CN108584826B - Insulating aerial working vehicle and arm support buffer control method thereof - Google Patents
Insulating aerial working vehicle and arm support buffer control method thereof Download PDFInfo
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- CN108584826B CN108584826B CN201810630000.8A CN201810630000A CN108584826B CN 108584826 B CN108584826 B CN 108584826B CN 201810630000 A CN201810630000 A CN 201810630000A CN 108584826 B CN108584826 B CN 108584826B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
- B66F11/046—Working platforms suspended from booms of the telescoping type
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/06—Use of special fluids, e.g. liquid metal; Special adaptations of fluid-pressure systems, or control of elements therefor, to the use of such fluids
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Abstract
The invention discloses an insulating overhead working truck and a boom buffering control method thereof, wherein the insulating overhead working truck comprises a boom buffering action control device, and the boom buffering action control device comprises a lower arm inclination angle detection sensor, an upper arm amplitude variation buffering control detection cylinder, a telescopic arm retraction buffering control detection cylinder, a telescopic arm extension buffering control detection cylinder, a pressure detection sensor, a flow and reversing control electromagnetic valve, a self-resetting change-over switch and an electric control mechanism; the arm support buffer control method controls the arm support hydraulic drive action flow to control the arm support action speed, can realize effective buffer control on the arm support action without arranging electric elements on the upper arm part, further guarantees the action stability of the whole vehicle, prevents the insulation operation platform from largely reciprocating swing caused by instant emergency stop when the drive oil cylinder acts to the limit position, and is convenient for operators to accurately control the distance between the body and the electrified body and reduce potential safety hazards.
Description
Technical Field
The invention relates to an overhead working truck and a cantilever crane buffer control method thereof, in particular to an insulating overhead working truck and a cantilever crane buffer control method thereof, and belongs to the technical field of overhead working trucks.
Background
The overhead working truck is a special vehicle for transporting workers and using equipment to the high altitude to install, maintain and clean equipment located at the high altitude, and has the advantages of good working performance, high working efficiency, safe operation and the like compared with the traditional working modes such as a scaffold, a ladder and the like, and is widely applied to the infrastructure industries such as electric power, traffic, petrochemical industry, communication, gardens and the like at present.
With the development of economy and society, the requirements of people on maintenance and quick response of power supply are continuously improved, the quick response can be realized, the advantages of high operation efficiency, convenient lifting, large operation range, good electrical insulation performance and the like are achieved, and the insulating overhead working truck capable of carrying out live working is widely applied to industries such as power, telecommunication and the like; insulating high-altitude operation vehicles are generally coated with insulating paint, used with insulating hydraulic oil, and classified into insulating grades of 10kv, 35kv, 63kv, 110kv, 220kv and the like according to rated voltage.
In the prior art, a high-altitude insulating aerial working vehicle generally adopts a double-folding and double-telescopic mixed arm frame structure, and in order to meet the ground insulating performance of live working, the tail arm (the arm connected with a working bucket) of the upper telescopic arm is generally made of insulating materials and is a main insulating end, so as to meet the protection of a low-altitude live body to ground working personnel, a section of auxiliary insulating section is generally arranged at a position close to a turntable on the basis of a basic arm (the arm connected with the turntable), the auxiliary insulating section is arranged, an electronic sensor cannot be arranged on the upper telescopic arm to detect the elevation angle and elongation signals of the upper telescopic arm, and meanwhile, a hydraulic handle is adopted in an insulating working platform to control the hydraulic handle, so that real-time monitoring of limiting position motion buffering of the working state cannot be realized. When the arm support and even the whole vehicle swing reciprocally, the working platform also swings reciprocally, so that operators cannot control the distance between the body and the electrified body accurately, even the operators are in direct contact with the electrified body, the operation danger is increased, and even electric shock accidents occur.
Disclosure of Invention
In order to solve the problems, the invention provides the insulating overhead working truck and the arm support buffer control method thereof, which can realize effective buffer control on the arm support action without arranging electrical elements on the upper arm part, further realize the action stability of the whole truck, prevent the insulating working platform from largely and reciprocally swinging caused by instant emergency stop when the driving oil cylinder acts to the limit position, thereby being convenient for operators to accurately control the distance between the body and the electrified body and reduce potential safety hazards.
In order to achieve the purpose, a front buffer control collision block and a rear buffer control collision block which are arranged along the telescopic direction of the telescopic arm of the insulating overhead working truck are arranged on the telescopic arm; the insulating overhead working truck comprises an arm support buffer action control device, wherein the arm support buffer action control device comprises a lower arm dip angle detection sensor, an upper arm amplitude variation buffer control detection cylinder, a telescopic arm retraction buffer control detection cylinder, a telescopic arm extension buffer control detection cylinder, a pressure detection sensor, a flow and reversing control electromagnetic valve and an electric control mechanism;
the lower arm inclination angle detection sensor is arranged on a metal section at the bottom of the base joint arm;
the upper arm amplitude variation buffer control detection cylinder is arranged between the two sections of arms and the transition connecting frame or the basic section of arms and comprises an upper arm lifting amplitude variation buffer control detection cylinder and an upper arm lowering amplitude variation buffer control detection cylinder which are oppositely and fixedly connected;
the telescopic arm retraction buffer control detection cylinder and the telescopic arm extension buffer control detection cylinder which are oppositely arranged are respectively arranged at the bottom and the top of the two sections of arms, and the piston ends of the telescopic arm retraction buffer control detection cylinder and the telescopic arm extension buffer control detection cylinder are respectively provided with a contact structure corresponding to a rear buffer control collision block and a front buffer control collision block of the telescopic arm;
the pressure detection sensor comprises a telescopic arm retraction sensor, a telescopic arm extension sensor, a telescopic arm lifting amplitude sensor and an upper arm lifting amplitude sensor which are connected with the telescopic arm retraction buffer control detection cylinder, the telescopic arm extension buffer control detection cylinder, the upper arm lifting amplitude buffer control detection cylinder and the upper arm lifting amplitude buffer control detection cylinder through insulating pipelines filled with insulating mediums respectively in sequence;
the flow and reversing control electromagnetic valve is respectively connected with the platform operation valve group and the turntable operation valve group through hydraulic pipelines;
the electric control mechanism comprises a central processing unit, a data acquisition feedback loop, a boom action buffer control calculation output loop and a boom buffer control loop; the central processing unit is respectively and electrically connected with the lower arm inclination angle detection sensor, the pressure detection sensor, the flow and reversing control electromagnetic valve.
