CN106629523B - A kind of high-altitude operation vehicle and its self-stabilization control method with self-stabilization system - Google Patents

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

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Publication number
CN106629523B
CN106629523B CN201610938477.3A CN201610938477A CN106629523B CN 106629523 B CN106629523 B CN 106629523B CN 201610938477 A CN201610938477 A CN 201610938477A CN 106629523 B CN106629523 B CN 106629523B
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hydraulic
counterweight
self
arm
stabilization
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CN106629523A (en
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胡景清
陈靖
蔡雷
赵继泉
闫晓玲
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Xuzhou Handler Special Vehicle Co Ltd
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Xuzhou Handler Special Vehicle Co Ltd
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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 a kind of high-altitude operation vehicle and its self-stabilization control method with self-stabilization system, high-altitude operation vehicle includes bodywork assembly, cantilever support, arm support assembly, hydraulic leg and self-stabilization control system;Self-stabilization control system includes balance weight device, control box, the horizontal displacement displacement sensor of hydraulic leg, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor, and balance weight device includes counterweight, sliding guide mechanism and counterweight push-and-pull hydraulic cylinder.It is to make the tilting moment that its generation stabilizing moment is generated with balanced operation platform to realize automatic stabilisation control by the movement of the feedback control counterweight of each sensor in working condition that this, which has the high-altitude operation vehicle of self-stabilization system, it can realize and obtain the maximum operation height under the fully extended state of horizontal support legs and operation amplitude under different horizontal support legs spans, the place narrow especially suitable for narrow road surface or space carries out working at height.

Description

A kind of high-altitude operation vehicle and its self-stabilization control method with self-stabilization system
Technical field
The present invention relates to a kind of high-altitude operation vehicle and control method, specifically a kind of working at height with self-stabilization system Vehicle and its self-stabilization control method, belong to high-altitude operation vehicle technical field.
Background technology
High-altitude operation vehicle is that transport staff and the equipment using equipment to high-altitude contraposition in high-altitude are installed, tieed up Shield, the special vehicle cleaned, the good, operation with transaction capabilities compared with traditional operating type such as scaffolding, ladder The advantages that efficient, job safety, it is now widely used for the infrastructure industry such as electric power, traffic, petrochemical industry, communication, gardens.
Domestic high-altitude operation vehicle is mainly formed supporting leg by vehicle body dead weight in terms of operation stability anti-at present Torque carrys out the torque of balanced operation platform generation to realize the stabilization of its operation, but with big height, large span equipment in industry Facility is continuously increased, it is desirable that the operation height and amplitude of high-altitude operation vehicle are also continuously increased, and in turn result in high-altitude operation vehicle Supporting leg span is also increasing, but larger supporting leg span not only needs to occupy larger Active workings space, but also larger Supporting leg span is also easy to cause frame distortion and then influences operational security.
The span of horizontal support legs is usually carried out classification pipe by existing high-altitude operation vehicle in order to adapt to different operating environments Reason is generally divided into the full stretching of horizontal support legs, partly stretches out and do not stretch out three kinds of working conditions, and three kinds of working conditions, which correspond to, generates three The different transaction capabilities curve of kind, operating environment that this often sacrifices operation height and operation amplitude is adapted to, with 18 meters For high-altitude operation vehicle, maximum operation amplitude is 12 meters under the fully extended state of horizontal support legs, maximum operation height is 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 at this time is only 6 meters;Maximum under horizontal support legs not stretching state 6 meters of operation amplitude, operation height at this time also only has 6 meters, 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 working at height, often horizontal support legs half stretch out and not stretching situation under it is corresponding Operation height and amplitude cannot meet requirement, can only complete working at height by step ladder or miscellaneous equipment, this is serious High-altitude working safety operating instruction is violated, operation is absolutely unsafe, and has very high security risk, personal wound is will appear when serious Die accident.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of high-altitude operation vehicle and its self-stabilization controlling party with self-stabilization system Method can be realized by control self-stabilization system and be obtained under the fully extended state of horizontal support legs under different horizontal support legs spans Maximum operation height and operation amplitude, the place narrow especially suitable for narrow road surface or space carry out working at height.
