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 PDFInfo
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- 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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- 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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- Forklifts And Lifting Vehicles (AREA)
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
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN108190794A (en) * | 2018-03-01 | 2018-06-22 | 南京博蓝奇智能科技有限公司 | Lifting telescopic device and can variant lifting floor truck |
| CN108217546A (en) * | 2017-12-27 | 2018-06-29 | 陈春渊 | A kind of novel power communication cable aerial platform |
| CN108442249A (en) * | 2018-05-17 | 2018-08-24 | 中交公局第工程有限公司 | High hanging concrete guardrail moves job platform |
| CN108471065A (en) * | 2018-06-06 | 2018-08-31 | 无锡固亚德电力设备有限公司 | The method of intelligent Self-loading ＆ self-unloading electric power prefabricated cabin and Self-loading ＆ self-unloading |
| 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 |
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| CN110885046A (en) * | 2019-10-28 | 2020-03-17 | 江苏东迈重工机械有限公司 | Overload-prevention lifting mechanism and control method thereof |
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| CN111911591A (en) * | 2020-08-11 | 2020-11-10 | 福建厦兴重工机械有限公司 | Counterweight device, engineering machinery, counterweight control system and method |
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| CN113336098A (en) * | 2021-05-28 | 2021-09-03 | 上海华兴数字科技有限公司 | Automatic frame leveling system and overhead working truck |
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| CN108217546A (en) * | 2017-12-27 | 2018-06-29 | 陈春渊 | A kind of novel power communication cable aerial platform |
| CN108190794A (en) * | 2018-03-01 | 2018-06-22 | 南京博蓝奇智能科技有限公司 | Lifting telescopic device and can variant lifting floor truck |
| CN108442249A (en) * | 2018-05-17 | 2018-08-24 | 中交公局第工程有限公司 | High hanging concrete guardrail moves job platform |
| CN108471065A (en) * | 2018-06-06 | 2018-08-31 | 无锡固亚德电力设备有限公司 | The method of intelligent Self-loading ＆ self-unloading electric power prefabricated cabin and Self-loading ＆ self-unloading |
| CN108471065B (en) * | 2018-06-06 | 2024-01-16 | 无锡固亚德电力设备有限公司 | Intelligent self-loading and self-unloading power prefabricated cabin and self-loading and self-unloading method |
| 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 |
| CN108609556B (en) * | 2018-06-27 | 2020-02-04 | 温州大学瓯江学院 | Construction worker uses intelligent lifting device |
| CN110741827A (en) * | 2018-07-23 | 2020-02-04 | 保利斯塔光力公司-Cpfl | System for mechanized pruning in urban areas |
| 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 |
| CN109381828A (en) * | 2018-12-06 | 2019-02-26 | 三汽车制造有限公司 | Vehicle |
| CN109534247A (en) * | 2019-01-04 | 2019-03-29 | 湖南五新隧道智能装备股份有限公司 | A kind of tunnel arch installation vehicle |
| CN109573903A (en) * | 2019-01-24 | 2019-04-05 | 江苏东迈重工机械有限公司 | A kind of crawler multifunctional vehicle |
| CN110885046A (en) * | 2019-10-28 | 2020-03-17 | 江苏东迈重工机械有限公司 | Overload-prevention lifting mechanism and control method thereof |
| 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 |
| CN111911591A (en) * | 2020-08-11 | 2020-11-10 | 福建厦兴重工机械有限公司 | Counterweight device, engineering machinery, counterweight control system and method |
| CN111943186A (en) * | 2020-08-17 | 2020-11-17 | 青岛金联铜业有限公司 | Combined power transmission vehicle for graphitized internal series furnace with stable signal transmission |
| CN111943186B (en) * | 2020-08-17 | 2022-03-29 | 青岛金联铜业有限公司 | Combined power transmission vehicle for graphitized internal series furnace with stable signal transmission |
| CN111806327A (en) * | 2020-08-19 | 2020-10-23 | 八时物流科技(成都)有限公司 | Vehicle-mounted balance hoisting equipment and vehicle-mounted intelligent exchange box system |
| CN111806327B (en) * | 2020-08-19 | 2023-09-19 | 成都物天物联网科技有限责任公司 | Vehicle-mounted intelligent exchange box system |
| CN114506690A (en) * | 2020-11-16 | 2022-05-17 | 南京宝地梅山产城发展有限公司 | Device for automatically adjusting gravity center position of material machine and control method thereof |
| CN113336098A (en) * | 2021-05-28 | 2021-09-03 | 上海华兴数字科技有限公司 | Automatic frame leveling system and overhead working truck |
| CN113353808A (en) * | 2021-07-06 | 2021-09-07 | 山推工程机械股份有限公司 | Pipe crane and balance control method thereof |
| CN113548604A (en) * | 2021-07-12 | 2021-10-26 | 江苏东迈重工机械有限公司 | Multi-function vehicle with counterweight adjusting device |
| CN113800444A (en) * | 2021-09-23 | 2021-12-17 | 山东大学 | Active control system and method for stability of aerial work platform based on tipping angle |
| CN113911974A (en) * | 2021-09-26 | 2022-01-11 | 常州新兰陵电力辅助设备有限公司 | New forms of energy high altitude platform energy-saving control device |
| CN114777726A (en) * | 2022-05-05 | 2022-07-22 | 上海睿尤准智控技术有限公司 | Deformation quantity determining method and device of arm support, arm support system and engineering mechanical equipment |
| CN114777726B (en) * | 2022-05-05 | 2024-01-26 | 上海睿尤准智控技术有限公司 | Arm support deformation amount determining method and device, arm support system and engineering mechanical equipment |
| CN116588859A (en) * | 2023-07-17 | 2023-08-15 | 临工重机股份有限公司 | Stability control system and method for forklift truck with telescopic arms |
| CN116588859B (en) * | 2023-07-17 | 2023-11-17 | 临工重机股份有限公司 | Stability control system and method for forklift truck with telescopic arms |
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