As an implementation mode of the telescopic arm retraction buffer control detection cylinder and the telescopic arm extension buffer control detection cylinder, the telescopic arm retraction buffer control detection cylinder and/or the telescopic arm extension buffer control detection cylinder are/is arranged inside two sections of arms.
As another implementation mode of the telescopic arm retraction buffer control detection cylinder and the telescopic arm extension buffer control detection cylinder, the telescopic arm retraction buffer control detection cylinder and/or the telescopic arm extension buffer control detection cylinder are/is arranged outside the two sections of arms, guide through grooves which are arranged along the telescopic arm retraction buffer control detection cylinder and/or the telescopic arm extension buffer control detection cylinder in the telescopic direction are formed in the positions, corresponding to the contact structures of the telescopic arm retraction buffer control detection cylinder and/or the telescopic arm extension buffer control detection cylinder, of the two sections of arms, the guide through grooves penetrate through the outer walls of the two sections of arms, and the contact structures of the telescopic arm retraction buffer control detection cylinder and/or the telescopic arm extension buffer control detection cylinder extend into the two sections of arms through the guide through grooves.
As a further improvement scheme of the invention, the lower arm inclination angle detection sensor is erected and installed in the base joint arm, and the telescopic arm retraction sensor, the telescopic arm extension sensor, the upper arm lifting amplitude sensor and the upper arm lowering amplitude sensor are all arranged in the turntable.
As a further improvement scheme of the invention, the upper arm lifting amplitude variation buffer control detection cylinder and the upper arm lowering amplitude variation buffer control detection cylinder are coaxially arranged, and the axes of the upper arm lifting amplitude variation buffer control detection cylinder and the upper arm lowering amplitude variation buffer control detection cylinder are positioned on the symmetrical middle plane in the left-right direction of the two sections of arms; the front buffer control collision block and the rear buffer control collision block of the telescopic arm are arranged at the outer side face positions of the telescopic arm in the left-right direction, the front buffer control collision block and the rear buffer control collision block are positioned on the symmetrical middle faces of the telescopic arm in the up-down direction, and the axes of the telescopic arm retraction buffer control detection cylinder and the telescopic arm extension buffer control detection cylinder are also positioned on the symmetrical middle faces of the telescopic arm in the up-down direction.
As a further development of the invention, the insulating medium in the insulating pipeline is an insulating gas or an insulating liquid.
The arm support buffer control method for the insulating overhead working truck comprises the following steps that in the arm support action control process, an arm support buffer action control device is always in a working state:
a. and (3) data acquisition: the data acquisition feedback loop works, the lower arm inclination angle detection sensor feeds back the pitching angle of the lower arm part to the central processing unit in real time, and simultaneously the telescopic arm retraction sensor, the telescopic arm extension sensor, the upper arm lifting amplitude sensor and the upper arm lowering amplitude sensor feed back the pressures of the telescopic arm retraction buffer control detection cylinder, the telescopic arm extension buffer control detection cylinder, the upper arm lifting amplitude buffer control detection cylinder and the upper arm lowering amplitude buffer control detection cylinder to the central processing unit in real time respectively;
b. data calculation and output: the central processing unit compares the actual detection angle of the lower arm inclination angle detection sensor with the set lower arm amplitude variation buffer control angle, compares the actual detection pressure of the pressure detection sensor corresponding to the arm support action with the set arm support action buffer control pressure, compares the actual detection pressure change response time of the pressure detection sensor corresponding to the arm support action with the set arm support action buffer control pressure change response time, and outputs an arm support buffer control instruction according to the comparison result;
c. arm support buffer control: the cantilever crane buffer control loop works, and the central processing unit controls the flow and the reversing control electromagnetic valve to act according to a set program to perform cantilever crane buffer control.
As a further improvement scheme of the invention, when the lower arm dip angle detection sensor feeds back that the lower arm amplitude becomes larger or smaller and the response time is smaller than or equal to the response time set by the system when the specific angle value is changed initially, the central processor controls the flow and the reversing control electromagnetic valve according to the set program so that the opening of the electromagnetic valve is firstly reduced to the set value rapidly, and then is slowly increased to be completely opened within the set time, so as to perform buffer control on the lower arm amplitude action; when the lower arm dip angle detection sensor feeds back that the lower arm amplitude angle is increased or decreased and the response time is longer than the response time set by the system when the specific angle value is initially changed, the central processing unit does not actively intervene and control the flow and reversing control electromagnetic valve; when the lower arm dip angle detection sensor feeds back that the lower arm amplitude variation angle is increased and the difference value between the lower arm dip angle detection sensor and the maximum amplitude variation angle value is not greater than a specific angle value, the central processing unit controls the flow and the reversing control electromagnetic valve according to a set program to enable the opening of the reversing control electromagnetic valve to be rapidly reduced to a set value and to be positioned and kept, and buffer control is carried out on the lower arm part amplitude variation ascending action; when the lower arm dip angle detection sensor feeds back that the lower arm amplitude variation angle is smaller and the difference value between the lower arm dip angle and the minimum amplitude variation angle value is not larger than a specific angle value, the central processing unit controls the flow and the reversing control electromagnetic valve according to a set program to enable the opening of the reversing control electromagnetic valve to be rapidly reduced to a set value and to be positioned and kept, and buffer control is carried out on the lower arm part amplitude variation descending action.