To achieve the above object, it includes bodywork assembly, cantilever support, arm support that this, which has the high-altitude operation vehicle of self-stabilization system, Assembly, hydraulic leg and self-stabilization control system;
The bodywork assembly includes driver's cabin, chassis, subframe and running gear, and subframe is fixedly connected on chassis On;
The cantilever support bottom end is connect by cantilever support swing mechanism with subframe, cantilever support swing mechanism packet Include pivoting support and revolution driving;
The arm support assembly is hingedly mounted in cantilever support, including basis arm, boom derricking cylinder and workbench, Boom derricking cylinder one end is hingedly mounted in cantilever support, the other end is hingedly mounted in the basis arm of arm support assembly, arm support Amplitude oil cylinder is connect by control valve group with onboard hydraulic system;
The hydraulic leg is set as four, and four hydraulic leg center symmetric settings are on chassis or subframe, liquid It includes horizontal displacement hydraulic cylinder and vertical loading hydraulic cylinder to press supporting leg, and horizontal displacement hydraulic cylinder and vertical loading hydraulic cylinder pass through control Valve group processed is connect with onboard hydraulic system;
The 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 logical It crosses sliding guide mechanism to connect with cantilever support, and relative to arm support assembly to be located at arm support total for counterweight and sliding guide mechanism At dead astern;Counterweight push-and-pull hydraulic cylinder one end is articulated and connected with counterweight articulated connection, the other end and cantilever support, 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 connect with onboard hydraulic system by control valve group;
The horizontal displacement displacement sensor of hydraulic leg is arranged on hydraulic leg, and luffing range of cantilever support angular transducer is arranged in arm The articulated connection position of frame assembly and cantilever support, boom derricking cylinder pressure sensor are 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 with signal processing module and control module respectively;Signal processing module is passed with the horizontal displacement displacement of hydraulic leg respectively Sensor, luffing range of cantilever support angular transducer and the electrical connection of boom derricking cylinder pressure sensor;Control module is pushed and pulled with counterweight The control valve group of hydraulic cylinder is electrically connected.
As the preferred embodiment of the present invention, the sliding guide mechanism of the 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 are mounted on one end of slide telescopic arm, are 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, the slide telescopic arm and fixed arm are in the width side of counterweight Upward at least left and right Parallel Symmetric is set as two sets.
The sliding guide mechanism of scheme as a further improvement on the present invention, the balance weight device is horizontally disposed.
The vertical loading hydraulic cylinder of scheme as a further improvement on the present invention, the hydraulic leg is equipped with vertical add The signal processing module of load hydraulic cylinder pressure transducer, vertical loading hydraulic cylinder pressure sensor and balance weight device is electrically connected It connects.
A kind of self-stabilization control method of the high-altitude operation vehicle with self-stabilization system, which is characterized in that including following step Suddenly:
A. the horizontal displacement displacement data acquisition of hydraulic leg:There is the high-altitude operation vehicle of self-stabilization system to be positioned at work this Make to need the vertical loading hydraulic cylinder stretching for directly controlling hydraulic leg by onboard hydraulic system to make liquid according to place behind place The firm horizontal displacement hydraulic cylinder for being supported on ground or first controlling hydraulic leg of pressure supporting leg makes hydraulic leg protrude horizontally up to field Controlling the vertical loading hydraulic cylinder stretching of hydraulic leg after the extension elongation that ground allows again makes hydraulic leg is firm to be supported in ground On, the horizontal displacement displacement sensor feedback hydraulic supporting leg horizontal displacement information of hydraulic leg is to flat during hydraulic leg acts The signal processing module of weighing apparatus counter weight device;
B. luffing range of cantilever support angle-data acquires:Arm support assembly stretches out luffing, arm support assembly luffing by boom derricking cylinder Luffing range of cantilever support angular transducer feeds back the change angle information of arm support assembly to the signal processing mould of balance weight device in the process Block;
C. the carrying pressure data acquisition of boom derricking cylinder:Continue to stretch out as needed after arm support assembly luffing or be unfolded So that workbench is risen to working depth and controlling cantilever support revolution driving as needed makes cantilever support drive arm support assembly Horizontal rotation is to operating position, and boom derricking cylinder pressure sensor feeds back luffing range of cantilever support during arm support assembly luffing is unfolded Oil cylinder carries pressure information to the signal processing module of balance weight device;
D. data processing:Signal processing module is to believe the change angle of hydraulic leg horizontal displacement information, arm support assembly Breath and these three numerical informations of the carrying pressure information of boom derricking cylinder, which are analyzed and calculated according to setting program, to be needed to balance This data is compared with the stabilizing moment of program setting after the countertorque that counterweight provides and is selected closer to this countertorque number Output feeds back to controller to the stabilizing moment numerical value of value in real time;
E. the tilting moment that balanced operation platform generates:Controller calculates flat according to the data that signal processing module exports The stroke of weighing apparatus counterweight push-and-pull hydraulic cylinder, and sending out 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 It is stretched out with dynamic balance weight or retraction realizes that the position of centre of gravity for changing counterweight is made it generate stabilizing moment and put down with balanced operation The tilting moment that platform generates.
