CN106629428A - Sectioned control method and system for boom system and boom equipment - Google Patents
Sectioned control method and system for boom system and boom equipment Download PDFInfo
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- CN106629428A CN106629428A CN201611140635.7A CN201611140635A CN106629428A CN 106629428 A CN106629428 A CN 106629428A CN 201611140635 A CN201611140635 A CN 201611140635A CN 106629428 A CN106629428 A CN 106629428A
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- Prior art keywords
- arm
- support
- boom system
- arm joint
- scope
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The invention provides a sectioned control method and system for a boom system and boom equipment. The method includes the following steps that according to the actual supporting states of all supporting legs, the movement range of the boom system is divided into a plurality of supporting sections, and the allowed movement range of each boom segment of the boom system when the boom system is located in each supporting section is determined; the rotation angle of the boom system and the angles and/or expansion lengths of the boom segments are detected; and each boom segment is controlled to move in the allowed movement range when located in each supporting section, when the boom system is rotated from one supporting section to another supporting section, whether the boom segments are within the allowed movement ranges allowed by another supporting section or not is judged according to the detected angles and/or expansion lengths of the boom segments, and accordingly rotation of the boom system is controlled. By means of the method, there is no need to calculate the center of gravity of a whole vehicle at all times, the calculation amount is small, the control error rate is low, and meanwhile the boom system is high in safety when rotating.
Description
Technical field
The present invention relates to constructional engineering machinery apparatus field, more specifically, is related to a kind of by stages control of boom system
Method processed, system and arm support equipment.
Background technology
At present, the stable control method of existing many folding arm equipment is all the operating attitude of first real-time detection arm support, and
Calculate the position of centre of gravity of car load in real time, and judge the car load center of gravity whether safety zone in the range of support, if because of arm support
Activity makes the center of gravity of car load beyond safety zone, and controller will control arm support and move to safe direction.Above control mode belongs to
Control afterwards, it is impossible to which the moment ensures that the arm equipment that fold are in safe work state more, intentionally the outer risk toppled, and folds more
All arm supports of arm equipment are both needed to Installation posture detection means, increase error probability, in addition it is also necessary to which the control system moment calculates whole
The center of gravity of car, and according to center of gravity and the support situation of supporting leg, calculate whether boom system is located in safety zone, control system
Operand is big, having high demands for the reliability of stability and all the sensors to control system, easily malfunctions.
Meanwhile, boom system needs continually to rotate, in the case where boom frame telescopic length is certain, the selection of boom system
Also the change of car load center of gravity is caused, therefore control system needs the moment to calculate the center of gravity of car load, and according to center of gravity and each orientation
Support situation, calculates whether boom system is located in safety zone, and operand is big, and error rate is high.
It is therefore proposed that a kind of operand is few, can constantly ensure the controlling parties for folding arm equipment in safe work state more
Method just seems very necessary.
The content of the invention
In view of this, it is an object of the present invention to provide a kind of by stages control method of boom system, system and arm support
Equipment, to reduce the amount of calculation of existing arm support equipment control system and/or improve the security of boom system.
On the one hand, the invention provides a kind of by stages control method of boom system, is propped up for control by multiple supporting legs
The boom system of support, the boom system includes multiple arm joints, comprises the following steps：
Step 102：According to the actual support state of each supporting leg, the scope of activities of boom system is divided into multiple supports
Interval, and determine when the boom system is located at the support Interval, the permission scope of activities of each arm joint of the boom system；
Step 104：The angle of revolution of detection boom system and the angle and/or collapsing length of each arm joint；
Step 106：Control allowing to be moved in scope of activities when each arm joint is located at each support Interval, when the arm support system
System from a support Interval return back to another support Interval when, according to detection each arm joint angle and/or collapsing length judge
Whether each arm joint is located in the permission scope of activities that another support Interval is allowed, and controls the revolution of boom system accordingly.
As the improvement on the one hand of above-mentioned by stages control method, it is preferable that in a step 102, the permission of each arm joint
Scope of activities includes the change angle that the gravity center shift scope or/and each arm joint of at least one arm joint of the boom system are allowed
Scope or collapsing length scope, in step 106, calculate what is selected according to the angle and/or collapsing length of each arm joint of detection
Whether the gravity center shift of at least one arm joint is located in the range of the gravity center shift of another support Interval, or/and compare each of detection
Whether the angle or collapsing length of arm joint is located in the range of the change angle of another support Interval permission or collapsing length.
