed loop and work
Platform anticollision feedback loop starts, it is each to fold arm fold expansion in the process once there is limited amplitude protection, vehicle-mounted limited amplitude protection
Device, that is, feedback information folds arm inclination data acquisition circuit and starts to work, controller 1 is read respectively in real time to controller 1
The angle-data information that each obliquity sensor 6 folded on arm is fed back carries out data acquisition and stores；
Once respectively fold arm fold expansion during 5 Real-time Feedback workbench of platform range sensor front and/or
There are barrier, controller 1 reads foldable arm rack assembly angle of revolution sensor respectively in real time for lower section and/or left or right
7, the angle-data information that the obliquity sensor 6 on arm is fed back respectively is folded to carry out data acquisition and store.
C. arm inclination data is folded to compare and judge：Inclination data multilevel iudge loop starts, controller 1 will be real-time
The reference value information of each obliquity sensor 6 of angle-data information and preset setting that feeds back of each obliquity sensor 6 respectively into
Row comparison in difference, and the luffing side that arm safely moves respectively is folded according to the safe action programmed decision of comparison result and preset setting
To；
The direction that controller 1 is safely moved according to the feedback and judge foldable arm rack assembly of platform range sensor 5, if platform
When the feedback barrier of range sensor 5 is located at the left or right of workbench, controller 1 judges the turntable peace of bodywork assembly
The direction of rotation acted entirely；If the feedback barrier of platform range sensor 5 is located at the front or lower section of workbench, controller
The angle-data information that real-time each obliquity sensor 6 is fed back and the security parameter group information of preset setting are carried out difference by 1 one by one
Different comparison, and the change width direction that arm safely moves respectively is folded according to the safe action programmed decision of comparison result and preset setting.
D. foldable arm rack assembly controls：Controller 1 is rolled over according to each luffing direction controlling for folding arm safe action of judgement
Folded arm action control hydraulic valve bank 4 closes non-security action and becomes the valve road of width direction, opening safe action is allowed to become width direction
Valve road, had both made the failure that outputs and inputs of non-security action, and operating personnel had both made maloperation that the folding of automatic amplitude limit originally can be achieved
Arm high-altitude operation vehicle will not respond, it is ensured that and it folds arm and will not continue to move to dangerous direction again, it may only be to secure side
To action；
If platform range sensor 5 feeds back barrier when being located at the left or right of workbench, controller 1 is according to sentencing
Non-security action rotation is closed in the turntable driving of the direction of rotation control bodywork assembly of the turntable safe action of fixed bodywork assembly
The valve road in direction allows the valve road for opening safe action direction of rotation, operating personnel both to make maloperation that automatic amplitude limit originally can be achieved
Folding arm high-altitude operation vehicle will not respond, it is ensured that foldable arm rack assembly will not continue to rotate to dangerous direction again, only
It can be rotated to safe direction；
If platform range sensor 5 feeds back barrier when being located at the front or lower section of workbench, controller 1 is according to sentencing
Fixed each luffing direction controlling for folding arm safe action folds arm action control hydraulic valve bank 4 and closes non-security action luffing side
To valve road, allow to open the valve road that safe action becomes width direction, operating personnel had both made maloperation that automatic amplitude limit originally can be achieved
Folding arm high-altitude operation vehicle will not respond, it is ensured that and it folds arm and will not continue to move to dangerous direction again, it may only be to peace
Omnidirection acts.
Since CAN bus has higher Performance And Reliability, scheme, described as a further improvement on the present invention
Obliquity sensor 6 be electrically connected with controller 1 by CAN bus.
It by taking three sections fold arm high-altitude operation vehicle as an example, expresses for convenience, by the separated mark of obliquity sensor 6 at a joint arm
Obliquity sensor 6A, two joint arm obliquity sensor 6B, crank arm obliquity sensor 6C.
Once there is limited amplitude protection in operating process of getting on the bus, controller 1 can read obliquity sensor 6A respectively, inclination angle passes
The data of sensor 6B, obliquity sensor 6C, and sensed with pre-set obliquity sensor 6A, inclination angle in 1 program of controller
The reference angle value progress comparison in difference of device 6B, obliquity sensor 6C, judge the peace that often section working arm can carry out according to fiducial value
Full operation, and make non-security action outputs and inputs failure, allows outputting and inputting for safe action.