Compared with prior art, the self-stabilization control system of this high-altitude operation vehicle with self-stabilization system is due to including putting down Weigh counter weight device, control box, the horizontal displacement displacement sensor 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 is worked When state, the horizontal displacement displacement sensor of hydraulic leg feedback hydraulic supporting leg horizontal displacement information first 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 carrying pressure information of angle information and boom derricking cylinder is to the signal processing module of balance weight device, signal processing module This three data informations are analyzed and are calculated after the countertorque for needing counterweight to provide according to setting program by this data again It is compared with the stabilizing moment of program setting and selects output anti-in real time closer to the stabilizing moment numerical value of this countertorque numerical value It feeds controller, controller calculates the stroke of counterweight push-and-pull hydraulic cylinder simultaneously according to the data that signal processing module exports Sending out control instruction in real time makes the control valve group action of control module control counterweight push-and-pull hydraulic cylinder that counterweight be made to push and pull Hydraulic cylinder is stretched out with dynamic balance weight or retraction is to change the position of centre of gravity of counterweight and it is made to generate stabilizing moment to balance The tilting moment that job platform generates makes Operation Van exist always to realize under the operating mode of larger job height and operation amplitude The automatic stabilisation to work under safe operating mode;The overall operation performance of high-altitude operation vehicle can be improved in the setting of balance weight device, real The case where span of hydraulic leg, identical hydraulic leg span being 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 the way that stretching for counterweight is rationally arranged Contracting length may be implemented to obtain the maximum operation height under the fully extended state of horizontal support legs under different horizontal support legs spans With operation amplitude, the place narrow especially suitable for narrow road surface or space carries out working at height.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention;
Fig. 2 is the A direction views of Fig. 1.
In figure:1, 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 implementation mode
The present invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, it includes that bodywork assembly 1, cantilever support 2, arm support are total that this, which has a high-altitude operation vehicle for self-stabilization system, At, hydraulic leg 3 and self-stabilization control system.
The bodywork assembly 1 includes driver's cabin, chassis, subframe and running gear, and subframe is fixedly connected on chassis On.
2 bottom end of cantilever support is connect by cantilever support swing mechanism with subframe, cantilever support swing mechanism Including pivoting support and revolution driving, revolution driving can drive cantilever support 2 360 ° axial along the centre of gyration of pivoting support Rotation.
The arm support assembly is hingedly mounted in cantilever support 2, including basis arm, boom derricking cylinder and work are flat Platform, boom derricking cylinder one end is hingedly mounted in cantilever support 2, the other end is hingedly mounted in the basis arm of arm support assembly, Boom derricking cylinder is connect by control valve group with onboard hydraulic system.
The hydraulic leg 3 is set as four, four 3 center symmetric settings of hydraulic leg 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 are logical Control valve group is crossed to connect with onboard hydraulic system.
The 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, which includes counterweight 41, sliding guide mechanism and counterweight, pushes and pulls hydraulic pressure Cylinder 44;Counterweight 41 is connect by sliding guide mechanism with cantilever support 2, and counterweight 41 is opposite with sliding guide mechanism It is located at the dead astern of arm support assembly in arm support assembly;44 one end of counterweight push-and-pull hydraulic cylinder and counterweight 41 articulated connection, 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 Shifting direction is consistent, and counterweight push-and-pull hydraulic cylinder 44 is connect by control valve group with onboard hydraulic system, is matched by controlling balance The flexible of weight push-and-pull hydraulic cylinder 44 may be implemented counterweight 41 and be stretched along away from the direction of arm support assembly by sliding guide mechanism Go out or retraction.