As a further improvement scheme of the invention, when the response time of the upper arm lifting amplitude variation sensor and the upper arm lowering amplitude variation sensor for feeding back the pressure variation specific value of the upper arm amplitude variation buffer control detection cylinder is smaller than or equal to the response time set by the system, the central processing unit controls the flow and the reversing control electromagnetic valve according to a set program to enable the opening of the electromagnetic valve to be quickly reduced to a set value, and then slowly increased in the set time until the electromagnetic valve is completely opened, and buffer control is carried out on amplitude variation actions of two sections of arms; when the response time of the upper arm lifting amplitude variation sensor and the upper arm lowering amplitude variation sensor for feeding back the specific value of the pressure change of the upper arm amplitude variation buffer control detection cylinder is longer than the response time set by the system, the central processing unit does not actively intervene and control the flow and reversing control electromagnetic valve; when the pressure of the upper arm lifting amplitude variation buffer control detection cylinder fed back by the upper arm lifting amplitude variation sensor is larger than or equal to a set pressure value, the central processor controls the flow and the reversing control electromagnetic valve according to a set program to enable the opening of the valve to be quickly reduced to a set value and to be positioned and kept, and buffer control is carried out on the lifting amplitude variation action of the two sections of arms; when the upper arm descending amplitude sensor feeds back that the pressure of the upper arm descending amplitude buffer control detection cylinder is greater than or equal to a set pressure value, the central processor controls the flow and the reversing control electromagnetic valve according to a set program to enable the opening of the reversing control electromagnetic valve to be rapidly reduced to a set value and positioned and kept, and buffer control is carried out on ascending amplitude movements of the two sections of arms.
As a further improvement scheme of the invention, when the telescopic boom is retracted to the contact structure of the rear buffer control collision block and touches the telescopic boom retraction buffer control detection cylinder, the feedback pressure of the telescopic boom retraction sensor starts to increase, when the pressure value fed back is increased to be more than or equal to a set value, the central processing unit controls the flow and the reversing control electromagnetic valve according to a set program to enable the opening of the reversing control electromagnetic valve to be rapidly reduced to the set value according to the set speed and positioned and kept, and buffer control is carried out on the retraction action of the telescopic boom; when the telescopic boom stretches out to the front buffer control collision block and touches the contact structure of the telescopic boom stretching out buffer control detection cylinder, the feedback pressure of the telescopic boom stretching out sensor starts to increase, when the pressure value fed back increases to be more than or equal to a set value, the central processing unit controls the flow and the reversing control electromagnetic valve according to a set program, so that the opening of the electromagnetic valve is rapidly reduced to the set value according to the set speed and is positioned and maintained, and the stretching out action of the telescopic boom is buffer controlled.
Compared with the prior art, the boom buffering action control device of the insulating overhead working truck is provided with the flow and reversing control electromagnetic valve and the self-resetting change-over switch, so that the boom action speed can be controlled by controlling the magnitude of the boom hydraulic driving action flow, the central processing unit compares the actual detection angle of the lower boom inclination angle detection sensor with the set lower boom amplitude buffering control angle, compares the actual detection pressure of the pressure detection sensor corresponding to the boom action with the set boom action buffering control pressure, compares the actual detection pressure change response time of the pressure detection sensor corresponding to the boom action with the set boom action buffering control pressure change response time, and outputs specific boom buffering control instruction control flow and reversing control electromagnetic valve action to perform specific boom buffering control according to the comparison result, the device can collect arm support action signals and effectively buffer control the action of the folding arm support through an insulating medium without arranging position detection electric elements on the upper insulating folding arm support, further realize the action stability of the whole vehicle, prevent the insulating operation platform, the arm support and even the whole vehicle from generating large-amplitude reciprocating swing according to the movement trend before the arm support action emergency stop under the action of inertia after the moment emergency stop when the arm support action driving oil cylinder acts to the limit position, prevent the insulating operation platform, the arm support and even the whole vehicle from generating large-amplitude reciprocating swing according to the state before the arm support action start or stop under the action of inertia after the moment quick start or stop of the arm support action driving oil cylinder action, thereby being convenient for operators to accurately control the distance between the body and the electrified body, avoiding electric shock accidents, the potential safety hazard is reduced.
Drawings
FIG. 1 is a schematic diagram of the mounting structure of the boom buffering action control device of the present invention on a boom assembly;
FIG. 2 is a schematic view of the installation of the upper arm luffing buffer control detection cylinder of the present invention;
FIG. 3 is a schematic view of the installation of the telescopic boom retraction buffer control detection cylinder of the present invention;
FIG. 4 is a schematic view of the installation of the telescopic boom extension buffer control detection cylinder of the present invention;
FIG. 5 is a control flow chart of the lower arm luffing motion buffer control method of the present invention;
FIG. 6 is a control flow diagram of the upper arm luffing motion buffer control method of the present invention;
FIG. 7 is a control flow diagram of a method for controlling the retraction motion buffer of the telescopic boom of the present invention;
fig. 8 is a control flow chart of the telescopic boom extension motion buffering control method of the present invention.
In the figure: 1. the device comprises a basic arm, 11, a basic arm auxiliary insulating section, 2, a balance arm, 21, a balance arm auxiliary insulating section, 3, two arms, 4, a telescopic arm, 5, a lower arm inclination angle detection sensor, 6, an upper arm amplitude variation buffer control detection cylinder, 61, an upper arm rise amplitude variation buffer control detection cylinder, 62, an upper arm drop amplitude variation buffer control detection cylinder, 7, a telescopic arm retraction buffer control detection cylinder, 8, a telescopic arm extension buffer control detection cylinder, 9, a transition connecting frame, 31, a telescopic arm retraction sensor, 32, a telescopic arm extension sensor, 33, an upper arm rise amplitude variation sensor, 34, an upper arm drop amplitude variation sensor, 41, a flow and reversing control electromagnetic valve, 51 and a self-resetting switch.
