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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CN106629523A
CN106629523A CN 201610938477 CN201610938477A CN106629523A CN 106629523 A CN106629523 A CN 106629523A CN 201610938477 CN201610938477 CN 201610938477 CN 201610938477 A CN201610938477 A CN 201610938477A CN 106629523 A CN106629523 A CN 106629523A
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cylinder
luffing
counterweight
hydraulic
boom
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CN 201610938477
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Chinese (zh)
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CN106629523B (en )
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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

一种具有自稳定系统的高空作业车及其自稳定控制方法 Aerial system with a self-stabilized and self-stabilization control method

技术领域 FIELD

[0001] 本发明涉及一种高空作业车及控制方法,具体是一种具有自稳定系统的高空作业车及其自稳定控制方法,属于高空作业车技术领域。 [0001] The present invention relates to an aerial and a control method, in particular a self-stabilizing system and from aerial stabilization control method, belonging to the technical field aerial work vehicle.

背景技术 Background technique

[0002] 高空作业车是运送工作人员和使用器材至高空对位于高空的设备进行安装、维护、清洗的专用特种车辆,与搭脚手架、梯子等传统的作业方式相比具有作业性能好、作业效率高、作业安全等优点,目前广泛应用于电力、交通、石化、通信、园林等基础设施行业。 [0002] The aerial is conveyed to the use of equipment and staff located high altitude equipment installation, maintenance, cleaning for special vehicles, and scaffolding, ladders, etc. compared to conventional practices workability is good, operation efficiency high, job security, etc., is widely used in infrastructure, electricity, transportation, petrochemical, telecommunications, gardens, and other industries.

[0003] 目前国内的高空作业车在作业稳定性方面主要是通过车身自重对支腿形成的反力矩来平衡作业平台产生的力矩来实现其作业的稳定,但随着行业中大高度、大跨距设备设施的不断增加,要求高空作业车的作业高度和幅度也不断增加,进而造成高空作业车的支腿跨距也越来越大,但较大的支腿跨距不仅需要占用较大的作业场地空间,而且较大的支腿跨距还容易造成车架变形、进而影响作业安全性。 [0003] The current domestic aerial vehicles in terms of job stability mainly through the body to achieve stable operation of its self-weight moment of the formation of the anti-torque legs to balance work platforms produced, but with the industry, the large height and large span from the growing equipment and facilities required working height and amplitude aerial vehicles are also increasing, which causes aerial platforms leg span is also growing, but the larger leg span not only take up more of working floor space, and the larger the leg span also likely to cause deformation of the frame, and thus affect the operational safety.

[0004] 现有的高空作业车为了适应不同的作业环境,通常将水平支腿的跨距进行分级管理,通常分为水平支腿的全伸出、半伸出和不伸出三种作业工况,三种作业工况对应产生三种不同的作业性能曲线,这往往是牺牲作业高度和作业幅度得到适应的作业环境,以18米高空作业车为例,水平支腿完全伸出状态下最大作业幅度是12米、最大作业高度是18米,在作业幅度是9米时作业高度为12.5米,在作业幅度是6米时作业高度为16米;水平支腿半伸出状态下的最大作业幅度是9米,此时的作业高度仅为6米;水平支腿不伸出状态下的最大作业幅度6米,此时的作业高度也只有6米,且只能在后方区域工作,当高空作业车需要在狭窄路面或空间较狭小的场地进行高空作业时,往往水平支腿半伸出和不伸出状况下对应的作业高度和幅度不能满足使用要求,只能借助登高梯或 [0004] For a conventional aerial accommodate different operating environments, generally horizontal leg of the hierarchical management span, usually divided into the horizontal leg fully extended, three kinds of half-extended and do not protrude job workers conditions, three kinds of operations corresponding to the operating conditions to produce three different operating performance curves, which are often sacrificed to obtain working height and adaptation operating range working environment, with 18 meters altitude cars, for example, the horizontal leg fully extended state maximum operating range is 12 meters, the maximum working height is 18 meters, the operating range is 9 meters working height of 12.5 m, the operating range is 6 m when the working height of 16 m; maximum working horizontal leg projecting half in a state the amplitude is 9 m, height of the job at this time is only 6-m; 6 m at the maximum operating range of the horizontal leg is not extended, and the working height at this time is only 6 meters, and can only work in the rear area, when the altitude when the work vehicle is required aerial work in a narrow space of a road surface or a relatively narrow space, and often do not extend the horizontal leg extending half operating height corresponding to the amplitude and the situation can not meet the requirements, or only with climb ladders 它设备来完成高空作业,这严重违反了高空作业安全操作规程,作业极不安全,具有很高的安全隐患,严重时会出现人身伤亡事故。 It is equipment to complete high-altitude, high-altitude operations this serious violation of safety rules, work very insecure, with high security risks, there will be serious personal injury.

发明内容 SUMMARY

[0005] 针对上述问题,本发明提供一种具有自稳定系统的高空作业车及其自稳定控制方法,通过控制自稳定系统能够实现在不同的水平支腿跨距下得到水平支腿完全伸出状态下的最大作业高度和作业幅度,特别适用于狭窄路面或空间较狭小的场地进行高空作业。 [0005] In view of the above problems, the present invention is to provide aerial vehicles having a self-stabilized and self-stabilizing system control method by controlling the self-stabilizing system can be realized obtained at different horizontal leg span horizontal leg fully extended and the maximum working height of the operating range state, especially for a narrow road or a relatively narrow space for aerial work site.

[0006] 为实现上述目的,本具有自稳定系统的高空作业车包括车体总成、臂架支撑、臂架总成、液压支腿和自稳定控制系统; Aerial [0006] To achieve the above object, the present system has a self-stabilizing assembly includes a vehicle body, a boom support, a boom assembly, and hydraulic legs self-stabilizing control system;

[0007] 所述的车体总成包括驾驶室、底盘、副车架和行走装置,副车架固定连接在底盘上; [0007] The vehicle body assembly includes a cab, a chassis sub-frame and running gear sub-frame is fixedly connected to the chassis;

[0008] 所述的臂架支撑底端通过臂架支撑回转机构与副车架连接,臂架支撑回转机构包括回转支承和回转驱动; [0008] The bottom end of the boom is supported via a support boom slewing mechanism and the sub-frame, a boom slewing supporting means comprises a rotary bearing and a rotary drive;