Amplitude limit under working condition as shown in Figure 1, first controller 1 are separately mounted to by reading on every section working arm
The angle value of obliquity sensor 6A, obliquity sensor 6B, obliquity sensor 6C, by obliquity sensor at this time in controller 1
Preset obliquity sensor 6A, inclination angle pass in 6A, obliquity sensor 6B, the angle value of obliquity sensor 6C and controller 1
Sensor 6B, obliquity sensor 6C reference values carry out comparison in difference respectively, and according to comparison result, two section working arms carry out at this time
Luffing rises, the action fallen with a section working arm progress luffing job of cranking arm is the operating radius for reducing workbench, reduces operation
The safe action of amplitude；So controller 1 forbids folding in this case arm action control hydraulic valve bank 4 to two section work simultaneously
Arm luffing is fallen, the action to have worked with a section working arm luffing of cranking arm exports, but is allowed two section working arms to carry out luffings and risen, crank arm
The action output that luffing work is fallen is carried out with a section working arm, therefore operator had both made maloperation that the folding of automatic amplitude limit originally can be achieved
Folded arm high-altitude operation vehicle will not respond, to ensure each folding arm will not continue to move to dangerous direction again, can only be to safety
Direction moves.
Amplitude limit under working condition as shown in Figure 2, first controller 1 are separately mounted to by reading on every section working arm
The angle value of obliquity sensor 6A, obliquity sensor 6B, obliquity sensor 6C, by obliquity sensor at this time in controller 1
Preset obliquity sensor 6A, inclination angle pass in 6A, obliquity sensor 6B, the angle value of obliquity sensor 6C and controller 1
Sensor 6B, obliquity sensor 6C reference values carry out comparison in difference respectively, and two working arms and song are saved at this time according to comparison result
It is to reduce workbench operating radius, reduce operation width that arm, which carries out the action that luffing is fallen, a section working arm progress luffing has worked,
The safe action of degree；So controller 1 forbids folding in this case arm action control hydraulic valve bank 4 to two section working arms simultaneously
The action output that luffing rises, a section working arm progress luffing job is fallen is carried out with cranking arm, but allows two section working arms and cranks arm
Progress luffing is fallen, a section working arm carries out the action output that luffing has worked, therefore operator had both made maloperation sheet can be achieved certainly
The folding arm high-altitude operation vehicle of dynamic amplitude limit will not respond, to ensure each folding arm will not continue to move to dangerous direction again,
It can only be moved to safe direction.
If it is platform Anti-bumping protection rather than limited amplitude protection, platform range sensor 5 can be in the one end for barrier occur
Controller 1 is sent a signal to, controller 1 carries out walking direction to the signal that platform range sensor 5 is sent out, it is first determined obstacle
Level is in which direction of workbench, if barrier appears in platform sinistral or right side, controller 1 only needs to forbid at this time
It folds arm action control hydraulic valve bank 4 and exports left and right revolution action；If barrier be in workbench front or
Lower section, then controller 1 will according to the specific direction of barrier combine at this time often save 6 obliquity sensor of working arm angle value, with
The security parameter group set in controller 1 in advance compares the safe action that simultaneously further determines that and can carry out one by one, passes through limitation
The action of arm action control hydraulic valve bank 4 is folded to realize protection.
There is barrier below workbench as shown in Figure 1, controller 1 will be read is respectively arranged in every section work at this time
The angle value of obliquity sensor 6A, obliquity sensor 6B, obliquity sensor 6C on arm, and will be in upper angle and controller
The reference value that working arm angle is often saved when there is barrier below preset platform carries out comparison in difference, is calculated by comparing
Known to crank arm at this time risen with two section working arm luffings and a joint arm luffing to fall be the safety that can promote workbench operation height
Action, thus at this time controller 1 forbid folding 4 output of arm action control hydraulic valve bank crank arm fallen with two section working arm luffings, one
The action that joint arm luffing rises is bumped against with preventing workbench from continuing to fall with barrier, while allowing to fold arm action control hydraulic pressure
Valve group 4 exports bodywork assembly turntable driving revolution, cranks arm with two actions that section working arm luffing rises, a joint arm luffing is fallen to be promoted
Workbench is far from barrier to ensure workbench safety；If barrier occurs in workbench front, controller 1 is wanted at this time
The angle value of the obliquity sensor 6A, obliquity sensor 6B, obliquity sensor 6C that are respectively arranged on every section working arm are read, and
And it will be carried out with the reference value for often saving working arm angle when there is barrier before preset platform in upper angle and controller 1
Comparison in difference, through comparison calculate known to crank arm at this time with one section working arm luffing fall with two joint arm luffings rise be that can make work
What platform operations moved in the reverse direction, thus at this time controller 1 forbid folding 4 output of arm action control hydraulic valve bank crank arm and
One action that section working arm luffing rises and two joint arm luffings are fallen, while allowing to fold 4 output car body of arm action control hydraulic valve bank
Assembly turntable driving revolution is cranked arm with an action that section working arm luffing is fallen, two joint arm luffings rise to prevent workbench and barrier
Object is hindered to bump against；And so on when there is workbench collision-proof alarm, controller 1 can according to alarm direction volitional check fold arm
Dangerous play, allow the safe action for folding arm, operator both makes maloperation occur, and Operation Van will not respond, from
And accomplish in platform anticollision, meanwhile, both made operating personnel inexperienced and had been risen in the case of everything without stopping getting on the bus
To protective effect.