Detailed Description
The present invention will be further described with reference to the drawings by taking a hybrid arm insulation overhead working truck as an example (hereinafter, description will be made with the extension direction of the telescopic arm 4 as the front).
The insulating aerial working vehicle comprises a vehicle body assembly, a turntable, a boom assembly, an insulating working platform and a boom buffer action control device.
The turntable is arranged on the vehicle body assembly through a slewing bearing and a slewing drive.
As shown in fig. 1, the arm support assembly comprises a lower arm part, a transition connecting frame 9 and an upper arm part;
the lower arm part comprises a base joint arm 1 and a balance arm 2 which are the same in length, the bottom ends of the base joint arm 1 and the balance arm 2 which are arranged in parallel are respectively hinged with a turntable, the top ends of the base joint arm 1 and the balance arm 2 are respectively hinged with a transition connecting frame 9, virtual connecting rods between the hinge points of the base joint arm 1 and the turntable and between the hinge points of the balance arm 2 and the turntable, the hinge points of the base joint arm 1 and the transition connecting frame 9 and the virtual connecting rods between the hinge points of the balance arm 2 and the transition connecting frame 9 form a parallelogram four-bar mechanism, a base joint arm auxiliary insulating section 11 is arranged on the base joint arm 1, a balance arm auxiliary insulating section 21 is arranged on the balance arm 2, and a base joint arm amplitude-changing oil cylinder capable of controlling amplitude changing action of the base joint arm 1 is also arranged between the base joint arm 1 and the turntable;
the upper arm part comprises two sections of arms 3 and a telescopic arm 4, the bottom end of the two sections of arms 3 is hinged with a transition connecting frame 9, a two-section arm amplitude-changing oil cylinder capable of controlling amplitude-changing action of the two sections of arms 3 is further arranged between the two sections of arms 3 and the transition connecting frame 9, the telescopic arm 4 is at least arranged into one piece and is arranged in the two sections of arms 3 in a telescopic way, a front buffer control collision block and a rear buffer control collision block which are arranged along the telescopic direction of the telescopic arm 4 are arranged at the bottom of the telescopic arm 4, the tail section of the telescopic arm 4 is a main insulation end, and the main insulation end is connected with an insulation operation platform through an automatic leveling device.
The arm support buffer action control device comprises a lower arm inclination angle detection sensor 5, an upper arm amplitude variation buffer control detection cylinder 6, a telescopic arm retraction buffer control detection cylinder 7, a telescopic arm extension buffer control detection cylinder 8, a pressure detection sensor, a flow and reversing control electromagnetic valve 41, a self-resetting switch 51 and an electric control mechanism;
the lower arm inclination angle detection sensor 5 is arranged on a metal section, close to the hinge position of the turntable, at the bottom of the base joint arm 1;
the upper arm amplitude variation buffer control detection cylinder 6 is arranged between the two sections of arms 3 and the transition connecting frame 9, as shown in fig. 2, the whole upper arm amplitude variation buffer control detection cylinder 6 is of a double-acting hydraulic cylinder structure, and comprises an upper arm amplitude variation rise buffer control detection cylinder 61 and an upper arm amplitude variation fall buffer control detection cylinder 62 which are fixedly connected, wherein the piston end of the upper arm amplitude variation rise buffer control detection cylinder 61 is hinged with the transition connecting frame 9, the piston end of the upper arm amplitude variation fall buffer control detection cylinder 62 is hinged with the two sections of arms 3, the upper arm amplitude variation rise buffer control detection cylinder 61 is a single-acting preshrinking detection cylinder, and the upper arm amplitude variation rise buffer control detection cylinder 61 is in a shrinkage state and the upper arm amplitude variation fall buffer control detection cylinder 62 is in an extension state in an initial state;
the telescopic arm retraction buffer control detection cylinder 7 and the telescopic arm extension buffer control detection cylinder 8 are of single-acting pre-extension hydraulic cylinder structures, namely, in an initial state, the telescopic arm retraction buffer control detection cylinder 7 and the telescopic arm extension buffer control detection cylinder 8 are in an extension state, as shown in fig. 3 and 4, the cylinder body end of the telescopic arm retraction buffer control detection cylinder 7 is fixedly arranged at the bottom of the two sections of arms 3 in parallel with the two sections of arms 3, the extension direction of the telescopic arm retraction buffer control detection cylinder 7 is the same as the extension direction of the telescopic arm 4, the cylinder body end of the telescopic arm extension buffer control detection cylinder 8 is fixedly arranged at the top of the two sections of arms 3 in parallel with the two sections of arms 3, the extension direction of the telescopic arm extension buffer control detection cylinder 8 is opposite to the extension direction of the telescopic arm 4, the piston end of the telescopic arm retraction buffer control detection cylinder 7 is provided with a contact structure corresponding to a post-buffer control collision block of the telescopic arm 4, and the piston end of the telescopic arm extension buffer control detection cylinder 8 is provided with a structure corresponding to a pre-buffer control collision block of the telescopic arm 4;
the pressure detection sensor is arranged on the turntable and comprises a telescopic arm retraction sensor 31, a telescopic arm extension sensor 32, an upper arm lifting amplitude sensor 33 and an upper arm lowering amplitude sensor 34, wherein the telescopic arm retraction sensor 31, the telescopic arm extension sensor 32, the upper arm lifting amplitude sensor 33 and the upper arm lowering amplitude sensor 34 are connected with a telescopic arm retraction buffer control detection cylinder 7, a telescopic arm extension buffer control detection cylinder 8, an upper arm lifting amplitude buffer control detection cylinder 61 and an upper arm lowering amplitude buffer control detection cylinder 62 respectively through insulating pipelines filled with insulating mediums, wherein the insulating mediums can be insulating gases such as air, inert gases and the like, and also can be insulating liquids such as mineral insulating oil, synthetic insulating oil and the like;
the self-resetting switch 51 and the flow and reversing control electromagnetic valve 41 are arranged on the turntable, the self-resetting switch 51 is connected with the flow and reversing control electromagnetic valve 41, and the flow and reversing control electromagnetic valve 41 is respectively connected with the platform operation valve group and the turntable operation valve group through hydraulic pipelines; the control of the boom movement speed is realized by controlling the magnitude of the boom hydraulic driving movement flow, the flow and reversing control electromagnetic valve 41 is used for switching the boom movement control right of the platform operation valve group and the turntable operation valve group, the flow and reversing control electromagnetic valve 41 defaults to the platform operation valve group, the self-resetting switch 51 is used for resetting the flow and reversing control electromagnetic valve 41, namely the flow and reversing control electromagnetic valve 41 realizes the switching of the boom movement control right of the platform operation valve group to the turntable operation valve group through the self-resetting switch 51;
the electric control mechanism comprises a central processing unit, a data acquisition feedback loop, a boom action buffer control calculation output loop and a boom buffer control loop; the central processing unit is respectively and electrically connected with the lower arm inclination angle detection sensor 5, the telescopic arm retraction sensor 31, the telescopic arm extension sensor 32, the upper arm lifting amplitude sensor 33, the upper arm lowering amplitude sensor 34, the flow and reversing control electromagnetic valve 41 and the vehicle-mounted hydraulic system.