As the improvement on the one hand of above-mentioned by stages control method, it is preferable that the boom system includes being sequentially connected
The 1st arm joint, the 2nd arm joint ..., N arm joints, N is the integer more than 1, in a step 102, the permission activity model of each arm joint
The change angle scope or collapsing length scope allowed including each arm joint is enclosed, the change angle or flexible that the 1st arm joint is allowed is calculated
During length range, it is assumed that the 2nd arm joint ..., N arm joints are located at horizontality or maximum and stretch out state；Calculate the permission of the 2nd arm joint
Change angle or during collapsing length scope, it is assumed that the 3rd arm joint ..., N arm joints are located at horizontality or maximum stretches out shape
State；……；Calculate the change angle of N-1 arm joints permission or during collapsing length scope, it is assumed that N arm joints be located at horizontality or
Maximum stretches out state.
As the improvement on the one hand of above-mentioned by stages control method, it is preferable that in step 106, the 1st arm is limited successively
Section, the 2nd arm joint ..., N arm joints allow change angle or collapsing length range of motion.
As the improvement on the one hand of above-mentioned by stages control method, it is preferable that the arm support equipment includes 4 supporting legs,
Line with the strong point of 4 supporting legs to the centre of gyration of the boom system as line of demarcation, by the angle of revolution of boom system
Scope is divided into 4 support Intervals.
As the improvement on the one hand of above-mentioned by stages control method, it is preferable that the line of demarcation of adjacent two support Interval is
Line is supported, in a step 102, safety allowance interval is set in the range of the support Interval of at least side for supporting line, when described
Boom system be located at safety allowance it is interval when, choose the less permission scope of activities of each arm joint in adjacent two support Interval.
As the improvement on the one hand of above-mentioned by stages control method, it is preferable that in a step 102, line both sides are being supported
Support Interval in the range of to arrange safety allowance interval, the safety allowance interval be centered on the arm support centre of gyration, with
Support line is the sector region on wherein one side.
The by stages control method of the boom system that the present invention is provided, by step 102, can be according to the reality of each supporting leg
Border holding state, precalculate determination boom system under different angles of revolution, each arm joint permission activity model of boom system
Enclose, it will be understood that after the holding state of each supporting leg determines, its enabling capabilities also determines, first determine the change that each arm joint is allowed
Width angular range or collapsing length scope, in each arm joint action of boom system, it is not necessary to which the moment calculates the center of gravity of car load, only
Need whether the change angle or collapsing length that compare each arm joint of arm support are located at the change angle scope or flexible that each arm joint is allowed
Length range, while the scope of activities of each arm joint can be controlled without departing from the change angle scope or collapsing length scope for allowing,
Therefore, existing control afterwards is become into Prior Control, the security of equipment can be improved, reduce risk of tumbling, meanwhile, subtract
The amount of calculation in boom system control process is lacked, reliability and real-time are improved, control error rate is reduced.
Meanwhile, by step 104, step 106, can be by the detection of the detection means such as angular transducer, stay wire sensor
The change angle or collapsing length of each arm joint, and control each arm joint fortune in the range of the change angle scope or collapsing length for allowing
It is dynamic, control simpler.
In addition, when each arm joint returns back to another support Interval from a support Interval, by each arm joint for comparing detection
Angle and/or collapsing length judge that whether each arm joint is located in the permission scope of activities that another support Interval is allowed, Ke Yibao
Card boom system from a support Interval return back to another support Interval when security.