The horizontal displacement displacement sensor of hydraulic leg is arranged on hydraulic leg 3, and the setting of luffing range of cantilever support angular transducer exists The articulated connection position of arm support assembly and cantilever support 2, boom derricking cylinder pressure sensor are 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 with signal processing module and control module respectively;Signal processing module is passed with the horizontal displacement displacement of hydraulic leg respectively Sensor, luffing range of cantilever support angular transducer and the electrical connection of boom derricking cylinder pressure sensor;Control module is pushed and pulled with counterweight The control valve group of hydraulic cylinder 44 is electrically connected.
This has high-altitude operation vehicle of self-stabilization system in normally travel state, and counterweight 41 is close to cantilever support 2 It is entirely retracted to chassis or subframe in the state that is entirely retracted to, hydraulic leg 3, does not influence normally travel.
It is to be balanced by the feedback control of each sensor in working condition that this, which has the high-altitude operation vehicle of self-stabilization system, The movement of counterweight 41 is to realize automatic stabilisation control:There is the high-altitude operation vehicle of self-stabilization system to be positioned at place of working this first Then point needs the vertical loading hydraulic cylinder stretching for directly controlling hydraulic leg 3 by onboard hydraulic system to make liquid according to place The firm horizontal displacement hydraulic cylinder for being supported on ground or first controlling hydraulic leg 3 of pressure supporting leg 3 makes hydraulic leg 3 protrude horizontally up Controlling the vertical loading hydraulic cylinder stretching of hydraulic leg 3 after the extension elongation allowed to place again makes the firm support of hydraulic leg 3 In on ground, the horizontal displacement displacement sensor feedback hydraulic supporting leg horizontal displacement of hydraulic leg during hydraulic leg 3 acts Information is to the signal processing module of balance weight device 4, hydraulic pressure when directly controlling the vertical loading hydraulic cylinder stretching of hydraulic leg 3 The hydraulic leg horizontal displacement information of the horizontal displacement displacement sensor feedback of supporting leg is zero, and signal processing module is to hydraulic leg Horizontal displacement information carries out temporary processing of awaiting orders, then arm support assembly by after boom derricking cylinder stretching luffing as needed after Continuous stretching or expansion, which make workbench rise to working depth and control 2 revolution driving of cantilever support as needed, makes arm support branch Support 2 drives arm support assembly horizontal rotation to operating position, luffing range of cantilever support angular transducer during arm support assembly luffing is unfolded The carrying pressure letter of the change angle information and boom derricking cylinder of arm support assembly is fed back with boom derricking cylinder pressure sensor It ceases to the signal processing module of balance weight device 4, signal processing module is i.e. by hydraulic leg horizontal displacement information, arm support assembly Change angle information and these three information of the carrying pressure information of boom derricking cylinder according to setting program analyze and calculate This data is compared with the stabilizing moment of program setting after the countertorque of the offer of counterweight 41 is provided and selects output more The number exported close to the stabilizing moment numerical value Real-time Feedback of this countertorque numerical value according to signal processing module to controller, controller According to the stroke for calculating counterweight push-and-pull hydraulic cylinder 44 and sending out control instruction in real time makes control module control counterweight The control valve group action of push-and-pull hydraulic cylinder 44 keeps counterweight push-and-pull hydraulic cylinder 44 flexible, so realize counterweight 41 stretch out or Retraction is to change the position of centre of gravity of counterweight 41 and it is made to generate the power of tumbling that stabilizing moment is generated with balanced operation platform Square, to realize that make Operation Van work under safe operating mode always under the operating mode of larger job height and operation amplitude automatic Stablize.