The boom buffer action control device of the insulating overhead working truck is always in a working state in the boom action control process, as shown in fig. 8, a data acquisition feedback loop works, a lower arm inclination angle detection sensor 5 feeds back the pitching angle of a lower arm part to a central processing unit in real time, and simultaneously a telescopic arm retraction sensor 31, a telescopic arm extension sensor 32, an upper arm lifting amplitude sensor 33 and an upper arm lowering amplitude sensor 34 feed back the pressures of a telescopic arm retraction buffer control detection cylinder 7, a telescopic arm extension buffer control detection cylinder 8, an upper arm lifting amplitude buffer control detection cylinder 61 and an upper arm lowering amplitude buffer control detection cylinder 62 to the central processing unit in real time respectively; the central processing unit compares the actual detection angle of the lower arm inclination angle detection sensor 5 with the set lower arm amplitude variation buffer control angle, compares the actual detection pressure of the pressure detection sensor corresponding to the arm support action with the set arm support action buffer control pressure, compares the actual detection pressure change response time of the pressure detection sensor corresponding to the arm support action with the set arm support action buffer control pressure change response time, and outputs an arm support buffer control instruction according to the comparison result; the arm support buffer control loop works, and the central processing unit controls the flow and the action of the reversing control electromagnetic valve 41 according to a set program to perform arm support buffer control.
Lower arm part amplitude buffer control: as shown in fig. 5, when the lower arm dip angle detection sensor 5 feeds back that the lower arm amplitude angle becomes larger or smaller and the response time is smaller than or equal to the response time set by the system when the specific angle value is initially changed, the central processor controls the flow and the reversing control electromagnetic valve 41 according to the set program so that the opening of the valve is firstly quickly reduced to the set value, and then slowly increased until the valve is completely opened in the set time, and the buffer control is performed on the lower arm part amplitude action; when the lower arm dip angle detection sensor 5 feeds back that the lower arm amplitude angle is increased or decreased and the response time is longer than the response time set by the system when the specific angle value is initially changed, the central processing unit does not actively intervene and control the flow and reversing control electromagnetic valve 41; when the lower arm dip angle detection sensor 5 feeds back that the lower arm amplitude variation angle is larger and the difference value between the lower arm dip angle detection sensor and the maximum amplitude variation angle value is not larger than a specific angle value, the central processing unit controls the flow and the reversing control electromagnetic valve 41 according to a set program to enable the opening of the reversing control electromagnetic valve to be rapidly reduced to a set value and to be positioned and kept, and buffer control is carried out on the lower arm part amplitude variation ascending action; when the lower arm amplitude angle fed back by the lower arm inclination angle detection sensor 5 becomes smaller and the difference value between the lower arm amplitude angle and the minimum amplitude angle value is not larger than a specific angle value, the central processing unit controls the flow and reversing control electromagnetic valve 41 according to a set program to enable the opening of the valve to be quickly reduced to a set value and to be positioned and kept, and buffer control is carried out on the lower arm part amplitude descending action.
Upper arm part amplitude buffer control: as shown in fig. 6, when the upper arm part generates pressure change at two ends of the upper arm amplitude variation buffer control detection cylinder 6 of the double-acting hydraulic cylinder structure during amplitude variation operation, when the response time of the upper arm amplitude variation sensor 33 and the upper arm amplitude reduction sensor 34 for feeding back the pressure change specific value of the upper arm amplitude variation buffer control detection cylinder 6 is smaller than or equal to the response time set by the system, the central processor controls the flow and the reversing control electromagnetic valve 41 according to a set program so that the opening of the valve is firstly quickly reduced to a set value, and then slowly increases until the valve is completely opened within the set time, and the amplitude variation action of the two sections of arms 3 is buffer-controlled; when the response time of the upper arm amplitude variation buffer control detection cylinder 6 fed back by the upper arm amplitude variation sensor 33 and the upper arm amplitude variation sensor 34 is longer than the response time set by the system, the central processing unit does not actively intervene and control the flow and reversing control electromagnetic valve 41; when the upper arm lifting amplitude sensor 33 feeds back that the pressure of the upper arm lifting amplitude buffer control detection cylinder 61 is greater than or equal to a set pressure value, the central processor controls the flow and the reversing control electromagnetic valve 41 according to a set program to enable the opening of the valve to be quickly reduced to a set value and to be positioned and kept, and buffer control is carried out on the lifting amplitude action of the two sections of arms 3; when the upper arm lowering amplitude sensor 34 feeds back that the pressure of the upper arm lowering amplitude buffer control detection cylinder 62 is greater than or equal to a set pressure value, the central processing unit controls the flow and the reversing control electromagnetic valve 41 according to a set program to enable the opening of the valve to be quickly reduced to a set value and to be positioned and kept, and buffer control is carried out on the rising amplitude action of the two section arms 3.