On the other hand, the invention allows for a kind of arm support control system, for the arm support for controlling to be supported by multiple supporting legs
System, the boom system includes multiple arm joints, including：
Leg location detection means, for detecting the extension elongation or/and pendulum angle of each supporting leg；
Arm support position detection means, between the luffing angle or adjacent two arm segment that directly or indirectly detect each arm joint
Angle or adjacent two arm segment collapsing length；
Arm support rotation detecting, for detecting the angle of revolution of the boom system；
Drive mechanism is performed, is connected with the boom system, for driving the boom system to turn round and for driving
Each arm joint luffing of the boom system or expanding-contracting action；
Controller, with the leg location detection means, arm support position detection means, arm support rotation detecting and execution
Drive mechanism connects, for the actual extension elongation of each supporting leg that detected according to the leg location detection means or/
And pendulum angle, the scope of activities of boom system is divided into multiple support Intervals, and determination is somebody's turn to do when the boom system is located at
During support Interval, the permission scope of activities of each arm joint of the boom system, and for according to arm support position detection means, arm support
The data of rotation detecting detection, by performing the motion of each arm joint of boom system described in driving mechanisms control, and are used for
When the boom system returns back to another support Interval from a support Interval, according to each of arm support position detection means detection
The angle and/or collapsing length of arm joint judges whether each arm joint is located in the permission scope of activities that another support Interval is allowed, and
The revolution of boom system is controlled accordingly.
As the improvement on the one hand of above-mentioned arm support control system, it is preferable that the boom system includes what is be sequentially connected
1st arm joint, the 2nd arm joint ..., N arm joints, N is the integer more than 1, and the permission scope of activities of the boom system is each arm
Change angle scope or collapsing length scope that section is allowed；When controller controls the motion of the boom system, the 1st is limited successively
Arm joint, the 2nd arm joint ..., N arm joints allow change angle or collapsing length range of motion；The controller is also used
It is interval that safety allowance is set in the range of the support Interval in the marginal at least side of adjacent two support Interval, when the arm
Frame system be located at safety allowance it is interval when, choose the less permission scope of activities of each arm joint in adjacent two support Interval.
The arm support control system of the present invention, controller can be precalculated really according to the actual support state of each supporting leg
Boom system is determined under different angles of revolution, each arm joint of boom system allows scope of activities, it will be understood that in each supporting leg
Holding state determine after, its enabling capabilities also determines, first determines change angle scope or collapsing length model that each arm joint allows
Enclose, in each arm joint action of boom system, it is not necessary to which the moment calculates the center of gravity of car load, it is only necessary to compare the change of each arm joint of arm support
Whether argument degree or collapsing length are located at change angle scope or the collapsing length scope that each arm joint is allowed, while can control each
The scope of activities of arm joint without departing from allow change angle scope or collapsing length scope, therefore, will it is existing afterwards control change
Into Prior Control, the security of equipment can be improved, reduce risk of tumbling, meanwhile, in reducing boom system control process
Amount of calculation, reliability and real-time be improved, and control error rate is reduced.
Meanwhile, controller can also pass through the luffing that the detection means such as angular transducer, stay wire sensor detect each arm joint
Angle or collapsing length, and each arm joint is controlled in the change angle scope or collapsing length range of motion that allow, control simpler
It is single.
In addition, when each arm joint returns back to another support Interval from a support Interval, controller is by comparing detection
The angle and/or collapsing length of each arm joint judges whether each arm joint is located in the permission scope of activities that another support Interval is allowed,
Can ensure that boom system from a support Interval return back to another support Interval when security.
Another further aspect, the invention allows for a kind of arm support equipment, including any of the above-described kind of arm support control system.
Accordingly, the arm support equipment also has the advantages that aforementioned arm support control system.
Description of the drawings
The accompanying drawing for constituting the part of the present invention is used for providing a further understanding of the present invention, the schematic reality of the present invention
Apply example and its illustrate, for explaining the present invention, not constituting inappropriate limitation of the present invention.
Fig. 1 provides a kind of schematic diagram of supporting leg form for the embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of the by stages control method of boom system provided in an embodiment of the present invention；
Fig. 3 provides a kind of dividing mode schematic diagram of support Interval for the embodiment of the present invention；
Fig. 4 provides a kind of safety allowance interval dividing mode schematic diagram for the embodiment of the present invention；
Fig. 5 is a kind of schematic diagram of arm support control system of the invention.
Specific embodiment
It should be noted that in the case where not conflicting, the embodiment and the feature in embodiment in the present invention can phase
Mutually combination.Below with reference to the accompanying drawings and in conjunction with the embodiments describing the present invention in detail.
