CN106629523A - Aerial work vehicle with self-stabilizing system and self-stabilizing control method thereof - Google Patents

Aerial work vehicle with self-stabilizing system and self-stabilizing control method thereof Download PDF

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Publication number
CN106629523A
CN106629523A CN201610938477.3A CN201610938477A CN106629523A CN 106629523 A CN106629523 A CN 106629523A CN 201610938477 A CN201610938477 A CN 201610938477A CN 106629523 A CN106629523 A CN 106629523A
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China
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hydraulic
self
counterweight
arm
leg
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CN201610938477.3A
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Chinese (zh)
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CN106629523B (en
Inventor
胡景清
陈靖
蔡雷
赵继泉
闫晓玲
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徐州海伦哲专用车辆股份有限公司
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, 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
    • B66F11/00Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04Lifting 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

Abstract

The invention discloses an aerial work vehicle with a self-stabilizing system and a self-stabilizing control method thereof. The aerial work vehicle comprises a vehicle body assembly, a boom support, a boom assembly, hydraulic support legs and the self-stabilizing control system. The self-stabilizing control system comprises a balance weight device, a control box, a hydraulic support leg horizontal variable displacement sensor, a boom luffing angle sensor and a boom luffing oil cylinder pressure sensor. The balance weight device comprises a balance weight, a sliding guide mechanism and a balance weight push-pull hydraulic cylinder. In the working state of the aerial work vehicle with the self-stabilizing system, the balance weight is controlled to move according to feedback of all the sensors, so that the balance weight generates stabilizing moment to balance overturning moment generated by an operation platform, and then self-stabilizing control is achieved; the maximum operation height and operation amplitude in the complete-stretching state of the horizontal support legs under different horizontal support leg spans can be obtained; and the aerial work vehicle with the self-stabilizing system is especially suitable for conducting aerial work on narrow roads or small-space sites.

Description

A kind of high-altitude operation vehicle with self-stabilization system and its self-stabilization control method

Technical field

The present invention relates to a kind of high-altitude operation vehicle and control method, specifically a kind of work high above the ground with self-stabilization system Car and its self-stabilization control method, belong to high-altitude operation vehicle technical field.

Background technology

High-altitude operation vehicle is to transport staff and the equipment that is pointed to high-altitude using equipment to high-altitude is installed, tieed up Shield, the special vehicle of cleaning, with transaction capabilities are good, operation compared with traditional operating type such as scaffolding, ladder The advantages of efficiency high, job safety, it is now widely used for the infrastructure industry such as electric power, traffic, petrochemical industry, communication, gardens.

At present domestic high-altitude operation vehicle is mainly conducted oneself with dignity to the anti-of supporting leg formation in terms of job stabilization by vehicle body Torque carrys out the torque of balanced operation platform generation to realize stablizing for its operation, but with big height, large span equipment in industry Facility is continuously increased, it is desirable to which the operation height and amplitude of high-altitude operation vehicle is also continuously increased, in turn result in high-altitude operation vehicle Supporting leg span is also increasing, but larger supporting leg span not only needs to take larger Active workings space, and larger Supporting leg span is also easy to cause frame distortion and then impact operational security.

The span of horizontal support legs is generally carried out classification pipe by existing high-altitude operation vehicle in order to adapt to different operating environments Reason, be generally divided into horizontal support legs stretches out, partly stretches out and does not stretch out three kinds of working conditions entirely, and three kinds of working condition correspondences produce three Different transaction capabilities curves are planted, this often sacrifices operation height and operation amplitude obtains the operating environment of adaptation, with 18 meters As a example by high-altitude operation vehicle, under the fully extended state of horizontal support legs maximum operation amplitude be 12 meters, maximum operation height be 18 meters, Operation height is 12.5 meters when operation amplitude is 9 meters, and when operation amplitude is 6 meters, operation height is 16 meters;Horizontal support legs are partly stretched Maximum operation amplitude under doing well is 9 meters, and operation height now is only 6 meters;Horizontal support legs do not stretch out the maximum under state 6 meters of operation amplitude, also only 6 meters of operation height now, and can only work in rear area, when high-altitude operation vehicle is needed narrow When the narrow place in narrow road face or space carries out work high above the ground, often horizontal support legs partly stretch out and do not stretch out corresponding under situation Operation height and amplitude can not meet use requirement, can only complete work high above the ground by step ladder or miscellaneous equipment, and this is serious High-altitude working safety operational procedure is violated, operation is absolutely unsafe, with very high potential safety hazard, personal wound is occurred when serious Die accident.