Telescopic arm 4 telescopic buffer control: as shown in fig. 7, when the telescopic boom 4 is retracted into the contact structure of the rear buffer control ram and touches the telescopic boom retraction buffer control detection cylinder 7, the feedback pressure of the telescopic boom retraction sensor 31 starts to increase, and when the feedback pressure value increases to be greater than or equal to a set value, the central processing unit controls the flow and the reversing control electromagnetic valve 41 according to a set program so that the opening of the solenoid valve is rapidly reduced to the set value according to a set speed and is positioned and maintained, and the retraction action of the telescopic boom 4 is buffer controlled; as shown in fig. 8, when the telescopic boom 4 is extended to the contact structure of the telescopic boom extension buffer control detection cylinder 8, and the telescopic boom extension sensor 32 starts to increase the feedback pressure, when the feedback pressure value increases to be equal to or greater than the set value, the cpu controls the flow and the reversing control solenoid valve 41 according to the set program so that the opening thereof is rapidly reduced to the set value and positioned and maintained according to the set speed, and the extension action of the telescopic boom 4 is buffer-controlled.
Aiming at the insulating overhead working truck with a plurality of sections of telescopic joint arms, the telescopic arm retraction buffer control detection cylinder 7, the telescopic arm retraction sensor 31, the telescopic arm extension buffer control detection cylinder 8, the telescopic arm extension sensor 32, the front buffer control collision block and the rear buffer control collision block can be correspondingly and correspondingly arranged into a plurality of sets, namely, each section of telescopic arm 4 can realize telescopic buffer control.
Aiming at the insulating overhead working truck with a lower arm part of a non-four-bar structure, namely a basic joint arm 1 is of a single-beam structure which is directly hinged with a two-joint arm 3, and an upper arm amplitude-changing buffer control detection cylinder 6 can be directly arranged between the two-joint arm 3 and the basic joint arm 1.
As an implementation mode of the installation mode of the telescopic arm retraction buffer control detection cylinder 7 and the telescopic arm extension buffer control detection cylinder 8, the telescopic arm retraction buffer control detection cylinder 7 and/or the telescopic arm extension buffer control detection cylinder 8 are arranged inside the two-section arm 3.
As another implementation mode of the installation mode of the telescopic arm retraction buffer control detection cylinder 7 and the telescopic arm extension buffer control detection cylinder 8, the telescopic arm retraction buffer control detection cylinder 7 and/or the telescopic arm extension buffer control detection cylinder 8 are arranged outside the two-section arm 3, a guide through groove which is arranged along the telescopic direction of the telescopic arm retraction buffer control detection cylinder 7 and/or the telescopic arm extension buffer control detection cylinder 8 is arranged at the position of the contact structure of the two-section arm 3 corresponding to the telescopic arm retraction buffer control detection cylinder 7 and/or the telescopic arm extension buffer control detection cylinder 8, the guide through groove penetrates through the outer wall of the two-section arm 3, and the contact structure of the telescopic arm retraction buffer control detection cylinder 7 and/or the telescopic arm extension buffer control detection cylinder 8 extends into the two-section arm 3 through the guide through groove.
In order to realize protection of the lower arm inclination angle detection sensor 5 and the pressure detection sensor, prevent accidental damage from failing to detect, and realize attractive appearance, as a further improvement scheme of the invention, the lower arm inclination angle detection sensor 5 is installed inside the base joint arm 1 in a erected manner, and the telescopic arm retraction sensor 31, the telescopic arm extension sensor 32, the upper arm lifting amplitude sensor 33 and the upper arm lowering amplitude sensor 34 are all arranged inside the turntable.
In order to facilitate the relatively simple acquisition of the arm support motion change information and ensure the accuracy of the acquisition of the arm support motion change information, as a further improvement scheme of the invention, an upper arm lifting amplitude variation buffer control detection cylinder 61 and an upper arm lowering amplitude variation buffer control detection cylinder 62 are coaxially arranged, and the axes of the upper arm lifting amplitude variation buffer control detection cylinder 61 and the upper arm lowering amplitude variation buffer control detection cylinder 62 are positioned on the symmetrical middle plane in the left-right direction of the two-section arm 3; the front buffer control collision block and the rear buffer control collision block of the telescopic arm 4 are arranged at the outer side surface position of the telescopic arm 4 in the left-right direction, the front buffer control collision block and the rear buffer control collision block are positioned on the symmetrical middle surface of the telescopic arm 4 in the up-down direction, and the axes of the telescopic arm retraction buffer control detection cylinder 7 and the telescopic arm extension buffer control detection cylinder 8 are also positioned on the symmetrical middle surface of the telescopic arm 4 in the up-down direction.
The boom buffering action control device of the insulating overhead working truck is provided with the flow and reversing control electromagnetic valve 41 and the self-resetting change-over switch 51, so that the boom action speed can be controlled by controlling the magnitude of the boom hydraulic driving action flow, the central processing unit compares the actual detection angle of the lower boom inclination angle detection sensor 5 with the set lower boom amplitude buffering control angle, compares the actual detection pressure of the pressure detection sensor corresponding to the boom action with the set boom action buffering control pressure, compares the actual detection pressure change response time of the pressure detection sensor corresponding to the boom action with the set boom action buffering control pressure change response time, and outputs specific boom buffering control instruction control flow and reversing control electromagnetic valve 41 action according to the comparison result to perform specific boom buffering control, the device can collect arm support action signals and effectively buffer control the action of the folding arm support through an insulating medium without arranging position detection electric elements on the upper insulating folding arm support, further realize the action stability of the whole vehicle, prevent the insulating operation platform, the arm support and even the whole vehicle from generating large-amplitude reciprocating swing according to the movement trend before the arm support action emergency stop under the action of inertia after the moment emergency stop when the arm support action driving oil cylinder acts to the limit position, prevent the insulating operation platform, the arm support and even the whole vehicle from generating large-amplitude reciprocating swing according to the state before the arm support action start or stop under the action of inertia after the moment quick start or stop of the arm support action driving oil cylinder action, thereby being convenient for operators to accurately control the distance between the body and the electrified body, avoiding electric shock accidents, the potential safety hazard is reduced.