[0009] 所述的臂架总成铰接安装在臂架支撑上,包括基础臂、臂架变幅油缸和工作平台,臂架变幅油缸一端较接安装在臂架支撑上、另一端铰接安装在臂架总成的基础臂上,臂架变幅油缸通过控制阀组与车载液压系统连接; _ [0009] The boom assembly is hingedly mounted on the boom support, comprising a base arm, the boom and the luffing oil cylinder working platform luffing oil cylinder connected to one end than the boom support mounted on the other end is hingedly mounted on the basis of the boom arm assembly, luffing oil cylinder connected to the vehicle hydraulic system by controlling the valve; _

[0010] 所述的液压支腿设置为四件,四件液压支腿中心对称设置在底盘或副车架上,液压支腿包括水平变距液压缸和竖直加载液压缸,水平变距液压缸和竖直加载液压缸通过控制阀组与车载液压系统连接; [0010] The hydraulic legs to four, four hydraulic legs symmetrically disposed on the chassis or sub-frame, comprising a hydraulic legs horizontal pitch and the vertical loading cylinder hydraulic cylinders, hydraulic horizontal pitch vertical load cylinder and the cylinder is connected to the vehicle hydraulic system by controlling the valve;

[0011] 所述的自稳定控制系统包括平衡配重装置、控制盒、液压支腿水平变距位移传感器、臂架变幅角度传感器和臂架变幅油缸压力传感器; [0011] Since the stability control system comprising a counterweight means, the control box, the horizontal leg of the hydraulic pitch displacement sensor, and the luffing angle sensor luffing cylinder pressure sensor;

[0012] 平衡配重装置包括平衡配重、滑移导向机构和平衡配重推拉液压缸;平衡配重通过滑移导向机构与臂架支撑连接,且平衡配重和滑移导向机构相对于臂架总成位于臂架总成的正后方;平衡配重推拉液压缸一端与平衡配重较接连接、另一端与臂架支撑铰接连接,且平衡配重推拉液压缸的伸缩方向与滑移导向机构的滑移方向一致,平衡配重推拉液压缸通过控制阀组与车载液压系统连接; [0012] counterweight means comprises a counterweight, and the sliding guide cylinder sliding counterweight; counterweight sliding guide means are connected by the boom support and counterweight guide and a slip mechanism relative to the arm located directly behind the boom assembly frame assembly; sliding cylinder counterweight and the counterweight than the end connected and the other end is hingedly connected with the boom support and counterweight sliding cylinder and sliding direction of the telescopic guide consistent direction sliding mechanism, the counterweight sliding cylinder connected to the vehicle hydraulic system by controlling the valve;

[0013] 液压支腿水平变距位移传感器设置在液压支腿上,臂架变幅角度传感器设置在臂架总成与臂架支撑的铰接连接位置,臂架变幅油缸压力传感器设置在臂架变幅油缸上; [0013] outriggers horizontal pitch displacement sensor disposed in the hydraulic legs, luffing angle sensor provided at a position of the boom is hingedly connected with the boom support assembly, luffing boom cylinder pressure sensor disposed luffing oil cylinder;

[0014] 控制盒包括控制器、信号处理模块、控制模块,液压支腿水平变距反馈回路、臂架变幅角度反馈回路、臂架变幅油缸压力反馈回路、平衡配重控制回路、数值比较回路;控制器分别与信号处理模块和控制模块电连接;信号处理模块分别与液压支腿水平变距位移传感器、臂架变幅角度传感器和臂架变幅油缸压力传感器电连接;控制模块与平衡配重推拉液压缸的控制阀组电连接。 [0014] The control box includes a controller, a signal processing module, a control module, the horizontal leg of the hydraulic pitch feedback loop, the feedback loop luffing angle, luffing cylinder pressure feedback loop, the control loop counterweight, numerical comparison loop; controllers are connected to the signal processing and control module electrically; from the displacement sensor, and the luffing angle sensor luffing cylinder pressure sensor is electrically connected to the signal processing module, respectively, the horizontal leg of the hydraulic variant; balance control module counterweight sliding cylinder control valve electrically connected.

[0015] 作为本发明的优选方案,所述的平衡配重装置的滑移导向机构是套筒结构的导向平移机构,包括滑移伸缩臂和固定臂,固定臂一端配合套接安装在滑移伸缩臂的一端上、另一端固定连接在臂架支撑上,滑移伸缩臂的另一端固定连接在平衡配重上。 [0015] As a preferred embodiment of the present invention, the weight balance sliding guide means is a guide sleeve structure translation mechanism, including a slip telescopic arm and fixed arm, one end of the fixed arm is mounted in the slip fit socket One end of the telescopic arm, the other end fixedly connected to the boom support, the other end of the sliding of the telescopic arm fixedly connected to the counterweight.

[0016] 作为本发明的进一步改进方案,所述的滑移伸缩臂和固定臂在平衡配重的宽度方向上至少左右平行对称设置为两套。 [0016] As a further refinement of the invention, the telescopic arm and fixed arm slipping on the counterweight in the width direction are symmetrically disposed in parallel to at least about two.

[0017] 作为本发明的进一步改进方案,所述的平衡配重装置的滑移导向机构水平设置。 [0017] As a further refinement of the invention, the counterweight sliding guide means disposed horizontally.

[0018] 作为本发明的进一步改进方案,所述的液压支腿的竖直加载液压缸上设有竖直加载液压缸压力传感器,竖直加载液压缸压力传感器与平衡配重装置的信号处理模块电连接。 [0018] As a further development of the invention, the vertical leg of the loading hydraulic cylinder is provided with a vertical load on the hydraulic cylinder pressure sensor, a vertical load cylinder pressure sensor and a signal processing module counterweight means the electrical connection.