Boom system is the critical component of arm support equipment, as shown in figure 1, generally, the boom system of arm support equipment passes through machine
Frame 1 is connected with multiple supporting legs, and O points are the centre of gyration of boom system, and supporting leg generally includes 4 supporting legs, has telescopic outrigger, swings
The supporting leg forms such as supporting leg, swinging, telescopic supporting leg, the supporting leg in Fig. 1 includes two telescopic outriggers in front (before left front supporting leg 2, the right side
Supporting leg 3) and rear two oscillating support legs (left back supporting leg 4, right rear support leg 5), its maximum support scope be outermost dotted line
Shown, other types of supporting leg can be with similar process.
Refer to Fig. 2, the by stages control method of a kind of boom system that the present invention is provided, for control by multiple supporting legs
The boom system of support, boom system includes multiple arm joints, comprises the following steps：
Step 102：According to the actual support state of each supporting leg, the scope of activities of boom system is divided into multiple supports
Interval, and determine when boom system is located at the support Interval, the permission scope of activities of each arm joint of boom system；Such as Fig. 3 institutes
Show, be simplified model, the line with the centre of gyration O of the strong point a, b, c, d to boom system of 4 supporting legs, will as line of demarcation
The angle of revolution scope of boom system is divided into 4 support Intervals (the θ yx on right side, the θ qx of front side, the θ zx in left side, the θ of rear side
Hx), the quantity of support Interval can also be 2,6,8,16 etc. as needed, certainly can also be 3,5
Deng support Interval is more, and support and control is more accurate, but control is calculated and the difficulty that controls is improved, by by boom system
Angle of revolution scope is divided into multiple support Intervals, can be according to each arm joint of actual support state computation of each supporting leg in difference
Support Interval under, the permission scope of activities of each arm joint of boom system which simplify calculating, when boom system be located at it is a certain
During support Interval, treat as a kind of situation, i.e. the permission scope of activities of each arm joint of boom system is identical.
Step 104：The angle of revolution of detection boom system and the angle and/or collapsing length of each arm joint；
Step 106：Control each arm joint positioned at each support Interval when allow scope of activities in move, when boom system from
When one support Interval returns back to another support Interval, each arm is judged according to the angle and/or collapsing length of each arm joint of detection
Whether section is located in the permission scope of activities that another support Interval is allowed, and controls the revolution of boom system accordingly.
In the present embodiment, by step 102, determination arm can be precalculated according to the actual support state of each supporting leg
Under different angles of revolution, each arm joint of boom system allows scope of activities to frame system, it will be understood that propping up in each supporting leg
After support state determines, its enabling capabilities also determines, first determines the change angle scope or collapsing length scope of each arm joint permission,
During each arm joint action of boom system, it is not necessary to which the moment calculates the center of gravity of car load, it is only necessary to compare the variable phase angle of each arm joint of arm support
Whether degree or collapsing length are located at change angle scope or the collapsing length scope that each arm joint is allowed, while each arm joint can be controlled
Scope of activities without departing from allow change angle scope or collapsing length scope, therefore, by it is existing afterwards control become
Prior Control, can improve the security of equipment, reduce risk of tumbling, meanwhile, reduce the meter in boom system control process
Calculation amount, reliability and real-time are improved, and control error rate is reduced.
Meanwhile, by step 104, step 106, can be by the detection of the detection means such as angular transducer, stay wire sensor
The change angle or collapsing length of each arm joint, and control each arm joint fortune in the range of the change angle scope or collapsing length for allowing
It is dynamic, control simpler.When controlling the action of each arm joint, prior art is may be referred to, specifically, arm support pitch control can be passed through
Valve and arm support rotary control valve, control the elevating movement and the gyration that boom system is overall of each arm joint.
In addition, when each arm joint returns back to another support Interval from a support Interval, by each arm joint for comparing detection
Angle and/or collapsing length judge that whether each arm joint is located in the permission scope of activities that another support Interval is allowed, Ke Yibao
Card boom system from a support Interval return back to another support Interval when security.