Claims (8)
1. An insulating overhead working truck is characterized in that a front buffer control collision block and a rear buffer control collision block which are arranged along the telescopic direction of the telescopic arm (4) are arranged on the telescopic arm; the insulating overhead working truck comprises an arm support buffer action control device, wherein the arm support buffer action control device comprises a lower arm dip angle detection sensor (5), an upper arm amplitude variation buffer control detection cylinder (6), a telescopic arm retraction buffer control detection cylinder (7), a telescopic arm extension buffer control detection cylinder (8), a pressure detection sensor, a flow and reversing control electromagnetic valve (41) and an electric control mechanism;
the lower arm inclination angle detection sensor (5) is arranged on a metal section at the bottom of the base joint arm (1), and the lower arm inclination angle detection sensor (5) is erected and installed in the base joint arm (1);
the upper arm amplitude variation buffer control detection cylinder (6) is arranged between the two section arms (3) and the transition connecting frame (9) or the basic section arm (1) and comprises an upper arm lifting amplitude variation buffer control detection cylinder (61) and an upper arm lowering amplitude variation buffer control detection cylinder (62) which are oppositely and fixedly connected;
the telescopic arm retraction buffer control detection cylinder (7) and the telescopic arm extension buffer control detection cylinder (8) which are oppositely arranged are respectively arranged at the bottom and the top of the two sections of arms (3), and the piston ends of the telescopic arm retraction buffer control detection cylinder (7) and the telescopic arm extension buffer control detection cylinder (8) are respectively provided with a contact structure of a rear buffer control collision block and a front buffer control collision block corresponding to the telescopic arm (4);
the pressure detection sensor comprises a telescopic arm retraction sensor (31), a telescopic arm extension sensor (32), a telescopic arm lifting amplitude sensor (33) and a telescopic arm lowering amplitude sensor (34), which are connected with a telescopic arm retraction buffer control detection cylinder (7), a telescopic arm extension buffer control detection cylinder (8), a lifting arm lifting amplitude buffer control detection cylinder (61) and a lifting arm lowering amplitude buffer control detection cylinder (62) through insulating pipelines filled with insulating media respectively in sequence, the telescopic arm retraction sensor (31), the telescopic arm extension sensor (32), the lifting arm lifting amplitude sensor (33) and the lifting arm lowering amplitude sensor (34) are all arranged inside the turntable, and the insulating media in the insulating pipelines are insulating gas or insulating liquid;
the flow and reversing control electromagnetic valve (41) is respectively connected with the platform operation valve group and the turntable operation valve group through hydraulic pipelines;
the electric control mechanism comprises a central processing unit, a data acquisition feedback loop, a boom action buffer control calculation output loop and a boom buffer control loop; the central processing unit is respectively and electrically connected with the lower arm inclination angle detection sensor (5), the pressure detection sensor, the flow and the reversing control electromagnetic valve (41).
2. Insulation aerial working vehicle according to claim 1, characterized in that the telescopic arm retraction buffer control detection cylinder (7) and/or the telescopic arm extension buffer control detection cylinder (8) are arranged inside the two-section arm (3).
3. The insulating aerial working vehicle according to claim 1, wherein either the telescopic arm retraction buffer control detection cylinder (7) and/or the telescopic arm extension buffer control detection cylinder (8) are arranged outside the two sections of arms (3), guide through grooves arranged along the extension direction of the telescopic arm retraction buffer control detection cylinder (7) and/or the telescopic arm extension buffer control detection cylinder (8) are formed in positions, corresponding to contact structures of the telescopic arm retraction buffer control detection cylinder (7) and/or the telescopic arm extension buffer control detection cylinder (8), on the two sections of arms (3), the guide through grooves penetrate through the outer wall of the two sections of arms (3), and the contact structures of the telescopic arm retraction buffer control detection cylinder (7) and/or the telescopic arm extension buffer control detection cylinder (8) extend into the two sections of arms (3) through the guide through grooves.
4. An insulating overhead working truck according to claim 1, 2 or 3, wherein the upper arm lifting luffing buffer control detection cylinder (61) and the upper arm lowering luffing buffer control detection cylinder (62) are coaxially arranged, and the axes of the upper arm lifting luffing buffer control detection cylinder (61) and the upper arm lowering luffing buffer control detection cylinder (62) are positioned on a symmetrical middle plane in the left-right direction of the two-section arm (3); the front buffer control collision block and the rear buffer control collision block of the telescopic arm (4) are arranged at the outer side surface position of the telescopic arm (4) in the left-right direction, the front buffer control collision block and the rear buffer control collision block are positioned on the symmetrical middle surface of the telescopic arm (4) in the upper-lower direction, and the axes of the telescopic arm retraction buffer control detection cylinder (7) and the telescopic arm extension buffer control detection cylinder (8) are also positioned on the symmetrical middle surface of the telescopic arm (4) in the upper-lower direction.