The content of the invention

For the problems referred to above, the present invention provides a kind of high-altitude operation vehicle with self-stabilization system and its self-stabilization controlling party Method, can realize obtaining under different horizontal support legs spans under the fully extended state of horizontal support legs by controlling self-stabilization system Maximum operation height and operation amplitude, being particularly well-suited to the narrow place in narrow road surface or space carries out work high above the ground.

For achieving the above object, this high-altitude operation vehicle with self-stabilization system includes bodywork assembly, cantilever support, arm support Assembly, hydraulic leg and self-stabilization control system;

Described bodywork assembly includes driver's cabin, chassis, subframe and running gear, and subframe is fixedly connected on chassis On;

Described cantilever support bottom is connected by cantilever support slew gear with subframe, cantilever support slew gear bag Include pivoting support and revolution driving;

Described arm support assembly is hingedly mounted in cantilever support, including basic arm, boom derricking cylinder and workbench, Boom derricking cylinder one end is hingedly mounted in cantilever support, the other end is hingedly mounted on the basic arm of arm support assembly, arm support Amplitude oil cylinder is connected by control valve group with onboard hydraulic system;

Described hydraulic leg is set to four, and four hydraulic leg Central Symmetries are arranged on chassis or subframe, liquid Pressure supporting leg includes horizontal displacement hydraulic cylinder and vertical loading hydraulic cylinder, and horizontal displacement hydraulic cylinder and vertical loading hydraulic cylinder pass through control Valve group processed is connected with onboard hydraulic system;

Described self-stabilization control system includes balance weight device, control box, the horizontal displacement displacement sensing of hydraulic leg Device, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor;

Balance weight device includes counterweight, sliding guide mechanism and counterweight push-and-pull hydraulic cylinder;Counterweight is led to Cross sliding guide mechanism to be connected with cantilever support, and counterweight and sliding guide mechanism are total positioned at arm support relative to arm support assembly Into dead astern;Counterweight push-and-pull hydraulic cylinder one end and counterweight are articulated and connected, the other end and cantilever support are articulated and connected, And the telescopic direction of counterweight push-and-pull hydraulic cylinder is consistent with the glide direction of sliding guide mechanism, counterweight push-and-pull hydraulic cylinder It is connected with onboard hydraulic system by control valve group;

The horizontal displacement displacement transducer of hydraulic leg is arranged on hydraulic leg, and luffing range of cantilever support angular transducer is arranged on arm The position that is articulated and connected of frame assembly and cantilever support, boom derricking cylinder pressure sensor is arranged on boom derricking cylinder;

Control box includes controller, signal processing module, control module, the horizontal displacement backfeed loop of hydraulic leg, arm support Change angle backfeed loop, boom derricking cylinder pressure feed back loop, counterweight control loop, numerical value comparison loop;Control Device is electrically connected respectively with signal processing module and control module;Signal processing module is passed respectively with the horizontal displacement displacement of hydraulic leg The electrical connection of sensor, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor;Control module and counterweight push-and-pull The control valve group electrical connection of hydraulic cylinder.

Used as the preferred version of the present invention, the sliding guide mechanism of described balance weight device is the guiding of tube-in-tube structure Translation mechanism, including slide telescopic arm and fixed arm, the socket of fixed arm one end fits on one end of slide telescopic arm, it is another One end is fixedly connected in cantilever support, and the other end of slide telescopic arm is fixedly connected in counterweight.

Scheme as a further improvement on the present invention, described slide telescopic arm and fixed arm are in the width side of counterweight Upwards at least left and right Parallel Symmetric is set to two sets.