In the by stages control method of above-mentioned boom system, the permission scope of activities of each arm joint of boom system can be made extensively
The explanation of justice, such as change angle, the collapsing length of each arm joint, the gravity center shift scope of each arm joint, or, the weight of part arm joint
Heart excursion, or even the gravity center shift scope of all arm supports, specifically, in a step 102, the permission scope of activities of each arm joint
Including at least one arm joint of boom system gravity center shift scope (such as the gravity center shift scope of the 1st arm joint, the 1st, the 2nd arm joint
Gravity center shift scope etc.) or/and the change angle scope that allows of each arm joint or collapsing length scope (as the 1st arm joint is allowed
Change angle scope, the 1st, the change angle scope etc. that allows of the 2nd arm joint), in step 106, according to each arm joint of detection
Angle and/or collapsing length calculate the center of gravity the change whether gravity center shift of at least one selected arm joint is located at another support Interval
In the range of change, or/and compare the angle or collapsing length of each arm joint of detection and whether be located at the luffing that another support Interval is allowed
In the range of angle or collapsing length.When the permission scope of activities of boom system becomes for the center of gravity of at least one arm joint of boom system
When changing scope, when the action of boom system is controlled, it is only necessary to which whether the center of gravity of at least one relatively more selected arm joint is located at is permitted
Perhaps in excursion, it is not required to calculate car load center of gravity, more according to center of gravity and situation need not be supported to calculate the action of boom system
It is whether safe, therefore, amount of calculation is greatly reduced.When the permission scope of activities of boom system is the change angle that each arm joint is allowed
Scope or collapsing length scope, it is only necessary to limit each arm joint in the change angle scope or collapsing length range of motion for allowing
.
Generally, boom system include be sequentially connected the 1st arm joint, the 2nd arm joint ..., N arm joints, N is whole more than 1
Number, is to ensure security, it is assumed that other arms when change angle or the collapsing length scope that each arm joint of boom system is allowed is calculated
Section is located at the worst point of stability, and (generally, in horizontal level to stability least favorable, vertical position is to stability for foldable arm rack
It is most favourable, telescopic jib in maximum extension elongation to stability least favorable, it is most favourable to stability during maximum retraction length),
Specifically, in a step 102, the permission scope of activities of each arm joint includes the change angle scope or collapsing length of each arm joint permission
Scope, calculates change angle that the 1st arm joint allows or during collapsing length scope, it is assumed that the 2nd arm joint ..., N arm joints be located at water
Level state or maximum stretch out state；When calculating the change angle or collapsing length scope of the 2nd arm joint permission, it is assumed that the 3rd arm
Section ..., N arm joints are located at horizontality or maximum and stretch out state；……；Calculate N-1 arm joints permission change angle or
During collapsing length scope, it is assumed that N arm joints are located at horizontality or maximum stretches out state.Calculate change angle that each arm joint allows or
During collapsing length scope, the change angle or collapsing length scope of 1-N arm joints permission is calculated successively, if the i-th arm joint the (the such as the 3rd
Arm joint) action it is unrestricted when, it may not be necessary to calculate i+1 arm joint.
In such scheme, it is preferable that in step 106, limit successively the 1st arm joint, the 2nd arm joint ..., N arm joints exist
The change angle or collapsing length range of motion of permission.That is, when the 1st arm joint is located at the optimum point (vertical state) of stability,
When still can not meet the stability requirement of car load, then the change angle of the 2nd arm joint is limited, when the 1st arm joint, the equal position of the 2nd arm joint
In the point (vertical state) that stability is optimum, when still can not meet the stability requirement of car load, then the luffing for limiting the 3rd arm joint
Angle, the like, conversely, when the 1st arm joint need not necessarily lie in the optimum point (vertical state) of stability, it becomes possible to meet car load
Stability requirement when, the change angle without the need for limiting 2-N arm joints, when the i-th arm joint is unrestricted, it is not required that to i+1
Arm joint is limited.By the program, effectively Prior Control is carried out to boom system.
Further to improve security of the boom system in support Interval transition, as described in Figure 4, above-mentioned boom system
In the control method of by stages, it is preferable that the line of demarcation of adjacent two support Interval in a step 102, is supporting line to support line
Safety allowance interval (δ yqx, δ yhx, δ zqx, δ zhx) is set at least in the range of the support Interval of side, safety allowance area is set
Between after, the scope of activities of boom system is divided into 8 intervals, wherein 4 support Intervals (δ yx, δ hx, δ zx, δ qx), 4 peaces
Full allowance interval (δ yqx, δ yhx, δ zqx, δ zhx), when boom system is located at safety allowance interval, chooses adjacent two Support
Between in the less permission scope of activities of each arm joint.It is interval by arranging safety allowance, when boom system is from a support Interval Jing
When crossing safety allowance interval and returning back to another support Interval, with the longer response time, boom system can be avoided from supporting
During interval fast transition, it may occur however that unsafe factor.