[0019] 一种具有自稳定系统的高空作业车的自稳定控制方法,其特征在于,包括以下步骤: [0019] having a self-stabilizing system, from aerial stabilization control method, characterized by comprising the steps of:

[0020] a.液压支腿水平变距位移数据采集:将本具有自稳定系统的高空作业车定位于工作地点后根据场地需要通过车载液压系统直接控制液压支腿的竖直加载液压缸伸出使液压支腿稳固支撑于地面上、或先控制液压支腿的水平变距液压缸使液压支腿水平伸出至场地允许的伸出长度后再控制液压支腿的竖直加载液压缸伸出使液压支腿稳固支撑于地面上,液压支腿动作的过程中液压支腿水平变距位移传感器反馈液压支腿水平位移信息至平衡配重装置的信号处理模块; [0020] a hydraulic legs horizontal pitch displacement data acquisition: The present aerial having a self-stabilizing system is positioned at the place of work load required to directly control the hydraulic cylinder space of the hydraulic vertical leg extending through the vehicle hydraulic system according to hydraulic legs firmly supported on the ground, or to control the level of hydraulic legs of the hydraulic pitch cylinder protrudes into the horizontal leg of the site allows the vertical loading hydraulic cylinder controlling the projecting length before projecting leg hydraulic legs firmly supported on the ground, the legs of the hydraulic operation of the hydraulic legs horizontal pitch displacement sensor feedback information to the outriggers horizontal displacement of the balance weight means the signal processing module;

[0021] b •臂架变幅角度数据采集:臂架总成通过臂架变幅油缸伸出变幅,臂架总成变幅过程中臂架变幅角度传感器反馈臂架总成的变幅角度信息至平衡配重装置的信号处理模块; [0021] b • luffing angle data acquisition: luffing jib assembly extending through the luffing cylinder, luffing jib assembly during luffing of the boom angle sensor feedback horn assembly angle information to the signal processing module of the balance weight means;

[0022] c.臂架变幅油缸的承载压力数据采集:臂架总成变幅后根据需要继续伸出或展开使工作平台上升至工作高度、并根据需要控制臂架支撑回转驱动使臂架支撑带动臂架总成水平回转至工作位置,臂架总成变幅展开的过程中臂架变幅油缸压力传感器反馈臂架变幅油缸的承载压力信息至平衡配重装置的信号处理模块; [0022] c luffing cylinder bearing pressure data acquisition: the continued luffing boom assembly extended or expanded as needed up to the working platform working height, and support the boom rotation drive control of the boom as needed driven boom support assembly slewed horizontal operative position, the boom assembly during deployment of the luffing the luffing cylinder pressure sensor feedback information luffing cylinder loading pressure to the counterweight means the signal processing module;

[〇〇23] d.数据处理:信号处理模块即将液压支腿水平位移信息、臂架总成的变幅角度信息和臂架变幅油缸的承载压力信息这三个数值信息根据设定程序分析和计算出需要平衡配重提供的反力矩后将此数据与程序设定的稳定力矩进行比较、并选择更接近此反力矩数值的稳定力矩数值实时输出反馈给控制器; [〇〇23] D data processing: the signal processing module is about outriggers horizontal displacement information of the boom assembly carries a pressure luffing angle information and the luffing oil cylinder details of these three values ​​according to the set program information analysis stabilizing torque and the calculated weight to balance the reaction torque provided by this set of data and programs are compared, and the closer to select stable torque value of this counter-torque value in real time to the output feedback controller;

[〇〇24] e.平衡作业平台产生的倾翻力矩:控制器根据信号处理模块输出的数据计算出平衡配重推拉液压缸的伸缩量,并实时发出控制指令使控制模块控制平衡配重推拉液压缸的控制阀组动作使平衡配重推拉液压缸根据伸缩量数值进行实时伸缩,平衡配重推拉液压缸带动平衡配重伸出或缩入实现改变平衡配重的重心位置使其产生稳定力矩以平衡作业平台产生的倾翻力矩。 [〇〇24] E balance work platform overturning moment produced: The controller calculates the data output from the signal processing module contraction amount counterweight sliding cylinder, and issue control instructions cause the real-time control module controls sliding counterweight valve control operation of the hydraulic cylinder so that the counterweight sliding the telescopic hydraulic cylinder in real time according to the amount of stretch value, the counterweight sliding counterweight to drive the hydraulic cylinder to extend or retract into effect a change in the position of the center of gravity of the balance weight to produce a stable moment to tilting moment balance work platform generated.

[〇〇25]与现有技术相比,本具有自稳定系统的高空作业车的自稳定控制系统由于包括平衡配重装置、控制盒、液压支腿水平变距位移传感器、臂架变幅角度传感器和臂架变幅油缸压力传感器,平衡配重装置包括平衡配重、滑移导向机构和平衡配重推拉液压缸,因此工作状态时,液压支腿水平变距位移传感器首先反馈液压支腿水平位移信息至平衡配重装置的信号处理模块,然后臂架变幅角度传感器和臂架变幅油缸压力传感器反馈臂架总成的变幅角度信息和臂架变幅油缸的承载压力信息至平衡配重装置的信号处理模块,信号处理模块再将此三个数据信息根据设定程序分析和计算出需要平衡配重提供的反力矩后将此数据与程序设定的稳定力矩进行比较、并选择输出更接近此反力矩数值的稳定力矩数值实时反馈给控制器,控制器根据信号处理模块输出的数 [〇〇25] Compared with the prior art, the aerial having a self-stabilizing system comprising a self-stabilizing control system due to the counterweight means, the control box, the horizontal leg of the hydraulic pitch displacement sensors, luffing angle luffing cylinder pressure sensor and transducer, the counterweight means comprises a counterweight, and the sliding guide cylinder sliding counterweight, thus working condition, hydraulic legs first horizontal pitch displacement sensor feedback horizontal outriggers displacement information to the counterweight means the signal processing module, and then luffing angle sensor and a cylinder pressure sensor feedback luffing jib assembly luffing angle information and the luffing cylinder bearing pressure information to balance the signal processing module of the weighing device, the signal processing module and then this three data analysis and the calculated steady torque required to provide the counterweight counter moment after this data is compared with the programmed setting program in accordance with, and selects the output of this counter-torque is closer to the value of the steady torque value of real-time feedback to the controller, the controller outputs the number of signal processing module 据计算出平衡配重推拉液压缸的伸缩量并实时发出控制指令使控制模块控制平衡配重推拉液压缸的控制阀组动作使平衡配重推拉液压缸带动平衡配重伸出或缩入以改变平衡配重的重心位置、并使其产生稳定力矩以平衡作业平台产生的倾翻力矩,从而实现在较大作业高度和作业幅度的工况下使作业车始终在安全工况下工作的自动稳定;平衡配重装置的设置可提高高空作业车的整体作业性能,实现相同的作业高度和作业幅度的情况下缩小液压支腿的跨距、相同的液压支腿跨距的情况下增大作业高度和作业幅度,本具有自稳定系统的高空作业车通过合理设置平衡配重的伸缩长度可以实现在不同的水平支腿跨距下得到水平支腿完全伸出状态下的最大作业高度和作业幅度,特别适用于狭窄路面或空间较狭小的场地进行高空作业。 It is calculated that the amount of stretching the counterweight sliding cylinder and a control command to make the real-time control module controls the operation of the control valve of the hydraulic cylinders push the counterweight causes the counterweight sliding counterweight to drive the hydraulic cylinder extended or retracted to change the equilibrium the counterweight center of gravity, and the moment to produce a stable working platform to balance the tilting moment generated, thereby achieving a greater operating range and the operating height of the working vehicle condition always automatically safety conditions of stability; provided counterweight device may improve the overall operating performance of aerial vehicles to achieve the same reduction in hydraulic legs case working height span and the operating range, increasing the height of the job under the same conditions and hydraulic legs span aerial operating range, having a self-stabilizing system is present may be achieved by setting a reasonable length of the telescoping counterweight obtained at different horizontal leg span of the horizontal leg is fully extended and the maximum working height of the operating range state, particularly It applies to a narrow road or a relatively narrow space aerial work site.