There is barrier in workbench lower part as shown in Figure 2, and controller 1 will be read is respectively arranged in every section work at this time
The angle value of obliquity sensor 6A, obliquity sensor 6B, obliquity sensor 6C on arm, and will be in upper angle and controller
The reference value that working arm angle is often saved when there is barrier below preset platform carries out comparison in difference, is calculated by comparing
Known to crank arm at this time risen with two section working arm luffings and a joint arm luffing to fall be the safety that can promote workbench operation height
Action, therefore controller 1 is forbidden folding 4 output of arm action control hydraulic valve bank cranking arm and is fallen and one with two section working arm luffings at this time
The action that joint arm luffing rises prevents workbench from continuing to fall and barrier collision, while allowing to fold arm action control hydraulic valve
4 output bodywork assembly turntable driving revolution of group is cranked arm with two actions that section working arm luffing rises, a joint arm luffing is fallen to promote work
Make platform far from barrier, ensures job platform safety；There is barrier if it is workbench front, controller 1 will be read
It is respectively arranged in the angle value of every obliquity sensor 6A saved on working arm, obliquity sensor 6B, obliquity sensor 6C at this time, and
And it will be carried out with the reference value for often saving working arm angle when there is barrier before preset platform in upper angle and controller 1
Comparison in difference, through comparison calculate known to crank arm at this time with two section working arm luffings fall with a joint arm luffing rise be that can make work
What platform operations moved in the reverse direction, thus at this time controller 1 forbid folding 4 output of arm action control hydraulic valve bank crank arm and
Two actions that section working arm luffing rises and a joint arm luffing is fallen, while allowing to fold 4 output car body of arm action control hydraulic valve bank
Assembly turntable driving revolution is cranked arm with two actions that section working arm luffing is fallen, a joint arm luffing rises to prevent workbench and barrier
Object is hindered to bump against；And so on when there is workbench collision-proof alarm, control system can according to alarm direction volitional check fold
The dangerous play of arm allows the safe action for folding arm, operator both to make maloperation occur, and Operation Van will not respond,
To accomplish in platform anticollision, meanwhile, both made operating personnel inexperienced without stopping getting on the bus in the case of everything
It plays a protective role.
There is amplitude limit in folding arm high-altitude operation vehicle in this folding arm high-altitude operation vehicle control method that automatic amplitude limit can be achieved
When, controller 1 combines operating mode at that time to be calculated compared with parameter preset by folding the angle signal of arm acquisition to every section, judges
Often section folds the safe action that can carry out of arm, while forbidding dangerous play, do not cut off get on the bus action in the case of, realize automatic
Judge safe action, continues Operation Van's work；If occurring platform Anti-bumping protection when work, controller 1 can have in reading platform
Body direction platform range sensor 5 joins the folding arm angle of barrier orientation combination at that time with anticollision is pre-set after acting
Array is compared calculating, to judge the action of separate rammer that can be carried out, forbids dangerous play, and controller 1 can be
Automatic amplitude limit or platform Anti-bumping protection are realized in the case of without operating personnel's experience and artificial judgement, safe and reliable, automation
Degree is high, the stability that can be prevented dangerous further diffusion caused by maloperation, ensure vehicle.