The interval method to set up of safety allowance has various, can be arranged at support line side, can be arranged at and support line
Both sides, width requires to select according to control, specifically, in a step 102, arranges in the range of the support Interval for supporting line both sides
Safety allowance is interval, and safety allowance interval is the sector region centered on the arm support centre of gyration, to support line to be wherein one side,
Sector region is an approximate region shape, it is preferable that the central angle of its sector region can select 5-20 °, such as 10 °, 15 °.
The central angle of each sector region can be with identical, it is also possible to different.
Still further aspect, as shown in figure 5, the present invention also provides a kind of arm support control system, for control by multiple supporting legs
The boom system of support, boom system includes multiple arm joints, including：
Leg location detection means, for detecting the extension elongation or/and pendulum angle of each supporting leg；
Arm support position detection means, between the luffing angle or adjacent two arm segment that directly or indirectly detect each arm joint
Angle or adjacent two arm segment collapsing length；
Arm support rotation detecting, for detecting the angle of revolution of boom system；
Drive mechanism is performed, is connected with boom system, for driving boom system to turn round and for driving boom system
Each arm joint luffing or expanding-contracting action；
Controller, and leg location detection means, arm support position detection means, arm support rotation detecting and performs driving
Mechanism connects, for the actual extension elongation of each supporting leg that detected according to leg location detection means or/and angle of oscillation
Degree, by the scope of activities of boom system multiple support Intervals are divided into, and are determined when boom system is located at the support Interval, arm
The permission scope of activities of each arm joint of frame system, and for being detected according to arm support position detection means, arm support rotation detecting
Data, by perform driving mechanisms control boom system each arm joint motion, and for when boom system from one support
When interval returns back to another support Interval, according to the angle and/or collapsing length of each arm joint of arm support position detection means detection
Judge whether each arm joint is located in the permission scope of activities that another support Interval is allowed, and control the revolution of boom system accordingly.
In the present embodiment, controller can precalculate determination boom system according to the actual support state of each supporting leg
Under different angles of revolution, each arm joint of boom system allows scope of activities, it will be understood that in the holding state of each supporting leg
It is determined that after, its enabling capabilities also determines, the change angle scope or collapsing length scope of each arm joint permission is first determined, in arm support system
During each arm joint action of system, it is not necessary to which the moment calculates the center of gravity of car load, it is only necessary to compares the change angle of each arm joint of arm support or stretches
Whether contracting length is located at change angle scope or the collapsing length scope that each arm joint is allowed, while the activity of each arm joint can be controlled
Scope without departing from the change angle scope or collapsing length scope for allowing, therefore, existing control afterwards is become and controls in advance
System, can improve the security of equipment, reduce risk of tumbling, meanwhile, the amount of calculation in boom system control process is reduced, can
It is improved by property and real-time, control error rate is reduced.
Meanwhile, controller can also pass through the luffing that the detection means such as angular transducer, stay wire sensor detect each arm joint
Angle or collapsing length, and each arm joint is controlled in the change angle scope or collapsing length range of motion that allow, control simpler
It is single.When controlling the action of each arm joint, prior art is may be referred to, specifically, can be returned by arm support pitch control valve and arm support
Turn control valve, control the elevating movement and the gyration that boom system is overall of each arm joint.
In addition, when each arm joint returns back to another support Interval from a support Interval, controller is by comparing detection
The angle and/or collapsing length of each arm joint judges whether each arm joint is located in the permission scope of activities that another support Interval is allowed,
Can ensure that boom system from a support Interval return back to another support Interval when security.
Specifically, as shown in figure 3, being simplified model, with the revolution of the strong point a, b, c, d to boom system of 4 supporting legs
The line of center O is line of demarcation, and the angle of revolution scope of boom system is divided into 4 support Intervals (the θ yx on right side, front sides
θ qx, the θ zx in left side, the θ hx of rear side), the quantity of support Interval as needed, can also be 2,6,8,16 etc.