附图说明 BRIEF DESCRIPTION

[〇〇26]图1是本发明的结构示意图; [〇〇26] FIG. 1 is a structural diagram of the present invention;

[0027] 图2是图1的A向视图。 [0027] FIG. 2 is a view A of FIG. 1.

[0〇28]图中:1、车体总成,2、臂架支撑,3、液压支腿,4、平衡配重装置,41、平衡配重,42、 [0〇28] FIG: 1, the vehicle body assembly, 2, boom support 3, hydraulic legs 4, the counterweight means 41, balance weight 42,

滑移伸缩臂,43、固定臂,44、平衡配重推拉液压缸。 Telescopic sliding arm 43, mounting arm 44, the counterweight sliding cylinder.

具体实施方式 Detailed ways

[0〇29]下面结合附图对本发明做进一步说明。 [0〇29] DRAWINGS The present invention is further described.

[0030] 如图1所示,本具有自稳定系统的高空作业车包括车体总成1、臂架支撑2、臂架总成、液压支腿3和自稳定控制系统。 Aerial [0030] 1, the present system has a self-stabilizing assembly includes a vehicle body 1, 2 a boom support, a boom assembly, and hydraulic legs 3 from stability control system. _ _

[0031] 所述的车体总成1包括驾驶室、底盘、副车架和行走装置,副车架固定连接在底盘上。 The body of the [0031] assembly 1 includes a cab, a chassis sub-frame and running gear sub-frame is fixedly connected to the chassis.

[0032] 所述的臂架支撑2底端通过臂架支撑回转机构与副车架连接,臂架支撑回转机构包括回转支承和回转驱动,回转驱动可以驱动臂架支撑2沿回转支承的回转中心轴向360° [0032] The bottom end of the boom 2 is connected through the boom supporting the rotary support means and the sub-frame, a boom slewing supporting means comprises a rotary bearing and a rotary drive, rotary drive may drive the boom support 2 along the rotational center of the rotary support axial 360 °

旋转。 Rotation. _ _

[0033] 所述的臂架总成铰接安装在臂架支撑2上,包括基础臂、臂架变幅油缸21和工作平台,臂架变幅油缸21—端铰接安装在臂架支撑2上、另一端铰接安装在臂架总成的基础臂上,臂架变幅油缸21通过控制阀组与车载液压系统连接。 Hinged boom assembly [0033] The boom is mounted on a support 2, comprising a base arm, the boom 21 and the luffing oil cylinder working platform, hinged luffing cylinder 21 mounted on the end of the boom support 2, the other end of the boom assembly is hingedly mounted on the base arm luffing cylinder 21 is connected to the vehicle hydraulic system by controlling the valve. _ _

[0034] 所述的液压支腿3设置为四件,四件液压支腿3中心对称设置在底盘或副车架上,液压支腿3包括水平变距液压缸和竖直加载液压缸,水平变距液压缸和竖直加载液压缸通过控制阀组与车载液压系统连接。 [0034] The hydraulic pressure is set to four legs 3, four hydraulic legs 3 symmetrically arranged on the chassis or sub-frame, the leg 3 comprises a hydraulic cylinder horizontal pitch and the vertical load of the hydraulic cylinder, the level of pitch cylinder and a hydraulic cylinder connected to the vertical loading vehicle hydraulic system by controlling the valve.

[0035] 所述的自稳定控制系统包括平衡配重装置4、控制盒、液压支腿水平变距位移传感器、臂架变幅角度传感器和臂架变幅油缸压力传感器。 Since stability control system [0035] The apparatus comprises a counterweight 4, control box, the horizontal leg of the hydraulic pitch displacement sensor, and the luffing angle sensor luffing cylinder pressure sensor.

[0036] 如图2所示,平衡配重装置4包括平衡配重41、滑移导向机构和平衡配重推拉液压缸44;平衡配重41通过滑移导向机构与臂架支撑2连接,且平衡配重41和滑移导向机构相对于臂架总成位于臂架总成的正后方;平衡配重推拉液压缸44 一端与平衡配重41铰接连接、另一端与臂架支撑2铰接连接,且平衡配重推拉液压缸44的伸缩方向与滑移导向机构的滑移方向一致,平衡配重推拉液压缸44通过控制阀组与车载液压系统连接,通过控制平衡配重推拉液压缸44的伸缩可以实现平衡配重41通过滑移导向机构沿背离臂架总成的方向伸出或缩入。 [0036] 2, the counterweight means 4 comprises a balance weight 41, and the sliding guide cylinder sliding counterweight 44; balance weight 412 is supported by a sliding guide means connected to the boom, and counterweight guide means 41 and sliding with respect to the boom assembly is located directly behind the boom assembly; sliding counterweight 44 at one end of the hydraulic cylinder 41 and the counterweight is hinged and the other end is hingedly connected with the boom support 2, and a counterweight sliding cylinder 44 coincides with the stretching direction of the sliding direction of the sliding guide means, the counterweight sliding cylinder connected to the vehicle hydraulic system 44 through the control valve, by controlling the counterweight sliding telescopic hydraulic cylinder 44 the balance weight 41 can be realized by slipping the direction away from the boom assembly along the guide means of the extension or retraction.

[〇〇37] 液压支腿水平变距位移传感器设置在液压支腿3上,臂架变幅角度传感器设置在臂架总成与臂架支撑2的铰接连接位置,臂架变幅油缸压力传感器设置在臂架变幅油缸21上。 [〇〇37] outriggers horizontal pitch displacement sensor 3 disposed on the hydraulic legs, luffing boom angle sensor provided at the boom support assembly hingedly connected position 2, luffing cylinder pressure sensor set on the luffing cylinder 21.