Scheme as a further improvement on the present invention, the sliding guide mechanism of described balance weight device is horizontally disposed with.

Scheme as a further improvement on the present invention, the vertical loading hydraulic cylinder of described hydraulic leg be provided with vertically plus Load hydraulic cylinder pressure transducer, vertical loading hydraulic cylinder pressure sensor is electrically connected with the signal processing module of balance weight device Connect.

A kind of self-stabilization control method of the high-altitude operation vehicle with self-stabilization system, it is characterised in that including following step Suddenly:

A. the horizontal displacement displacement data collection of hydraulic leg:The high-altitude operation vehicle that this has self-stabilization system is positioned at into work Make to need the vertical loading hydraulic cylinder for directly controlling hydraulic leg by onboard hydraulic system to stretch out according to place behind place to make liquid Pressure supporting leg consolidate be supported on ground or first control hydraulic leg horizontal displacement hydraulic cylinder hydraulic leg is protruded horizontally up to field The vertical loading hydraulic cylinder for controlling hydraulic leg after the extension elongation that ground is allowed again stretches out and makes that hydraulic leg is firm to be supported in ground On, the horizontal displacement displacement transducer feedback hydraulic supporting leg horizontal displacement information of hydraulic leg is to flat during hydraulic leg action The signal processing module of weighing apparatus counter weight device;

B. luffing range of cantilever support angle-data collection:Arm support assembly stretches out luffing, arm support assembly luffing by boom derricking cylinder During luffing range of cantilever support angular transducer feedback arm support assembly change angle information to balance weight device signal transacting mould Block;

C. the bearing pressure data acquisition of boom derricking cylinder:Continue as needed to stretch out or launch after arm support assembly luffing Make workbench rise to working depth and controlling cantilever support revolution driving as needed makes cantilever support drive arm support assembly To operating position, boom derricking cylinder pressure sensor feeds back luffing range of cantilever support to horizontal rotation during arm support assembly luffing launches The signal processing module of the bearing pressure information to balance weight device of oil cylinder;

D. data processing:Signal processing module will hydraulic leg horizontal displacement information, the change angle letter of arm support assembly Breath and these three numerical informations of the bearing pressure information of boom derricking cylinder are analyzed according to setting program and calculated needs balance After the countertorque that counterweight is provided the stabilizing moment of this data and program setting is compared and is selected closer to this countertorque number In real time output feeds back to controller to the stabilizing moment numerical value of value;

E. the tilting moment that balanced operation platform is produced:Controller calculates flat according to the data that signal processing module is exported The stroke of weighing apparatus counterweight push-and-pull hydraulic cylinder, and sending control instruction in real time makes control module control counterweight push-and-pull hydraulic cylinder Control valve group action makes counterweight push-and-pull hydraulic cylinder be stretched in real time according to flexible numerical quantity, counterweight push-and-pull hydraulic cylinder Stretch out with dynamic balance weight or retraction realizes that the position of centre of gravity for changing counterweight is made it produce stabilizing moment and put down with balanced operation The tilting moment that platform is produced.