Deng, certainly can also be 3,5 etc., support Interval is more, and support and control is more accurate, but the difficulty that control is calculated and controlled
Improve, by the way that the angle of revolution scope of boom system is divided into multiple support Intervals, can be according to the reality of each supporting leg
Under different support Intervals, the permission scope of activities of each arm joint of boom system which simplify each arm joint of support state computation
Calculate, when boom system is located at a certain support Interval, treat as a kind of situation, i.e. the permission of each arm joint of boom system
Scope of activities is identical, therefore, amount of calculation is little, faster system response, easy to control.
Generally, boom system include be sequentially connected the 1st arm joint, the 2nd arm joint ..., N arm joints, N is whole more than 1
Number, in such scheme, it is preferable that the permission scope of activities of boom system is the change angle scope that each arm joint is allowed or flexible length
Degree scope；Controller control boom system motion when, successively limit the 1st arm joint, the 2nd arm joint ..., N arm joints allow
Change angle or collapsing length range of motion；That is, when the 1st arm joint is located at the optimum point (vertical state) of stability, still
When can not meet the stability requirement of car load, then the change angle of the 2nd arm joint is limited, when the 1st arm joint, the 2nd arm joint are respectively positioned on surely
Qualitative optimum point (vertical state), when still can not meet the stability requirement of car load, then the variable phase angle for limiting the 3rd arm joint
Degree, the like, conversely, when the 1st arm joint need not necessarily lie in the optimum point (vertical state) of stability, it becomes possible to meet car load
During stability requirement, the change angle without the need for limiting 2-N arm joints, when the i-th arm joint is unrestricted, it is not required that to i+1 arm
Section is limited.By the program, effectively Prior Control is carried out to boom system.
Meanwhile, it is further to improve security of the boom system in support Interval transition, controller is additionally operable to adjacent
Safety allowance interval (δ yqx, δ yhx, δ zqx, δ are set in the range of the support Interval of the marginal at least side of two support Intervals
Zhx), after safety allowance interval is set, the scope of activities of boom system is divided into 8 intervals, wherein 4 support Interval (δ
Yx, δ hx, δ zx, δ qx), 4 safety allowance intervals (δ yqx, δ yhx, δ zqx, δ zhx), when boom system be located at safety allowance area
Between when, choose the less permission scope of activities of each arm joint in adjacent two support Interval.It is interval by arranging safety allowance, work as arm support
System from a support Interval when safety allowance interval returns back to another support Interval, with the longer response time, can
To avoid boom system in support Interval fast transition, it may occur however that unsafe factor.
Another further aspect, the present invention also proposes a kind of arm support equipment, including any of the above-described kind of arm support control system.Accordingly,
The arm support equipment also has the advantages that aforementioned arm support control system.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. the by stages control method of a kind of boom system, for the boom system for controlling to be supported by multiple supporting legs, the arm support
System includes multiple arm joints, it is characterised in that comprise the following steps：
Step 102：According to the actual support state of each supporting leg, the scope of activities of boom system is divided into multiple Support
Between, and determine when the boom system is located at the support Interval, the permission scope of activities of each arm joint of the boom system；
Step 104：The angle of revolution of detection boom system and the angle and/or collapsing length of each arm joint；
Step 106：Control each arm joint positioned at each support Interval when allow scope of activities in move, when the boom system from
When one support Interval returns back to another support Interval, each arm is judged according to the angle and/or collapsing length of each arm joint of detection
Whether section is located in the permission scope of activities that another support Interval is allowed, and controls the revolution of boom system accordingly.
2. the by stages control method of boom system according to claim 1, it is characterised in that in a step 102, each arm
The permission scope of activities of section includes what the gravity center shift scope or/and each arm joint of at least one arm joint of the boom system was allowed
Change angle scope or collapsing length scope, in step 106, according to the angle and/or collapsing length meter of each arm joint of detection
Whether the gravity center shift for calculating at least one selected arm joint is located in the range of the gravity center shift of another support Interval, or/and compare
Whether the angle or collapsing length of each arm joint of detection is located at change angle or the collapsing length scope that another support Interval is allowed
It is interior.