[〇〇38] 控制盒包括控制器、信号处理模块、控制模块,液压支腿水平变距反馈回路、臂架变幅角度反馈回路、臂架变幅油缸压力反馈回路、平衡配重控制回路、数值比较回路;控制器分别与信号处理模块和控制模块电连接;信号处理模块分别与液压支腿水平变距位移传感器、臂架变幅角度传感器和臂架变幅油缸压力传感器电连接;控制模块与平衡配重推拉液压缸44的控制阀组电连接。 [〇〇38] The control box includes a controller, a signal processing module, a control module, the horizontal leg of the hydraulic pitch feedback loop, the feedback loop luffing angle, luffing cylinder pressure feedback loop, the control loop of the balance weight, Numerical comparison circuit; controllers are connected to the signal processing and control module electrically; from the displacement sensor, and the luffing angle sensor luffing cylinder pressure sensor is electrically connected to the signal processing module, respectively, with the hydraulic variable horizontal leg; and a control module and the counterweight sliding cylinder control valve 44 is electrically connected.

[〇〇39] 本具有自稳定系统的高空作业车在正常行驶状态时,平衡配重41贴近臂架支撑2处于完全缩入状态、液压支腿3完全缩入至底盘或副车架内部,不影响正常行驶。 [〇〇39] The present aerial having a self-stabilizing system during normal driving state, the counterweight 41 is supported proximate the boom 2 in the completely retracted state, the hydraulic legs to the chassis 3 is completely retracted inside the sub-frame or, It does not affect normal driving.

[0040] 本具有自稳定系统的高空作业车在工作状态时是通过各传感器的反馈控制平衡配重41的移动以实现自动稳定控制:首先将本具有自稳定系统的高空作业车定位于工作地点,然后根据场地需要通过车载液压系统直接控制液压支腿3的竖直加载液压缸伸出使液压支腿3稳固支撑于地面上、或先控制液压支腿3的水平变距液压缸使液压支腿3水平伸出至场地允许的伸出长度后再控制液压支腿3的竖直加载液压缸伸出使液压支腿3稳固支撑于地面上,液压支腿3动作的过程中液压支腿水平变距位移传感器反馈液压支腿水平位移信息至平衡配重装置4的信号处理模块,直接控制液压支腿3的竖直加载液压缸伸出时液压支腿水平变距位移传感器反馈的液压支腿水平位移信息即为零,信号处理模块对液压支腿水平位移信息进行暂存待命处理,然后臂架总成通过臂架变幅油缸 [0040] The present aerial having a self-stabilizing system in the operating state by feedback from the sensors to control the balance weight 41 is moved in automatic stability control: firstly present having from aerial stabilization system is positioned at a workplace , then space required to directly control the hydraulic cylinder loading the vertical leg 3 by the vehicle hydraulic system according to the hydraulic legs 3 projecting firmly supported on the ground, or to control the hydraulic pitch cylinder horizontal leg 3 of the hydraulic support process legs 3 horizontal extension to permit extension length field after the vertical load control hydraulic legs extend the hydraulic cylinder firmly support legs 3 on the ground 3, the operation of the hydraulic legs 3 horizontal outriggers pitch displacement sensor feedback information to the horizontal displacement hydraulic legs counterweight means of the signal processing module 4, a vertical load directly control the hydraulic legs outriggers outriggers horizontal pitch displacement sensor feedback hydraulic cylinder 3 is extended i.e. zero horizontal displacement information, the signal processing module outriggers temporary horizontal displacement information processing stand, then by luffing boom cylinder assembly 21伸出变幅后根据需要继续伸出或展开使工作平台上升至工作高度、并根据需要控制臂架支撑2回转驱动使臂架支撑2带动臂架总成水平回转至工作位置,臂架总成变幅展开的过程中臂架变幅角度传感器和臂架变幅油缸压力传感器反馈臂架总成的变幅角度信息和臂架变幅油缸21的承载压力信息至平衡配重装置4的信号处理模块,信号处理模块即将液压支腿水平位移信息、臂架总成的变幅角度信息和臂架变幅油缸21的承载压力信息这三个信息根据设定程序分析和计算出需要平衡配重41提供的反力矩后将此数据与程序设定的稳定力矩进行比较、并选择输出更接近此反力矩数值的稳定力矩数值实时反馈给控制器,控制器根据信号处理模块输出的数据计算出平衡配重推拉液压缸44的伸缩量并实时发出控制指令使控制模块控制平衡配重推拉液压缸44的控制阀组动作使 After 21 projecting horn projecting required to continue to expand the working platform or up to working height, and controls the boom rotation drive 2 support the boom support assembly 2 drives the horizontal boom slewed position according to the working needs, the total boom expanded into a luffing angle sensor during luffing the luffing jib and the boom cylinder pressure sensor feedback assembly luffing angle information and the luffing cylinder 21 carrying a pressure information signal to the counterweight means 4 the processing module, the signal processing module is about outriggers horizontal displacement information of the boom assembly luffing angle information and the luffing cylinder 21 bearing pressure of the three information and information calculated from the analysis requires setting program counterweight 41 after this stabilizing torque counter moment provided with the programmed data are compared, and selects the output stable torque value closer to the value of this counter moment of real-time feedback to the controller, the controller calculates the balance according to the data output from the signal processing module an amount of stretching counterweight sliding cylinder 44 and a control command to make the real-time control module controls the counterweight sliding operation of the hydraulic cylinder 44 causes the control valve 衡配重推拉液压缸44伸缩,进而实现平衡配重41伸出或缩入以改变平衡配重41的重心位置、并使其产生稳定力矩以平衡作业平台产生的倾翻力矩,从而实现在较大作业高度和作业幅度的工况下使作业车始终在安全工况下工作的自动稳定。 Balance weight sliding telescopic hydraulic cylinders 44, thus achieving the balance weight 41 to change the extension or retraction position of the center of gravity of the balance weight 41, and the tilting moment to produce a stable working platform to balance the moment generated, thereby achieving a more working height and large operating range of operating conditions so that the car always work in safe conditions of automatic stabilizers.