The guiding translation mechanism for being oriented to trough body structure may be used in the sliding guide mechanism of the balance weight device 4, The guiding translation mechanism that tube-in-tube structure can also be used, since the former is to ensure that longer groove body knot need to be arranged in enough translational movements Structure, the trough body structure additionally stretched out occupy more space, and the latter can not have to occupy more space, therefore preferred the latter, That is, the preferred embodiment as the present invention, the sliding guide mechanism of the 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 43 one end fits of fixed arm is mounted on 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, the sliding as a further improvement on the present invention is stretched At least left and right Parallel Symmetric is set as two sets in the width direction of counterweight 41 for contracting arm 42 and fixed arm 43.
In order to ensure that counterweight 41 more effectively provides countertorque, scheme, described as a further improvement on the present invention The sliding guide mechanism of balance weight device 4 is horizontally disposed.
In order to more accurately make Operation Van work under safe operating mode always, scheme as a further improvement on the present invention, The vertical loading hydraulic cylinder of the hydraulic leg 3 is equipped 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 adds vertically during being unfolded Load hydraulic cylinder pressure transducer feeds back the pressure information of vertical loading hydraulic cylinder to signal processing module, signal processing module simultaneously It analyzes and calculates according to setting program according to the pressure value of vertical loading hydraulic cylinder simultaneously and the offer of counterweight 41 is 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 Box, the horizontal displacement displacement sensor of hydraulic leg, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor processed are put down The counter weight device 4 that weighs includes counterweight 41, sliding guide mechanism and counterweight push-and-pull hydraulic cylinder 44, therefore when working condition, At the horizontal displacement displacement sensor of hydraulic leg feedback hydraulic supporting leg horizontal displacement information to the signal of balance weight device 4 first Module is managed, then the change angle letter of luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor feedback arm support assembly Breath carries pressure information to the signal processing module of balance weight device 4 with boom derricking cylinder, and signal processing module again will This three data informations according to setting program analyze and calculate need counterweight 41 provide countertorque after by this data with The stabilizing moment of program setting is compared and selects output closer to the stabilizing moment numerical value Real-time Feedback of this countertorque numerical value To controller, controller calculates the stroke of counterweight push-and-pull hydraulic cylinder 44 simultaneously according to the data that signal processing module exports Sending out control instruction in real time makes the control valve group action of control module control counterweight push-and-pull hydraulic cylinder 44 that counterweight be made to push away Draw hydraulic cylinder 44 with the stretching of dynamic balance weight 41 or retraction to change the position of centre of gravity of counterweight 41 and its is made to generate stability force The tilting moment that square is generated with balanced operation platform makes operation to realize under the operating mode of larger job height and operation amplitude The automatic stabilisation that vehicle works under safe operating mode always;The setting of balance weight device 4 can be improved the whole of high-altitude operation vehicle and make Industry performance reduces the span of hydraulic leg 3, identical hydraulic leg in the case of realizing identical operation height and operation amplitude Increase operation height and operation amplitude in the case of 3 spans, this has the high-altitude operation vehicle of self-stabilization system by being rationally arranged The collapsing length of counterweight 41 may be implemented to obtain under different horizontal support legs spans under the fully extended state of horizontal support legs Maximum operation height and operation amplitude, the place narrow especially suitable for narrow road surface or space carry out working at height.

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 Press supporting leg (3);Bodywork assembly (1) includes driver's cabin, chassis, subframe and running gear, and subframe is fixedly connected on chassis; Cantilever support (2) bottom end is connect by cantilever support swing mechanism with subframe, and cantilever support swing mechanism includes pivoting support And revolution driving;Arm support assembly is hingedly mounted in cantilever support (2), including basis arm, boom derricking cylinder and workbench, Boom derricking cylinder one end is hingedly mounted in cantilever support (2), the other end is hingedly mounted in the basis arm of arm support assembly, arm Frame amplitude oil cylinder is connect by control valve group with onboard hydraulic system;Hydraulic leg (3) is set as four, four hydraulic legs (3) for center symmetric setting on chassis or subframe, hydraulic leg (3) includes horizontal displacement hydraulic cylinder and vertical load hydraulic pressure Cylinder, horizontal displacement hydraulic cylinder and vertical loading hydraulic cylinder are connect by control valve group with onboard hydraulic system;
It is characterized in that, the high-altitude operation vehicle with self-stabilization system further includes self-stabilization control system,
The 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 connect 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 hingedly connects with counterweight (41) It connects, the articulated connection of the other end and cantilever support (2), 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 connect by control valve group with onboard hydraulic system;
The horizontal displacement displacement sensor of hydraulic leg is arranged on hydraulic leg (3), and luffing range of cantilever support angular transducer is arranged in arm The articulated connection position of frame assembly and cantilever support (2), boom derricking cylinder pressure sensor are arranged on boom derricking cylinder;
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 circuit, boom derricking cylinder pressure feed back loop, counterweight control loop, numerical value comparison loop;Controller point It is not electrically connected with signal processing module and control module;Signal processing module respectively with the horizontal displacement displacement sensing of hydraulic leg Device, luffing range of cantilever support angular transducer and the electrical connection of boom derricking cylinder pressure sensor;Control module pushes and pulls liquid with counterweight The control valve group of cylinder pressure (44) is electrically connected.
