CN107045340A - A kind of load wagon skeleton working rig control system and method - Google Patents
A kind of load wagon skeleton working rig control system and method Download PDFInfo
- Publication number
- CN107045340A CN107045340A CN201710281913.9A CN201710281913A CN107045340A CN 107045340 A CN107045340 A CN 107045340A CN 201710281913 A CN201710281913 A CN 201710281913A CN 107045340 A CN107045340 A CN 107045340A
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- platform
- arm support
- working rig
- load wagon
- skeleton
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000005540 biological transmission Effects 0.000 abstract description 8
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005007 materials handling Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computing Systems (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Selective Calling Equipment (AREA)
Abstract
This application discloses a kind of load wagon skeleton working rig control system, including：Remote control module, the operational order for receiving user's input；Arm support operational module, for the operational order received using remote control module, manipulation boom frame telescopic and swing；Platform operational module, for utilizing operational order, report control platform.It can be seen that, pass through remote control module, arm support operational module and platform operational module in the application, realize that Remote is operated, and in the platform of load wagon skeleton working rig, also various operations can be carried out to load wagon skeleton working rig, while changing the transmission device of load wagon skeleton working rig, improves the security and operating efficiency of personnel, and fault rate is reduced, operation equipment is more flexible, simple and accurate.In addition, disclosed herein as well is a kind of load wagon skeleton working rig control method.
Description
Technical field
The present invention relates to engineer operation field, more particularly to a kind of load wagon skeleton working rig control system and method.
Background technology
With industrialized development, heavy duty work machinery is spread in production and construction, can quickly finish production and construction,
More massive materials handling is carried out, safeguard and the work such as builds.
In the prior art, it is necessary to which human pilot goes to driving cabin to operate load wagon skeleton working rig, it could realize to loading
The control of car skeleton working rig, simultaneously as Mechanical course, causes transmission device complicated, easy break-down, and in some high-risk works
Under industry environment, the safety of human pilot is difficult to ensure.
Therefore, a kind of safety coefficient how is provided higher, operation is simple, and reliable control method can be studied.
The content of the invention
In view of this, it is an object of the invention to provide a kind of load wagon skeleton working rig control system and method, improve
Safety coefficient, operation is simple, reliable.Its concrete scheme is as follows：
A kind of load wagon skeleton working rig control system, including：
Remote control module, the operational order for receiving user's input；
Arm support operational module, for the operational order received using remote control module, manipulation boom frame telescopic and swing；
Platform operational module, for utilizing the operational order, report control platform.
It is preferred that, the remote control module, including：
Radio receiving unit, for receiving the operational order being wirelessly input to.
It is preferred that, the arm support operational module, in addition to：
Arm support sensing unit, the positional information for obtaining the arm support.
It is preferred that, the platform operational module, in addition to：
Platform sensing unit, the positional information for obtaining the platform.
It is preferred that, the remote control module, in addition to：
Display unit, for receiving the positional information of the arm support and positional information and the display of the platform.
It is preferred that, the positional information of the arm support, including：
The collapsing length and swing angle of the arm support.
It is preferred that, the positional information of the platform, including：
The luffing angle and swing angle of the platform, luffing angle, swing angle and the collapsing length of manipulator.
The present invention further correspondingly discloses a kind of load wagon skeleton working rig control method, including：
Receive the operational order of user's input；
Using the operational order, the flexible and swing of manipulation arm support and platform.
It is preferred that, in addition to：
Obtain the arm support and the respective positional information of the platform.
It is preferred that, in addition to：
Receive the positional information of the arm support and positional information and the display of the platform.
In the present invention, load wagon skeleton working rig control system, including：Remote control module, the behaviour for receiving user's input
Instruct；Arm support operational module, for the operational order received using remote control module, manipulation boom frame telescopic and swing；It is flat
Platform operational module, for utilizing the operational order, report control platform.It can be seen that, mould is manipulated by remote control module, arm support in the present invention
Block and platform operational module, realize that Remote is operated, and in the platform of load wagon skeleton working rig, also can be to load wagon bone
Frame working rig carries out various operations, while changing the transmission device of load wagon skeleton working rig, improves the security of personnel
And operating efficiency, and fault rate is reduced, operation equipment is more flexible, simple and accurate.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
A kind of Fig. 1 disclosed load wagon skeleton working rig control system architecture schematic diagrams in implementing for the present invention；
A kind of Fig. 2 disclosed load wagon skeleton working rig control method schematic flow sheets in implementing for the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It is shown in Figure 1 the embodiment of the invention discloses a kind of load wagon skeleton working rig control system, the system bag
Include：
Remote control module 11, the operational order for receiving user's input.
Specifically, remote control module 11 may be mounted in the driving cabin of car body, it can also be installed simultaneously on platform, certainly
Wired connection can also be used to carry out remote control, remote control module 11 can be the energy such as keyboard, rocking bar or digital manipulation platform
The equipment for enough receiving the operational order of user's input.