[0041] 所述的平衡配重装置4的滑移导向机构可以采用导向槽体结构的导向平移机构,也可以采用套筒结构的导向平移机构,由于前者为保证足够的平移量需设置较长的槽体结构、额外伸出的槽体结构占用较多的空间,而后者可不用占用较多的空间,因此优选后者,即,作为本发明的优选方案,所述的平衡配重装置4的滑移导向机构是套筒结构的导向平移机构,包括滑移伸缩臂42和固定臂43,固定臂43—端配合套接安装在滑移伸缩臂42的一端上、另一端固定连接在臂架支撑2上,滑移伸缩臂42的另一端固定连接在平衡配重41上。 Balance [0041] The counterweight sliding guide means 4 may be employed a guide structure translation mechanism guide groove, a guide sleeve structure translation mechanism may be employed, since the former in order to ensure a sufficient shift amount to be set longer the groove structure, groove structure extending more additional space, and the latter can not take up more space, and therefore preferably the latter, i.e., as a preferred embodiment of the present invention, said counterweight means 4 the sliding guide means is a guide sleeve structure translation mechanism, including a slip telescopic arm 42 and the fixed arm 43, the fixed end of the arm 43 is sleeved with one end mounted on the slide 42 of the telescopic arm, the other end fixedly attached to arm supporting frame 2, the other end of the telescopic sliding arm 42 is fixedly connected to the weight 41 on the balance.

[0042] 为了保证平衡配重41的稳固伸缩,作为本发明的进一步改进方案,所述的滑移伸缩臂42和固定臂43在平衡配重41的宽度方向上至少左右平行对称设置为两套。 [0042] In order to ensure stable telescoping counterweight 41, as a further development of the invention, said sliding telescopic arm 42 and the fixed arm 43 with at least a left-right width direction of the balance weight 41 symmetrically arranged parallel to the two sets of .

[0043] 为了保证平衡配重41更有效提供反力矩,作为本发明的进一步改进方案,所述的平衡配重装置4的滑移导向机构水平设置。 [0043] In order to ensure the balance weight 41 is more effective to provide a counter moment, as a further development of the invention, said counterweight means horizontally sliding guide means 4 is disposed.

[0044] 为了更准确地使作业车始终在安全工况下工作,作为本发明的进一步改进方案,所述的液压支腿3的竖直加载液压缸上设有竖直加载液压缸压力传感器,竖直加载液压缸压力传感器与平衡配重装置4的信号处理模块电连接,臂架总成变幅展开的过程中竖直加载液压缸压力传感器同时反馈竖直加载液压缸的压力信息至信号处理模块,信号处理模块同时根据竖直加载液压缸的压力数值根据设定程序分析和计算出需要平衡配重41提供的反力矩。 [0044] In order to more accurately the working vehicle always work in a safe condition, as a further development of the invention, the vertical legs of the loading hydraulic cylinder 3 is provided on the vertical load cylinder pressure sensor, vertical load cylinder pressure sensor module is electrically connected to the signal processing device 4 counterweight, luffing jib assembly during deployment of the vertical load cylinder pressure sensor feedback while the vertical load cylinder pressure information to the signal processing module, and a signal processing module calculates the required simultaneous analysis of the balance weight 41 provided in accordance with the reaction torque setting program according to the pressure value of the vertical load of the hydraulic cylinder.

[0045] 本具有自稳定系统的高空作业车的自稳定控制系统由于包括平衡配重装置4、控制盒、液压支腿水平变距位移传感器、臂架变幅角度传感器和臂架变幅油缸压力传感器,平衡配重装置4包括平衡配重41、滑移导向机构和平衡配重推拉液压缸44,因此工作状态时,液压支腿水平变距位移传感器首先反馈液压支腿水平位移信息至平衡配重装置4的信号处理模块,然后臂架变幅角度传感器和臂架变幅油缸压力传感器反馈臂架总成的变幅角度信息和臂架变幅油缸21的承载压力信息至平衡配重装置4的信号处理模块,信号处理模块再将此三个数据信息根据设定程序分析和计算出需要平衡配重41提供的反力矩后将此数据与程序设定的稳定力矩进行比较、并选择输出更接近此反力矩数值的稳定力矩数值实时反馈给控制器,控制器根据信号处理模块输出的数据计算出平 [0045] The present aerial system having a self-stabilizing system as a result of self-stabilizing control means comprises a counterweight 4, control box, the horizontal leg of the hydraulic pitch displacement sensor, and the luffing angle of the boom luffing cylinder pressure sensor sensor means 4 comprises a balance weight balance weight 41, and the sliding guide cylinder sliding counterweight 44, thus working condition, hydraulic legs first horizontal pitch displacement sensor feedback information to the horizontal displacement hydraulic legs balance a signal processing module weighing device 4, and an angle sensor and the luffing cylinder pressure sensor feedback luffing jib assembly luffing angle information and the luffing cylinder 21 bearing pressure information to the counterweight means 4 the signal processing module, the signal processing module and then this three data analysis program and calculated based on the set required torque stabilizing counterweight 41 provided in the counter moment this data set is compared with the program, and selects the output of more this value is close to the counter moment stabilizing torque value real-time feedback to the controller, the controller calculates the level of the data output from the signal processing module 配重推拉液压缸44的伸缩量并实时发出控制指令使控制模块控制平衡配重推拉液压缸44的控制阀组动作使平衡配重推拉液压缸44带动平衡配重41伸出或缩入以改变平衡配重41的重心位置、并使其产生稳定力矩以平衡作业平台产生的倾翻力矩,从而实现在较大作业高度和作业幅度的工况下使作业车始终在安全工况下工作的自动稳定;平衡配重装置4的设置可提高高空作业车的整体作业性能,实现相同的作业高度和作业幅度的情况下缩小液压支腿3的跨距、相同的液压支腿3跨距的情况下增大作业高度和作业幅度,本具有自稳定系统的高空作业车通过合理设置平衡配重41的伸缩长度可以实现在不同的水平支腿跨距下得到水平支腿完全伸出状态下的最大作业高度和作业幅度,特别适用于狭窄路面或空间较狭小的场地进行高空作业。 An amount of stretching counterweight sliding cylinder 44 and a control command to make the real-time control module controls the counterweight sliding operation of hydraulic cylinder control valve 44 causes the counterweight 44 to drive the hydraulic cylinder sliding counterweight 41 to change the extension or retraction center of gravity of the balance weight position 41, and the tilting moment to produce a stable working platform to balance the moment generated, thereby achieving a greater operating range and the operating height of the working conditions the work vehicle is always automatically safety conditions means the case where the counterweight 4 may be provided to improve the overall operating performance of aerial vehicles to achieve the same reduction in the case of hydraulic legs and the operating range of the working height of the span of 3, the same hydraulic legs 3 spans; stable operating range and increased working height, with the present system since the aerial fully extended stable operation in a state where the maximum reasonable length setting of the balance weight 41 may be telescopically implemented obtained at different horizontal leg span horizontal leg height and operating range, especially for the narrow road space or a relatively narrow space and aerial work.