Compared with prior art, this has the self-stabilization control system of the high-altitude operation vehicle of self-stabilization system due to including flat Weighing apparatus counter weight device, control box, the horizontal displacement displacement transducer of hydraulic leg, luffing range of cantilever support angular transducer and boom derricking cylinder Pressure sensor, balance weight device includes counterweight, sliding guide mechanism and counterweight push-and-pull hydraulic cylinder, therefore works During state, hydraulic leg horizontal displacement displacement transducer feedback hydraulic supporting leg horizontal displacement information first is to balance weight device Signal processing module, then luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor feed back the luffing of arm support assembly The signal processing module of the bearing pressure information to balance weight device of angle information and boom derricking cylinder, signal processing module Again this three data messages are analyzed this data and calculated after the countertorque for needing counterweight offer according to setting program It is compared and selects to export anti-in real time closer to the stabilizing moment numerical value of this countertorque numerical value with the stabilizing moment of program setting Feed controller, the stroke that controller calculates counterweight push-and-pull hydraulic cylinder according to the data that signal processing module is exported is simultaneously Sending control instruction in real time makes the control valve group action of control module control counterweight push-and-pull hydraulic cylinder make counterweight push-and-pull Hydraulic cylinder stretches out with dynamic balance weight or retraction is to change the position of centre of gravity of counterweight and make it produce stabilizing moment to balance The tilting moment that job platform is produced, so as to realize making Operation Van exist all the time under the operating mode of larger job height and operation amplitude The automatic stabilisation worked under safe operating mode;The setting of balance weight device can improve the overall operation performance of high-altitude operation vehicle, real Span, the situation of identical hydraulic leg span of hydraulic leg are reduced in the case of existing identical operation height and operation amplitude Lower increase operation height and operation amplitude, this has the high-altitude operation vehicle of self-stabilization system by rationally arranging stretching for counterweight Contracting length can be realized obtaining the maximum operation height under the fully extended state of horizontal support legs under different horizontal support legs spans With operation amplitude, being particularly well-suited to the narrow place in narrow road surface or space carries out work high above the ground.

Description of the drawings

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the A direction views of Fig. 1.

In figure:1st, bodywork assembly, 2, cantilever support, 3, hydraulic leg, 4, balance weight device, 41, counterweight, 42, Slide telescopic arm, 43, fixed arm, 44, counterweight push-and-pull hydraulic cylinder.

Specific embodiment

Below in conjunction with the accompanying drawings the present invention will be further described.

As shown in figure 1, there is the high-altitude operation vehicle of self-stabilization system to include that bodywork assembly 1, cantilever support 2, arm support are total for this Into, hydraulic leg 3 and self-stabilization control system.

Described bodywork assembly 1 includes driver's cabin, chassis, subframe and running gear, and subframe is fixedly connected on chassis On.

The described bottom of cantilever support 2 is connected by cantilever support slew gear with subframe, cantilever support slew gear Including pivoting support and revolution driving, revolution driving can drive cantilever support 2 along axially 360 ° of the centre of gyration of pivoting support Rotation.

Described arm support assembly is hingedly mounted in cantilever support 2, including basic arm, boom derricking cylinder 21 and work are flat Platform, the one end of boom derricking cylinder 21 is hingedly mounted in cantilever support 2, the other end is hingedly mounted on the basic arm of arm support assembly On, boom derricking cylinder 21 is connected by control valve group with onboard hydraulic system.

Described hydraulic leg 3 is set to four, and four Central Symmetries of hydraulic leg 3 are arranged on chassis or subframe, Hydraulic leg 3 includes horizontal displacement hydraulic cylinder and vertical loading hydraulic cylinder, and horizontal displacement hydraulic cylinder and vertical loading hydraulic cylinder lead to Cross control valve group to be connected with onboard hydraulic system.

Described self-stabilization control system includes balance weight device 4, control box, the horizontal displacement displacement sensing of hydraulic leg Device, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor.

As shown in Fig. 2 balance weight device 4 includes counterweight 41, sliding guide mechanism and counterweight push-and-pull hydraulic pressure Cylinder 44;Counterweight 41 is connected by sliding guide mechanism with cantilever support 2, and counterweight 41 and sliding guide mechanism are relative The dead astern of arm support assembly is located in arm support assembly;The one end of counterweight push-and-pull hydraulic cylinder 44 and counterweight 41 be articulated and connected, The other end is articulated and connected with cantilever support 2, and the cunning of the telescopic direction of counterweight push-and-pull hydraulic cylinder 44 and sliding guide mechanism Move direction consistent, counterweight push-and-pull hydraulic cylinder 44 is connected by control valve group with onboard hydraulic system, matched somebody with somebody by controlling balance The flexible of weight push-and-pull hydraulic cylinder 44 can realize that counterweight 41 is stretched by sliding guide mechanism along the direction away from arm support assembly Go out or retraction.

The horizontal displacement displacement transducer of hydraulic leg is arranged on hydraulic leg 3, and luffing range of cantilever support angular transducer is arranged on The position that is articulated and connected of arm support assembly and cantilever support 2, boom derricking cylinder pressure sensor is arranged on boom derricking cylinder 21 On.