Arm support operational module 12, for the operational order received using remote control module 11, manipulation boom frame telescopic and swing.
Specifically, arm support operational module 12 is connected with the arm support power-equipment of load wagon skeleton working rig, it can pacify nearby
Dress, reduces the transmission device complexity of power-equipment, and the operation that arm support operational module 12 receives the transmission of remote control module 11 refers to
Order, using operational order, controls the power set of arm support, manipulation boom frame telescopic and swing, for example, arm support operational module 12 is installed
On hydraulic power unit periphery, arm support operational module 12 can drive the hydraulic power unit of arm support to enter by a small amount of electrical equipment
Action is made, and reduces the installation of mechanical driving device.
Platform operational module 13, for utilizing operational order, report control platform.
Specifically, platform operational module 13 is connected with the platform power-equipment of load wagon skeleton working rig, it can pacify nearby
Dress, reduces the complexity of transmission device, and platform operational module 13 is received the operational order that remote control module 11 is sent, referred to using operation
Each component actuation on order, the power set of control platform, report control platform and platform, for example, using operational order, control platform
Manipulator performs corresponding action.
It can be seen that, by remote control module 11, arm support operational module 12 and platform operational module 13 in the embodiment of the present invention, realize
Remote is operated, and in the platform of load wagon skeleton working rig, also can carry out various operations to load wagon skeleton working rig,
The transmission device of load wagon skeleton working rig is changed simultaneously, the security and operating efficiency of personnel is improved, and reduces event
Barrier rate, operation equipment is more flexible, simple and accurate.
Further, above-mentioned remote control module 11, can include radio receiving unit；Wherein,
Radio receiving unit, for receiving the operational order being wirelessly input to.
Specifically, using radio receiving unit, the operation that user's input can be remotely received in the form of wireless signal refers to
Order, use is more convenient, in some dangerous operations, it is also ensured that the safety of user, realize it is unmanned, for example, using
WIFI reception devices or bluetooth equipment, realize the reception to wireless signal.
Specifically, above-mentioned arm support operational module 12, can include arm support sensing unit；Wherein,
Arm support sensing unit, the positional information for obtaining arm support；Can be current by arm support using arm support sensing unit
Positional information is timely transmitted to remote control module 11, allows the user to learn the positional information that current arm support is current, is user's energy
Enough precise manipulations provide premise, and positional information can include the swing angle and collapsing length of arm support, for example, can be in arm support
The mark marked on infrared sensor, infrared sensor measurement hydraulic stem is installed, it is more to judge that hydraulic stem stretches out with this at hydraulic stem
It is long, so as to learn arm support current length, or the hydraulic pressure of arm support can be measured, because pressure and arm support extended length are into just
Than pressure is bigger, and explanation arm support extended length is longer, and the smaller explanation arm support extended length of pressure is shorter, therefore, it can utilize liquid
Pressure pressure size obtains the location status information of boom frame telescopic.
It is understood that above-mentioned platform operational module 13, can also include platform sensing unit；Wherein,
Platform sensing unit, the positional information for obtaining platform；Positional information can include platform luffing angle and
Swing angle, luffing angle, swing angle and the collapsing length of manipulator.
Further, above-mentioned remote control module 11, can also include display unit；Wherein,
Display unit, for receiving the positional information of arm support and the positional information of platform and display；Display unit can be
Digital display screen, for showing the positional information of arm support and the positional information of platform, allows users to direct feel and is put down to current
Platform and the current position of arm support, carry out finer operation for user and provide guarantee.
The embodiment of the invention also discloses a kind of load wagon skeleton working rig control method, shown in Figure 2, this method bag
Include：
Step S11：Receive the operational order of user's input.
Specifically, the operational order that can be wirelessly input to using receiving.
Step S12：Using operational order, the flexible and swing of manipulation arm support and platform.
It can be seen that, by remote control module, arm support operational module and platform operational module in the embodiment of the present invention, realize long-range distant
Control operation, and in the platform of load wagon skeleton working rig, can also carry out various operations to load wagon skeleton working rig, change simultaneously
The transmission device of load wagon skeleton working rig is become, has improved the security and operating efficiency of personnel, and reduced fault rate, grasped
Make equipment more flexible, simple and accurate.
In a kind of practical application of the embodiment of the present invention, arm support and the respective positional information of platform can be obtained；Wherein,
The positional information of arm support includes the collapsing length and swing angle of arm support, the positional information of platform include platform luffing angle and
Swing angle, luffing angle, swing angle and the collapsing length of manipulator.
It is understood that after arm support and the respective positional information of platform is obtained, the position letter of arm support can also be received
The positional information of breath and platform and display.
Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between there is any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, article or equipment including a series of key elements not only include that
A little key elements, but also other key elements including being not expressly set out, or also include be this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged
Except also there is other identical element in the process including the key element, method, article or equipment.