Claims (6)

  1. 1.一种具有自稳定系统的高空作业车,包括车体总成(1)、臂架支撑(2)、臂架总成和液压支腿(3);车体总成⑴包括驾驶室、底盘、副车架和行走装置,副车架固定连接在底盘上;臂架支撑(2)底端通过臂架支撑回转机构与副车架连接,臂架支撑回转机构包括回转支承和回转驱动;臂架总成铰接安装在臂架支撑(2)上,包括基础臂、臂架变幅油缸(2D和工作平台,臂架变幅油缸(21) —端铰接安装在臂架支撑(2)上、另一端铰接安装在臂架总成的基础臂上,臂架变幅油缸(21)通过控制阀组与车载液压系统连接;液压支腿(3)设置为四件,四件液压支腿⑶中心对称设置在底盘或副车架上,液压支腿(3)包括水平变距液压缸和竖直加载液压缸,水平变距液压缸和竖直加载液压缸通过控制阀组与车载液压系统连接;其特征在于,本具有自稳定系统的高空作业车还包括自稳定控制系 1. having a self-stabilizing system aerial vehicles, comprising a body assembly (1), the boom support (2), the boom assembly and the hydraulic legs (3); ⑴ vehicle body assembly including a cab, chassis, the sub-frame and running gear sub-frame is fixedly connected to the chassis; boom support (2) supporting a bottom end connected by a boom rotation mechanism and the sub-frame, a boom slewing supporting means comprises a rotary bearing and a rotary drive; boom assembly is hingedly mounted on the support boom (2), comprising a base arm, a luffing cylinder (2D and working platform, luffing cylinder (21) - ends pivotally mounted on the boom support (2) the other end hingedly mounted on the boom arm assembly base, luffing cylinder (21) is connected to the vehicle hydraulic system by controlling the valve; hydraulic legs (3) is set to four, four hydraulic legs ⑶ symmetrically arranged on the chassis or sub-frame, hydraulic legs (3) comprises a horizontal and a vertical pitch cylinder loading cylinder, the horizontal pitch and the vertical load of the hydraulic cylinder via the hydraulic cylinder is connected to the vehicle hydraulic control valve system ; wherein the present stable aerial vehicles having a self-stabilizing system further comprises a self control system ,所述的自稳定控制系统包括平衡配重装置(4)、控制盒、液压支腿水平变距位移传感器、臂架变幅角度传感器和臂架变幅油缸压力传感器;平衡配重装置(4)包括平衡配重(41)、滑移导向机构和平衡配重推拉液压缸(44);平衡配重(41)通过滑移导向机构与臂架支撑(2)连接,且平衡配重(41)和滑移导向机构相对于臂架总成位于臂架总成的正后方;平衡配重推拉液压缸(44) 一端与平衡配重(41)较接连接、另一端与臂架支撑(2)铰接连接,且平衡配重推拉液压缸(44)的伸缩方向与滑移导向机构的滑移方向一致,平衡配重推拉液压缸(44)通过控制阀组与车载液压系统连接;液压支腿水平变距位移传感器设置在液压支腿(3)上,臂架变幅角度传感器设置在臂架总成与臂架支撑(2)的铰接连接位置,臂架变幅油缸压力传感器设置在臂架变幅油缸⑵)上;控制盒包括控制器、信号处理模 Said control system includes a self-stabilizing counterweight means (4), the control box, the horizontal leg of the hydraulic pitch displacement sensor, and the luffing angle sensor luffing cylinder pressure sensor; a counterweight means (4 ) comprises a counterweight (41), and the sliding guide cylinder sliding counterweight (44); counterweight (41) connected by a sliding guide means supporting the boom (2) and the counterweight (41 ) and the sliding guide means with respect to the boom assembly is located directly behind the boom assembly; counterweight sliding cylinder (44) at one end and the counterweight (41) than the contact connection, the other end of the boom support (2 ) hingedly connected, and the stretching direction counterweight sliding cylinder (44) coincides with the sliding direction of the sliding guide means, the counterweight sliding cylinder (44) is connected to the vehicle hydraulic system by controlling the valve; outriggers the horizontal pitch displacement sensors disposed on the hydraulic legs (3), luffing boom angle sensor provided at the boom support assembly (2) is hingedly connected position, luffing boom cylinder pressure sensor disposed ⑵ the luffing oil cylinder); control box includes a controller, a signal processing module 块、控制模块,液压支腿水平变距反馈回路、臂架变幅角度反馈回路、臂架变幅油缸压力反馈回路、平衡配重控制回路、数值比较回路;控制器分别与信号处理模块和控制模块电连接;信号处理模块分别与液压支腿水平变距位移传感器、臂架变幅角度传感器和臂架变幅油缸压力传感器电连接;控制模块与平衡配重推拉液压缸(44)的控制阀组电连接。 Block, the control module, the horizontal leg of the hydraulic pitch feedback loop, the feedback loop luffing angle, luffing cylinder pressure feedback loop, the control loop of the balance weight, the value comparison circuit; and a controller module, respectively, and the signal processing control electrically connecting module; from the displacement sensor, and the luffing angle sensor luffing cylinder pressure sensor is electrically connected to the signal processing module, respectively, the horizontal leg of the hydraulic variant; a control module and the counterweight sliding cylinder (44) of the control valve set of electrical connections.
  2. 2.根据权利要求1所述的具有自稳定系统的高空作业车,其特征在于,所述的平衡配重装置⑷的滑移导向机构是套筒结构的导向平移机构,包括滑移伸缩臂(42)和固定臂(43),固定臂(43) —端配合套接安装在滑移伸缩臂(42)的一端上、另一端固定连接在臂架支撑(2)上,滑移伸缩臂(42)的另一端固定连接在平衡配重(41)上。 The aerial has a self-stabilizing system according to claim 1, wherein said counterweight means ⑷ slip guide means is a guide sleeve structure translation mechanism, comprising a telescopic arm slip ( 42) and the fixed arm (43), the fixed arm (43) - an end fitting mounted on an end sleeved sliding telescopic arm (42) and another end fixedly connected to the boom support (2), telescopic slip ( 42) fixedly connected to the other end of the balance weight (41).
  3. 3.根据权利要求2所述的具有自稳定系统的高空作业车,其特征在于,所述的滑移伸缩臂(42)和固定臂(43)在平衡配重(41)的宽度方向上至少左右平行对称设置为两套。 The aerial has a self-stabilizing system according to claim 2, wherein said slip telescopic arm (42) and the fixed arm (43) the width of the balance weight (41) in the direction of at least symmetrically arranged parallel to the two sets of left and right.