3. the by stages control method of boom system according to claim 2, it is characterised in that the boom system includes
The 1st arm joint that is sequentially connected, the 2nd arm joint ..., N arm joints, N is the integer more than 1, and in a step 102, each arm joint permits
Perhaps scope of activities includes the change angle scope or collapsing length scope of each arm joint permission, calculates the variable phase angle that the 1st arm joint is allowed
Degree or during collapsing length scope, it is assumed that the 2nd arm joint ..., N arm joints are located at horizontality or maximum stretches out state；Calculate the 2nd
Change angle that arm joint is allowed or during collapsing length scope, it is assumed that the 3rd arm joint ..., N arm joints be located at horizontality or maximum
Stretch out state；……；When calculating the change angle or collapsing length scope of N-1 arm joints permission, it is assumed that N arm joints are located at level
State or maximum stretch out state.
4. the by stages control method of boom system according to claim 3, it is characterised in that in step 106, successively
Limit the 1st arm joint, the 2nd arm joint ..., N arm joints allow change angle or collapsing length range of motion.
5. the by stages control method of boom system according to claim 1, it is characterised in that the arm support equipment includes
4 supporting legs, the line with the strong point of 4 supporting legs to the centre of gyration of the boom system as line of demarcation, by boom system
Angle of revolution scope is divided into 4 support Intervals.
6. the by stages control method of the boom system according to any one of claim 1-5, it is characterised in that adjacent two
The interval line of demarcation of support in a step 102, in the range of the support Interval of at least side for supporting line safety is arranged to support line
Allowance is interval, when the boom system is located at safety allowance interval, chooses each arm joint in adjacent two support Interval less fair
Perhaps scope of activities.
7. the by stages control method of boom system according to claim 6, it is characterised in that in a step 102,
That safety allowance is set is interval, the safety allowance interval is to be with the arm support centre of gyration in the range of the support Interval of support line both sides
The heart, the sector region to support line to be wherein one side.
8. a kind of arm support control system, for the boom system for controlling to be supported by multiple supporting legs, the boom system includes multiple
Arm joint, it is characterised in that include：
Leg location detection means, for detecting the extension elongation or/and pendulum angle of each supporting leg；
Arm support position detection means, for the folder between the luffing angle or adjacent two arm segment that directly or indirectly detect each arm joint
Angle or the collapsing length of adjacent two arm segment；
Arm support rotation detecting, for detecting the angle of revolution of the boom system；
Drive mechanism is performed, be connected with the boom system, for driving the boom system to turn round and for described in driving
Each arm joint luffing of boom system or expanding-contracting action；
Controller, and the leg location detection means, arm support position detection means, arm support rotation detecting and performs driving
Mechanism connects, for the actual extension elongation of each supporting leg that detected according to the leg location detection means or/and pendulum
Dynamic angle, by the scope of activities of boom system multiple support Intervals are divided into, and are determined when the boom system is positioned at the support
When interval, the permission scope of activities of each arm joint of the boom system, and for being turned round according to arm support position detection means, arm support
The data of detection means detection, by the motion for performing each arm joint of boom system described in driving mechanisms control, and for working as
State boom system from a support Interval return back to another support Interval when, according to arm support position detection means detection each arm joint
Angle and/or collapsing length judge that whether each arm joint is located in the permission scope of activities that another support Interval is allowed, and accordingly
The revolution of control boom system.
9. arm support control system according to claim 8, it is characterised in that the boom system include being sequentially connected the
1 arm joint, the 2nd arm joint ..., N arm joints, N is the integer more than 1, and the permission scope of activities of the boom system is each arm joint
The change angle scope or collapsing length scope of permission；When controller controls the motion of the boom system, the 1st arm is limited successively
Section, the 2nd arm joint ..., N arm joints allow change angle or collapsing length range of motion；The controller is additionally operable to
It is interval that safety allowance is set in the range of the support Interval of the marginal at least side of adjacent two support Interval, when the arm support
System be located at safety allowance it is interval when, choose the less permission scope of activities of each arm joint in adjacent two support Interval.
10. a kind of arm support equipment, it is characterised in that including arm support control system as claimed in claim 8 or 9.
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| CN201611140635.7A CN106629428B (en) | 2016-12-12 | 2016-12-12 | By stages control method, system and the arm support equipment of a kind of boom system |
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| CN201611140635.7A CN106629428B (en) | 2016-12-12 | 2016-12-12 | By stages control method, system and the arm support equipment of a kind of boom system |
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| CN106629428B (en) | 2018-02-27 |
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