Claims (4)
1. a kind of folding arm high-altitude operation vehicle control method that automatic amplitude limit can be achieved, which is characterized in that used folding arm
High-altitude operation vehicle includes bodywork assembly, hydraulic leg, foldable arm rack assembly, workbench, controller (1), the inspection of supporting leg support reaction
Slowdown monitoring switch (2), oil passage change-over valve (3) fold arm action control hydraulic valve bank (4), platform range sensor (5), inclination angle sensing
Device (6), foldable arm rack assembly angle of revolution sensor (7)；The foldable arm rack assembly angle of revolution sensor (7) is mounted on
On the turntable of the bodywork assembly；The foldable arm rack assembly includes that more piece folds arm, the obliquity sensor (6) number
Amount, which coordinates with the quantity for folding arm and is separately mounted to every section, to be folded on arm；The workbench passes through self-level(l)ing device
Minor details mounted on foldable arm rack assembly fold on arm, and the platform range sensor (5) is set as more than one piece, more than one piece platform away from
From four front, lower part, left part and right part positions that sensor (5) is at least separately mounted to workbench；The folding arm
Action control hydraulic valve bank (4) is mounted on the turntable of the bodywork assembly；The oil passage change-over valve (3) is mounted on described
Bodywork assembly on；The supporting leg support reaction detection switch (2) is respectively arranged on four hydraulic legs；The controller
(1) it is mounted on the turntable of the bodywork assembly, controller (1) includes that oil circuit switching control circuit, limited amplitude protection are fed back to
Road, workbench anticollision backfeed loop, folding arm inclination data acquisition circuit, inclination data multilevel iudge circuit and folding arm are super
Width control loop, controller (1) respectively with foldable arm rack assembly angle of revolution sensor (7), fold arm obliquity sensor (6),
Platform range sensor (5) folds arm action control hydraulic valve bank (4), oil passage change-over valve (3) and supporting leg support reaction detection switch
(2) it is electrically connected, controller (1) is electrically connected with vehicle-mounted limited amplitude protection device, and controller (1) and the turntable driving of bodywork assembly are electrically connected
It connects；
This folding arm high-altitude operation vehicle control method that automatic amplitude limit can be achieved specifically includes following steps：
A. drive-through operation：The folding arm high-altitude operation vehicle that this first can be achieved to automatic amplitude limit rests in Work places appropriate location,
Then control hydraulic leg stretches out and is supported in ground, and oil circuit switching control loop starts, controller (1) is first to supporting leg
Support reaction detection switch (2) is detected, if at least one supporting leg support reaction detection switch (2) does not act, controller
(1) control oil passage change-over valve (3) makes oil circuit be maintained at progress drive-through operation of getting off；When all supporting leg support reaction detection switch (2)
After having acted and signal being fed back to controller (1), controller (1) control oil passage change-over valve (3) switches to oil circuit
Vehicle allows to carry out operation of getting on the bus；
B. the acquisition of arm inclination data is folded：Foldable arm rack assembly carries out expansion action, limited amplitude protection backfeed loop and workbench
Anticollision feedback loop starts, it is each to fold arm fold expansion in the process once there is limited amplitude protection, vehicle-mounted limited amplitude protection device
Feedback information gives controller (1), folds arm inclination data acquisition circuit and starts to work, controller (1) reads each folding respectively in real time
The angle-data information of obliquity sensor (6) feedback on folded arm carries out data acquisition and stores；
Respectively fold arm fold expansion during platform range sensor once (5) Real-time Feedback workbench front and/or under
There are barrier, controller (1) reads foldable arm rack assembly angle of revolution sensor respectively in real time for side and/or left or right
(7), the angle-data information for respectively folding obliquity sensor (6) feedback on arm carries out data acquisition and stores；
C. arm inclination data is folded to compare and judge：Inclination data multilevel iudge loop starts, controller (1) will be real-time
The angle-data information and preset setting of foldable arm rack assembly angle of revolution sensor (7) and/or each obliquity sensor (6) feedback
Each obliquity sensor (6) reference value information and/or security parameter group information carry out comparison in difference one by one respectively, and according to than
The safe action programmed decision foldable arm rack assembly and/or each direction of rotation for folding arm safe action of relatively result and preset setting
And/or become width direction；
D. foldable arm rack assembly controls：Controller (1) controls the turntable driving of bodywork assembly and/or folds arm action control hydraulic pressure
Valve group (4) closes the valve road of non-security direction of action, allows the valve road for opening safe action direction.
2. the folding arm high-altitude operation vehicle control method according to claim 1 that automatic amplitude limit can be achieved, which is characterized in that
If platform range sensor (5) feedback barrier is located at the left or right of workbench in the step d, controller
(1) the turntable driving closing that bodywork assembly is controlled according to the direction of rotation of the turntable of the bodywork assembly of judgement safe action is non-security
It acts the valve road of direction of rotation, allow the valve road for opening safe action direction of rotation.
3. the folding arm high-altitude operation vehicle control method according to claim 1 that automatic amplitude limit can be achieved, which is characterized in that
If platform range sensor (5) feedback barrier is located at the front or lower section of workbench in the step d, controller
(1) arm action control hydraulic valve bank (4) is folded according to each luffing direction controlling for folding arm safe action of judgement and closes non-peace
Full action becomes the valve road of width direction, allows to open the valve road that safe action becomes width direction.
4. the folding arm high-altitude operation vehicle control method according to claim 1 or 2 that automatic amplitude limit can be achieved, feature exist
In the obliquity sensor (6) is electrically connected by CAN bus with controller (1).
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Denomination of invention: Folding-jib overhead working truck control method capable of realizing automatic amplitude limiting Effective date of registration: 20190911 Granted publication date: 20180925 Pledgee: China Merchants Bank Co.,Ltd. Xuzhou Branch Pledgor: XUZHOU HANDLER SPECIAL VEHICLE Co.,Ltd. Registration number: Y2019320000129 |
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