  4. 4.根据权利要求1或2或3所述的具有自稳定系统的高空作业车,其特征在于,所述的平衡配重装置⑷的滑移导向机构水平设置。 The aerial has a self-stabilizing system of claim 1 or 2 or as claimed in claim 3, wherein the level of said counterweight means ⑷ slip guide means is provided.
  5. 5.根据权利要求1或2或3所述的具有自稳定系统的高空作业车,其特征在于,所述的液压支腿(3)的竖直加载液压缸上设有竖直加载液压缸压力传感器,竖直加载液压缸压力传感器与平衡配重装置(4)的信号处理模块电连接。 The aerial has a self-stabilizing system of claim 1 or 2 or as claimed in claim 3, characterized in that the hydraulic cylinder is provided with a vertical load on the hydraulic pressure of the legs (3) of the vertical load cylinder sensor, a vertical load cylinder pressure sensor and the counterweight means (4) is electrically connected to the signal processing module.
  6. 6.—种具有自稳定系统的高空作业车的自稳定控制方法,其特征在于,包括以下步骤:a.液压支腿水平变距位移数据采集:将本具有自稳定系统的高空作业车定位于工作地点后根据场地需要通过车载液压系统直接控制液压支腿(3)的竖直加载液压缸伸出使液压支腿(3)稳固支撑于地面上、或先控制液压支腿(3)的水平变距液压缸使液压支腿(3)水平伸出至场地允许的伸出长度后再控制液压支腿(3)的竖直加载液压缸伸出使液压支腿(3)稳固支撑于地面上,液压支腿(3)动作的过程中液压支腿水平变距位移传感器反馈液压支腿水平位移信息至平衡配重装置(4)的信号处理模块;b•臂架变幅角度数据采集:臂架总成通过臂架变幅油缸(2D伸出变幅,臂架总成变幅过程中臂架变幅角度传感器反馈臂架总成的变幅角度信息至平衡配重装置(4)的信号处理模块;c.臂架变幅油缸的承载压 6.- The method of controlling a self-stabilizing species Aerial having a self-stabilizing system, characterized by comprising the steps of:. A horizontal pitch displacement hydraulic legs Data Acquisition: The present system having a self-stabilizing aerial positioned after the work place through direct control of hydraulic legs vehicle hydraulic system according to the site required (3) the level of vertical hydraulic loading cylinder projecting legs (3) firmly supported on the ground, or to control the hydraulic legs (3) the hydraulic pitch cylinder the legs (3) extending horizontally to the site allows the projecting length of the control hydraulic pressure before the leg (3) loading cylinder vertically extending hydraulic legs (3) firmly supported on the ground , of the hydraulic legs (3) operation of the hydraulic legs horizontal pitch displacement sensor feedback information to the horizontal displacement hydraulic legs counterweight means (4) of the signal processing module; b • luffing angle data acquisition: arm frame assembly extending through the luffing jib luffing oil cylinder (2D, luffing jib assembly during luffing of the boom angle sensor assembly luffing angle feedback information to the signal-balanced counterweight means (4) the processing module;. c luffing cylinder pressure bearing 力数据采集:臂架总成变幅后根据需要继续伸出或展开使工作平台上升至工作高度、并根据需要控制臂架支撑(2)回转驱动使臂架支撑⑵带动臂架总成水平回转至工作位置,臂架总成变幅展开的过程中臂架变幅油缸压力传感器反馈臂架变幅油缸(21)的承载压力信息至平衡配重装置⑷的信号处理模块;d.数据处理:信号处理模块即将液压支腿水平位移信息、臂架总成的变幅角度信息和臂架变幅油缸(21)的承载压力信息这三个数值信息根据设定程序分析和计算出需要平衡配重(41)提供的反力矩后将此数据与程序设定的稳定力矩进行比较、并选择更接近此反力矩数值的稳定力矩数值实时输出反馈给控制器;e.平衡作业平台产生的倾翻力矩:控制器根据信号处理模块输出的数据计算出平衡配重推拉液压缸(44)的伸缩量,并实时发出控制指令使控制模块控制平衡配重推拉 Force Data acquisition: After luffing boom assembly extended or continued to expand up to the working platform if necessary working height, and the support required to control the boom (2) to support the boom rotation drive assembly boom horizontally rotatably driven ⑵ to the working position, during deployment of the luffing jib assembly luffing cylinder pressure sensor feedback luffing cylinder (21) bearing the pressure information to the counterweight means ⑷ signal processing module; D data processing: the signal processing module is about outriggers horizontal displacement information of the boom assembly luffing angle information and the luffing oil cylinder (21) bearing three pressure information and numerical information is calculated from the analysis requires setting program counterweight (41) after this stabilizing torque counter moment provided with the programmed data are compared, and the counter moment is nearer select value output feedback stabilizing torque value in real time to the controller;. e balancing work platform overturning moment generated : the controller calculates the data output from the signal processing module contraction amount counterweight sliding cylinder (44), and issue control instructions cause the real-time control module controls sliding counterweight 压缸(44)的控制阀组动作使平衡配重推拉液压缸(44)根据伸缩量数值进行实时伸缩,平衡配重推拉液压缸(44)带动平衡配重(41)伸出或缩入实现改变平衡配重(41)的重心位置使其产生稳定力矩以平衡作业平台产生的倾翻力矩。 Operating pressure control valve cylinder (44) causes the counterweight sliding cylinder (44) in real-time scale as the amount of stretching value, the counterweight sliding cylinder (44) drives the counterweight (41) implemented extension or retraction changing the counterweight (41) the position of the center of gravity to produce torque to balance the overturning moment a stable work platform produced.
CN 201610938477 2016-10-25 2016-10-25 Aerial system with a self-stabilized and self-stabilization control method CN106629523B (en)

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