5. The arm support buffer control method for the insulating overhead working truck is characterized by comprising the following steps that in the arm support action control process, an arm support buffer action control device is always in a working state:
a. and (3) data acquisition: the data acquisition feedback loop works, a lower arm inclination angle detection sensor (5) feeds back the pitching angle of a lower arm part to a central processing unit in real time, and simultaneously a telescopic arm retraction sensor (31), a telescopic arm extension sensor (32), an upper arm lifting amplitude variation sensor (33) and an upper arm lowering amplitude variation sensor (34) feed back the pressures of a telescopic arm retraction buffer control detection cylinder (7), a telescopic arm extension buffer control detection cylinder (8), an upper arm lifting amplitude variation buffer control detection cylinder (61) and an upper arm lowering amplitude variation buffer control detection cylinder (62) to the central processing unit in real time respectively;
b. data calculation and output: the central processing unit compares the actual detection angle of the lower arm inclination angle detection sensor (5) with the set lower arm amplitude variation buffer control angle, compares the actual detection pressure of the pressure detection sensor corresponding to the arm support action with the set arm support action buffer control pressure, compares the actual detection pressure change response time of the pressure detection sensor corresponding to the arm support action with the set arm support action buffer control pressure change response time, and outputs an arm support buffer control instruction according to the comparison result;
c. arm support buffer control: the arm support buffer control loop works, and the central processing unit controls the flow and the action of the reversing control electromagnetic valve (41) according to a set program to perform arm support buffer control.
6. The buffer control method for the arm support of the insulating overhead working truck according to claim 5, wherein when the lower arm dip angle detection sensor (5) feeds back that the lower arm amplitude angle is increased or decreased and the response time is smaller than or equal to the response time set by the system when the specific angle value of initial change is obtained, the central processing unit controls the flow and reversing control electromagnetic valve (41) according to a set program so that the opening of the electromagnetic valve is firstly rapidly reduced to a set value, and then slowly increased until the electromagnetic valve is completely opened within the set time, and buffer control is carried out on the lower arm part amplitude action;
when the lower arm dip angle detection sensor (5) feeds back that the lower arm amplitude angle is increased or decreased and the response time is longer than the response time set by the system when the specific angle value is initially changed, the central processing unit does not actively intervene and control the flow and reversing control electromagnetic valve (41);
when the lower arm dip angle detection sensor (5) feeds back that the lower arm amplitude variation angle is increased and the difference value between the lower arm dip angle detection sensor and the maximum amplitude variation angle value is not greater than a specific angle value, the central processing unit controls the flow and reversing control electromagnetic valve (41) according to a set program to enable the opening of the electromagnetic valve to be rapidly reduced to a set value and to be positioned and maintained, and buffer control is carried out on the lower arm part amplitude variation ascending action;
when the lower arm amplitude angle fed back by the lower arm inclination angle detection sensor (5) is smaller and the difference value between the lower arm amplitude angle and the minimum amplitude angle value is not larger than a specific angle value, the central processing unit controls the flow and reversing control electromagnetic valve (41) according to a set program to enable the opening of the electromagnetic valve to be rapidly reduced to a set value and to be positioned and maintained, and buffer control is carried out on the lower arm partial amplitude descending action.
7. The method for buffering control of the arm support of the insulating overhead working truck according to claim 5, wherein when the response time of the upper arm lifting amplitude variation sensor (33) and the upper arm lowering amplitude variation sensor (34) for feeding back the specific value of the pressure variation of the upper arm amplitude variation buffering control detection cylinder (6) is smaller than or equal to the response time set by the system, the central processor controls the flow and the reversing control electromagnetic valve (41) according to a set program to enable the opening of the electromagnetic valve to be quickly reduced to a set value, and then slowly increased until the electromagnetic valve is completely opened in a set time, so as to perform buffering control on the amplitude variation action of the two sections of arms (3);
when the response time of the upper arm amplitude variation buffer control detection cylinder (6) fed back by the upper arm amplitude variation sensor (33) and the upper arm amplitude variation sensor (34) is longer than the response time set by the system, the central processing unit does not actively intervene and control the flow and reversing control electromagnetic valve (41);
when the pressure of the upper arm lifting amplitude variation buffer control detection cylinder (61) is fed back by the upper arm lifting amplitude variation sensor (33) to be more than or equal to a set pressure value, the central processing unit controls the flow and the reversing control electromagnetic valve (41) according to a set program to enable the opening of the valve to be quickly reduced to a set value and to be positioned and maintained, and buffer control is carried out on the lifting amplitude variation action of the two sections of arms (3);
when the upper arm descending amplitude sensor (34) feeds back the pressure of the upper arm descending amplitude buffer control detection cylinder (62) to be more than or equal to a set pressure value, the central processing unit controls the flow and the reversing control electromagnetic valve (41) according to a set program to enable the opening of the valve to be quickly reduced to a set value and to be positioned and kept, and buffer control is carried out on ascending amplitude movements of the two sections of arms (3).
8. The buffer control method for the arm support of the insulating overhead working truck according to claim 5, wherein after the telescopic boom (4) is retracted to the contact structure of the rear buffer control collision block and touches the telescopic boom retraction buffer control detection cylinder (7), the feedback pressure of the telescopic boom retraction sensor (31) starts to increase, and when the feedback pressure value increases to be more than or equal to a set value, the central processor controls the flow and the reversing control electromagnetic valve (41) according to a set program so that the opening of the valve is rapidly reduced to the set value according to the set speed and is positioned and maintained, and buffer control is performed on the retraction action of the telescopic boom (4);
when the telescopic boom (4) stretches out to the front buffer control collision block and touches the contact structure of the telescopic boom stretching out buffer control detection cylinder (8), the feedback pressure of the telescopic boom stretching out sensor (32) starts to increase, when the feedback pressure value increases to be more than or equal to a set value, the central processing unit controls the flow and the reversing control electromagnetic valve (41) according to a set program to enable the opening of the electromagnetic valve to be rapidly reduced to the set value according to the set speed and positioned and kept, and the stretching out action of the telescopic boom (4) is buffer controlled.
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| CN111825035A (en) * | 2019-04-19 | 2020-10-27 | 湖北省专用汽车研究院 | Intelligent buffer control system and method for hybrid arm type overhead working truck |
| CN113292023A (en) * | 2021-07-27 | 2021-08-24 | 徐州海伦哲特种车辆有限公司 | All-weather adaptive insulating aerial working platform |
| CN118306907B (en) * | 2024-06-06 | 2024-08-09 | 洛阳兆成机械有限公司 | Production safety monitoring device |
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