2. the high-altitude operation vehicle according to claim 1 with self-stabilization system, which is characterized in that the 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 according to claim 2 with self-stabilization system, which is characterized in that the sliding is flexible At least left and right Parallel Symmetric is set as two sets in the width direction of counterweight (41) for arm (42) and fixed arm (43).
4. the high-altitude operation vehicle according to claim 1 or 2 or 3 with self-stabilization system, which is characterized in that described is flat The sliding guide mechanism of weighing apparatus counter weight device (4) is horizontally disposed.
5. the high-altitude operation vehicle according to claim 1 or 2 or 3 with self-stabilization system, which is characterized in that the liquid The vertical loading hydraulic cylinder of supporting leg (3) is pressed to be equipped with vertical loading hydraulic cylinder pressure sensor, vertical loading hydraulic cylinder pressure passes 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, which is characterized in that include the following steps:
A. the horizontal displacement displacement data acquisition of hydraulic leg:There is the high-altitude operation vehicle of self-stabilization system to be positioned at place of working this The vertical loading hydraulic cylinder stretching for directly controlling hydraulic leg (3) by onboard hydraulic system is needed to make hydraulic pressure according to place after point The firm horizontal displacement hydraulic cylinder for being supported on ground or first controlling hydraulic leg (3) of supporting leg (3) keeps hydraulic leg (3) horizontal Extend out to place permission extension elongation after control again hydraulic leg (3) vertical loading hydraulic cylinder stretch out make hydraulic leg (3) It is firm to be supported on ground, the horizontal displacement displacement sensor feedback hydraulic branch of hydraulic leg during hydraulic leg (3) acts Leg horizontal displacement information to balance weight device (4) signal processing module;
B. luffing range of cantilever support angle-data acquires:Arm support assembly stretches out luffing, arm support assembly amplitude changing process by boom derricking cylinder Middle luffing range of cantilever support angular transducer feeds back the change angle information of arm support assembly to the signal processing mould of balance weight device (4) Block;
C. the carrying pressure data acquisition of boom derricking cylinder:Continue to stretch out as needed after arm support assembly luffing or is unfolded to make work Working depth is risen to as platform and control cantilever support (2) revolution driving makes cantilever support (2) drive arm support total as needed At horizontal rotation to operating position, boom derricking cylinder pressure sensor feedback arm support becomes during arm support assembly luffing is unfolded The carrying pressure information of width oil cylinder to balance weight device (4) signal processing module;
D. data processing:Signal processing module i.e. by hydraulic leg horizontal displacement information, the change angle information of arm support assembly and These three numerical informations of the carrying pressure information of boom derricking cylinder, which are analyzed and calculated according to setting program, needs counterweight (41) this data is compared with the stabilizing moment of program setting and is selected closer to this countertorque number after the countertorque provided Output feeds back to controller to the stabilizing moment numerical value of value in real time;
E. the tilting moment that balanced operation platform generates:Controller calculates balance according to the data that signal processing module exports and matches The stroke of weight push-and-pull hydraulic cylinder (44), and sending out 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 the numerical quantity that stretches, counterweight Push-and-pull hydraulic cylinder (44) is stretched out with dynamic balance weight (41) or retraction realizes that the position of centre of gravity for changing counterweight (41) makes its production The tilting moment that raw stabilizing moment is generated 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 Active CN106629523B (en)

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