Control box includes controller, signal processing module, control module, the horizontal displacement backfeed loop of hydraulic leg, arm support Change angle backfeed loop, boom derricking cylinder pressure feed back loop, counterweight control loop, numerical value comparison loop;Control Device is electrically connected respectively with signal processing module and control module;Signal processing module is passed respectively with the horizontal displacement displacement of hydraulic leg The electrical connection of sensor, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor;Control module and counterweight push-and-pull The control valve group electrical connection of hydraulic cylinder 44.

This has the high-altitude operation vehicle of self-stabilization system in normally travel state, and cantilever support 2 is pressed close in counterweight 41 It is entirely retracted to chassis or subframe in the state that is entirely retracted to, hydraulic leg 3, does not affect normally travel.

This when having high-altitude operation vehicle of self-stabilization system is in working order balanced by the feedback control of each sensor The movement of counterweight 41 is realizing automatic stabilisation control:First this high-altitude operation vehicle with self-stabilization system is positioned at into place of working Point, then needing the vertical loading hydraulic cylinder for directly controlling hydraulic leg 3 by onboard hydraulic system to stretch out according to place makes liquid The firm horizontal displacement hydraulic cylinder for being supported on ground or first controlling hydraulic leg 3 of pressure supporting leg 3 protrudes horizontally up hydraulic leg 3 The vertical loading hydraulic cylinder for controlling hydraulic leg 3 after the extension elongation allowed to place again stretches out and makes that hydraulic leg 3 is firm to be supported On ground, the horizontal displacement displacement transducer feedback hydraulic supporting leg horizontal displacement of hydraulic leg during the action of hydraulic leg 3 The signal processing module of information to balance weight device 4, hydraulic pressure when directly the vertical loading hydraulic cylinder of control hydraulic leg 3 stretches out The hydraulic leg horizontal displacement information of the horizontal displacement displacement transducer feedback of supporting leg is zero, and signal processing module is to hydraulic leg Horizontal displacement information carries out temporary process of awaiting orders, and then arm support assembly is stretched out after luffing as needed by boom derricking cylinder 21 Continue to stretch out or launch to make workbench rise to working depth and as needed the control revolution driving of cantilever support 2 makes arm support 2 are supported to drive arm support assembly horizontal rotation to operating position, luffing range of cantilever support angle sensor during the expansion of arm support assembly luffing The carrying pressure of the change angle information and boom derricking cylinder 21 of device and boom derricking cylinder pressure sensor feedback arm support assembly The signal processing module of force information to balance weight device 4, signal processing module will hydraulic leg horizontal displacement information, arm support The change angle information and these three information of the bearing pressure information of boom derricking cylinder 21 of assembly according to setting program analysis and Calculate and after the countertorque for needing counterweight 41 to provide this data is compared and is selected with the stabilizing moment of program setting The stabilizing moment numerical value Real-time Feedback of closer this countertorque numerical value is exported to controller, controller is defeated according to signal processing module The data for going out calculate the stroke of counterweight push-and-pull hydraulic cylinder 44 and sending control instruction in real time makes control module control flat The control valve group action of weighing apparatus counterweight push-and-pull hydraulic cylinder 44 makes counterweight push-and-pull hydraulic cylinder 44 stretch, and then realizes counterweight 41 Stretch out or retraction is to change the position of centre of gravity of counterweight 41 and make it produce stabilizing moment with inclining that balanced operation platform is produced Torque is turned over, so as to realize making what Operation Van worked all the time under safe operating mode under the operating mode of larger job height and operation amplitude Automatic stabilisation.