A kind of load wagon skeleton working rig control system and method provided by the present invention are described in detail above,
Specific case used herein is set forth to the principle and embodiment of the present invention, and the explanation of above example is to use
Understand the method and its core concept of the present invention in help；Simultaneously for those of ordinary skill in the art, according to the present invention's
Thought, will change in specific embodiments and applications, in summary, and this specification content should not be construed as
Limitation of the present invention.
Claims (10)
1. a kind of load wagon skeleton working rig control system, it is characterised in that including：
Remote control module, the operational order for receiving user's input；
Arm support operational module, for the operational order received using remote control module, manipulation boom frame telescopic and swing；
Platform operational module, for utilizing the operational order, report control platform.
2. load wagon skeleton working rig control system according to claim 1, it is characterised in that the remote control module, bag
Include：
Radio receiving unit, for receiving the operational order being wirelessly input to.
3. load wagon skeleton working rig control system according to claim 1, it is characterised in that the arm support manipulates mould
Block, in addition to：
Arm support sensing unit, the positional information for obtaining the arm support.
4. load wagon skeleton working rig control system according to claim 1, it is characterised in that the platform manipulates mould
Block, in addition to：
Platform sensing unit, the positional information for obtaining the platform.
5. the load wagon skeleton working rig control system according to claim 3 or 4, it is characterised in that the remote control module,
Also include：
Display unit, for receiving the positional information of the arm support and positional information and the display of the platform.
6. load wagon skeleton working rig control system according to claim 3, it is characterised in that the position of the arm support
Confidence ceases, including：
The collapsing length and swing angle of the arm support.
7. load wagon skeleton working rig control system according to claim 3, it is characterised in that the position of the platform
Confidence ceases, including：
The luffing angle and swing angle of the platform, luffing angle, swing angle and the collapsing length of manipulator.
8. a kind of load wagon skeleton working rig control method, it is characterised in that including：
Receive the operational order of user's input；
Using the operational order, the flexible and swing of manipulation arm support and platform.
9. load wagon skeleton working rig control method according to claim 8, it is characterised in that also include：
Obtain the arm support and the respective positional information of the platform.
10. load wagon skeleton working rig control method according to claim 9, it is characterised in that also include：
Receive the positional information of the arm support and positional information and the display of the platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710281913.9A CN107045340A (en) | 2017-04-26 | 2017-04-26 | A kind of load wagon skeleton working rig control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710281913.9A CN107045340A (en) | 2017-04-26 | 2017-04-26 | A kind of load wagon skeleton working rig control system and method |
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| Publication Number | Publication Date |
|---|---|
| CN107045340A true CN107045340A (en) | 2017-08-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710281913.9A Pending CN107045340A (en) | 2017-04-26 | 2017-04-26 | A kind of load wagon skeleton working rig control system and method |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080162005A1 (en) * | 2006-12-31 | 2008-07-03 | Sany Heavy Industry Co., Ltd. | Intelligent boom control device |
| CN102535852A (en) * | 2012-01-16 | 2012-07-04 | 三一重工股份有限公司 | Operating and controlling system and method of mechanical arm, and engineering machinery |
| CN202677094U (en) * | 2012-02-22 | 2013-01-16 | 北京易斯路电子有限公司 | Arm support control system and pump truck |
| CN103233581A (en) * | 2013-02-08 | 2013-08-07 | 上海格尼特控制技术有限公司 | Concrete arm support pumper and control method thereof |
| CN205474832U (en) * | 2016-01-13 | 2016-08-17 | 陕汽大同专用汽车有限公司 | Bridge inspect vehicle cantilever crane control system |
| CN106477488A (en) * | 2015-08-31 | 2017-03-08 | 爱知株式会社公司 | The communicator of working rig |
-
2017
- 2017-04-26 CN CN201710281913.9A patent/CN107045340A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080162005A1 (en) * | 2006-12-31 | 2008-07-03 | Sany Heavy Industry Co., Ltd. | Intelligent boom control device |
| CN102535852A (en) * | 2012-01-16 | 2012-07-04 | 三一重工股份有限公司 | Operating and controlling system and method of mechanical arm, and engineering machinery |
| CN202677094U (en) * | 2012-02-22 | 2013-01-16 | 北京易斯路电子有限公司 | Arm support control system and pump truck |
| CN103233581A (en) * | 2013-02-08 | 2013-08-07 | 上海格尼特控制技术有限公司 | Concrete arm support pumper and control method thereof |
| CN106477488A (en) * | 2015-08-31 | 2017-03-08 | 爱知株式会社公司 | The communicator of working rig |
| CN205474832U (en) * | 2016-01-13 | 2016-08-17 | 陕汽大同专用汽车有限公司 | Bridge inspect vehicle cantilever crane control system |
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Application publication date: 20170815 |
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