The sliding guide mechanism of described balance weight device 4 can adopt the guiding translation mechanism for being oriented to trough body structure, The guiding translation mechanism of tube-in-tube structure can also be adopted, because the former need to arrange longer cell body knot to ensure enough translational movements Structure, the trough body structure for additionally stretching out take more space, and the latter can without taking more space, therefore preferably the latter, That is, as the preferred version of the present invention, the sliding guide mechanism of described balance weight device 4 is the guiding translation of tube-in-tube structure Mechanism, including slide telescopic arm 42 and fixed arm 43, the socket of the one end fits of fixed arm 43 is installed in one end of slide telescopic arm 42 The upper, other end is fixedly connected in cantilever support 2, and the other end of slide telescopic arm 42 is fixedly connected in counterweight 41.

In order to ensure the firm flexible of counterweight 41, scheme as a further improvement on the present invention, described sliding is stretched At least left and right Parallel Symmetric is set to two sets on the width of counterweight 41 for contracting arm 42 and fixed arm 43.

In order to ensure that counterweight 41 more effectively provides countertorque, as a further improvement on the present invention scheme, described The sliding guide mechanism of balance weight device 4 is horizontally disposed with.

In order to more accurately make Operation Van work under safe operating mode all the time, scheme as a further improvement on the present invention, The vertical loading hydraulic cylinder of described hydraulic leg 3 is provided with vertical loading hydraulic cylinder pressure sensor, vertical loading hydraulic cylinder Pressure sensor is electrically connected with the signal processing module of balance weight device 4, and arm support assembly luffing vertically adds during launching Load hydraulic cylinder pressure transducer feeds back the pressure information of vertical loading hydraulic cylinder to signal processing module, signal processing module simultaneously Being analyzed according to setting program according to the pressure value of vertical loading hydraulic cylinder simultaneously and being calculated needs what counterweight 41 was provided Countertorque.

This has the self-stabilization control system of the high-altitude operation vehicle of self-stabilization system due to including balance weight device 4, control The horizontal displacement displacement transducer of box processed, hydraulic leg, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor, put down Weighing apparatus counter weight device 4 includes counterweight 41, sliding guide mechanism and counterweight push-and-pull hydraulic cylinder 44, therefore during working condition, At the horizontal displacement displacement transducer of the hydraulic leg signal of feedback hydraulic supporting leg horizontal displacement information to balance weight device 4 first Reason module, then luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor feed back the change angle letter of arm support assembly The signal processing module of the bearing pressure information to balance weight device 4 of breath and boom derricking cylinder 21, signal processing module is again This three data messages are analyzed and calculated this data after the countertorque for needing counterweight 41 to provide according to setting program It is compared and selects to export anti-in real time closer to the stabilizing moment numerical value of this countertorque numerical value with the stabilizing moment of program setting Feed controller, controller calculates the stroke of counterweight push-and-pull hydraulic cylinder 44 according to the data that signal processing module is exported And sending control instruction in real time makes the control valve group action of control module control counterweight push-and-pull hydraulic cylinder 44 make counterweight Push-and-pull hydraulic cylinder 44 stretches out with dynamic balance weight 41 or retraction is stablized with changing the position of centre of gravity of counterweight 41 and producing it The tilting moment that torque is produced with balanced operation platform, so as to realize making work under the operating mode of larger job height and operation amplitude The automatic stabilisation that industry car works all the time under safe operating mode;The setting of balance weight device 4 can improve the entirety of high-altitude operation vehicle Transaction capabilities, reduce span, the identical hydraulic pressure of hydraulic leg 3 in the case of realizing identical operation height and operation amplitude Increase operation height and operation amplitude in the case of the span of leg 3, this has the high-altitude operation vehicle of self-stabilization system by rationally setting Putting the collapsing length of counterweight 41 can realize obtaining the fully extended state of horizontal support legs under different horizontal support legs spans Under maximum operation height and operation amplitude, being particularly well-suited to the narrow place in narrow road surface or space carries out work high above the ground.

Claims (6)

1. a kind of high-altitude operation vehicle with self-stabilization system, including bodywork assembly (1), cantilever support (2), arm support assembly and liquid Pressure supporting leg (3);Including driver's cabin, chassis, subframe and running gear, subframe is fixedly connected on chassis bodywork assembly (1); Cantilever support (2) bottom is connected by cantilever support slew gear with subframe, and cantilever support slew gear includes pivoting support And revolution driving;Arm support assembly is hingedly mounted in cantilever support (2), including basic arm, boom derricking cylinder (21) and work Platform, boom derricking cylinder (21) one end is hingedly mounted in cantilever support (2), the other end is hingedly mounted on the base of arm support assembly On plinth arm, boom derricking cylinder (21) is connected by control valve group with onboard hydraulic system;Hydraulic leg (3) is set to four, Four hydraulic leg (3) Central Symmetries are arranged on chassis or subframe, and hydraulic leg (3) is including horizontal displacement hydraulic cylinder and erects Straight loading hydraulic cylinder, horizontal displacement hydraulic cylinder and vertical loading hydraulic cylinder are connected by control valve group with onboard hydraulic system;
Characterized in that, this high-altitude operation vehicle with self-stabilization system also includes self-stabilization control system,
Described self-stabilization control system includes balance weight device (4), control box, the horizontal displacement displacement sensing of hydraulic leg Device, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor;
Balance weight device (4) includes counterweight (41), sliding guide mechanism and counterweight push-and-pull hydraulic cylinder (44);Balance Counterweight (41) is connected by sliding guide mechanism with cantilever support (2), and counterweight (41) and sliding guide mechanism relative to Arm support assembly is located at the dead astern of arm support assembly;Counterweight push-and-pull hydraulic cylinder (44) one end and counterweight (41) company of being hinged Connect, the other end and cantilever support (2) are articulated and connected, and the telescopic direction of counterweight push-and-pull hydraulic cylinder (44) and sliding Guiding machine The glide direction of structure is consistent, and counterweight push-and-pull hydraulic cylinder (44) is connected by control valve group with onboard hydraulic system;
The horizontal displacement displacement transducer of hydraulic leg is arranged on hydraulic leg (3), and luffing range of cantilever support angular transducer is arranged on arm The position that is articulated and connected of frame assembly and cantilever support (2), boom derricking cylinder pressure sensor is arranged on boom derricking cylinder (21) on;
Control box includes controller, signal processing module, control module, the horizontal displacement backfeed loop of hydraulic leg, luffing range of cantilever support Angle feed-back loop, boom derricking cylinder pressure feed back loop, counterweight control loop, numerical value comparison loop;Controller point Do not electrically connect with signal processing module and control module;Signal processing module respectively with the horizontal displacement displacement sensing of hydraulic leg The electrical connection of device, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor;Control module and counterweight push-and-pull liquid The control valve group electrical connection of cylinder pressure (44).
2. the high-altitude operation vehicle with self-stabilization system according to claim 1, it is characterised in that described counterweight The sliding guide mechanism of device (4) is the guiding translation mechanism of tube-in-tube structure, including slide telescopic arm (42) and fixed arm (43), The socket of fixed arm (43) one end fits is on one end of slide telescopic arm (42), the other end is fixedly connected on cantilever support (2) on, the other end of slide telescopic arm (42) is fixedly connected in counterweight (41).
3. the high-altitude operation vehicle with self-stabilization system according to claim 2, it is characterised in that described sliding is stretched At least left and right Parallel Symmetric is set to two sets on the width of counterweight (41) for arm (42) and fixed arm (43).
4. the high-altitude operation vehicle with self-stabilization system according to claim 1 or 2 or 3, it is characterised in that described is flat The sliding guide mechanism of weighing apparatus counter weight device (4) is horizontally disposed with.
5. the high-altitude operation vehicle with self-stabilization system according to claim 1 or 2 or 3, it is characterised in that described liquid The vertical loading hydraulic cylinder of pressure supporting leg (3) is provided with vertical loading hydraulic cylinder pressure sensor, and vertical loading hydraulic cylinder pressure is passed Sensor is electrically connected with the signal processing module of balance weight device (4).
6. a kind of self-stabilization control method of the high-altitude operation vehicle with self-stabilization system, it is characterised in that comprise the following steps:
A. the horizontal displacement displacement data collection of hydraulic leg:The high-altitude operation vehicle that this has self-stabilization system is positioned at into place of working Needing the vertical loading hydraulic cylinder for directly controlling hydraulic leg (3) by onboard hydraulic system to stretch out according to place after point makes hydraulic pressure The firm horizontal displacement hydraulic cylinder for being supported on ground or first controlling hydraulic leg (3) of supporting leg (3) makes hydraulic leg (3) level It extend out to after the extension elongation of place permission and controls the vertical loading hydraulic cylinder of hydraulic leg (3) again and stretch out and make hydraulic leg (3) It is firm to be supported on ground, the horizontal displacement displacement transducer feedback hydraulic of hydraulic leg during hydraulic leg (3) action The signal processing module of leg horizontal displacement information to balance weight device (4);
B. luffing range of cantilever support angle-data collection:Arm support assembly stretches out luffing, arm support assembly luffing by boom derricking cylinder (21) During luffing range of cantilever support angular transducer feedback arm support assembly change angle information to balance weight device (4) signal transacting Module;
C. the bearing pressure data acquisition of boom derricking cylinder:Continue as needed to stretch out or launch to make work after arm support assembly luffing Working depth is risen to as platform and controlling cantilever support (2) revolution driving as needed makes cantilever support (2) drive arm support total Into horizontal rotation to operating position, boom derricking cylinder pressure sensor feedback arm support becomes during arm support assembly luffing launches The signal processing module of the bearing pressure information of width oil cylinder (21) to balance weight device (4);
D. data processing:Signal processing module will hydraulic leg horizontal displacement information, the change angle information of arm support assembly and These three numerical informations of the bearing pressure information of boom derricking cylinder (21) are analyzed according to setting program and calculated needs balance After the countertorque that counterweight (41) is provided the stabilizing moment of this data and program setting is compared and is selected closer to this counter-force In real time output feeds back to controller to the stabilizing moment numerical value of square numerical value;
E. the tilting moment that balanced operation platform is produced:Controller calculates balance and matches somebody with somebody according to the data that signal processing module is exported The stroke of weight push-and-pull hydraulic cylinder (44), and sending control instruction in real time makes control module control counterweight push-and-pull hydraulic cylinder (44) control valve group action makes counterweight push-and-pull hydraulic cylinder (44) be stretched in real time according to flexible numerical quantity, counterweight Push-and-pull hydraulic cylinder (44) stretches out with dynamic balance weight (41) or retraction realizes that the position of centre of gravity for changing counterweight (41) produces it The tilting moment that raw stabilizing moment is produced with balanced operation platform.
CN201610938477.3A 2016-10-25 2016-10-25 A kind of high-altitude operation vehicle and its self-stabilization control method with self-stabilization system CN106629523B (en)

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CN108217546A (en) * 2017-12-27 2018-06-29 陈春渊 A kind of novel power communication cable aerial platform
CN108609556A (en) * 2018-06-27 2018-10-02 温州大学瓯江学院 A kind of intelligent lifting apparatus of construction worker
CN108892088A (en) * 2018-08-22 2018-11-27 邹锋高 A kind of workbench can be with the mast type car for work high above ground of transverse shifting
CN109319702A (en) * 2018-11-27 2019-02-12 曾剑成 It is a kind of that soft leg lift truck is prevented by variable diameter offset by the level of active force
CN110844852A (en) * 2019-11-26 2020-02-28 北谷电子有限公司上海分公司 Scissor aerial work platform and method for automatically remotely and virtually realizing full-load calibration curve

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CN108217546A (en) * 2017-12-27 2018-06-29 陈春渊 A kind of novel power communication cable aerial platform
CN108609556A (en) * 2018-06-27 2018-10-02 温州大学瓯江学院 A kind of intelligent lifting apparatus of construction worker
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CN109319702A (en) * 2018-11-27 2019-02-12 曾剑成 It is a kind of that soft leg lift truck is prevented by variable diameter offset by the level of active force
CN110844852A (en) * 2019-11-26 2020-02-28 北谷电子有限公司上海分公司 Scissor aerial work platform and method for automatically remotely and virtually realizing full-load calibration curve

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