CN113685382B

CN113685382B - Working device attitude control system and method for vertical lifting drainage vehicle

Info

Publication number: CN113685382B
Application number: CN202111119823.2A
Authority: CN
Inventors: 段蒙蒙; 汉京勇; 魏广娟
Original assignee: Jiangsu XCMG Construction Machinery Institute Co Ltd
Current assignee: Jiangsu XCMG Construction Machinery Institute Co Ltd
Priority date: 2021-09-24
Filing date: 2021-09-24
Publication date: 2023-07-04
Anticipated expiration: 2041-09-24
Also published as: CN113685382A

Abstract

The invention discloses a working device posture control system and method for a vertical lifting drainage vehicle, which can realize accurate detection, identification and control on the posture position of the working device of the vertical lifting drainage vehicle, and can realize switching control on four positions of a vertical deepest drainage posture, a horizontal farthest drainage posture, a positioning drainage posture and a return drainage posture of the working device by detecting data of a turntable rotation angle sensor, an arm support lifting angle sensor, a translation extension angle sensor, an inner pipe support length sensor and an outer pipe support length sensor of the working device, so that the vertical lifting drainage vehicle shortens the preparation time of drainage operation, and then enters the drainage working posture rapidly, greatly improves the drainage efficiency of the working device, reduces the operation intensity of operators, and improves the comfort level of the operation of operators.

Description

Working device attitude control system and method for vertical lifting drainage vehicle

Technical Field

The patent belongs to the technical field of electrical control application, and particularly relates to a working device attitude control system and method of a vertical lifting drainage vehicle.

Background

Flood disasters are taken as natural disasters, the frequency of outbreaks is gradually increased along with the rapid development of social economy and the increasing of human activities for years, and huge losses caused by the disasters threaten the harmonious development of regional economy and are related to national security and social stability. The vertical lifting drainage vehicle is suitable for draining ponding in urban waterlogging, expressway tunnels, subways, large-area farmlands, swamps, underground garages, culverts and other scenes, and plays an indispensable role in rescue, ponding draining and other aspects.

However, the site where the accumulated water is discharged is complex and changeable, but the existing drainage vehicle cannot flexibly adjust the drainage distance, the drainage height and the drainage direction, so that the drainage working range is greatly limited, the drainage vehicle is difficult to adapt to complex site environments, and the drainage efficiency of the drainage vehicle is seriously reduced.

In addition, many drain vehicles often require manual adjustments to be made by operators to the outer frame tube of the drain vehicle to accommodate the environment of the drain site, with low operator comfort and safety.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides a system and a method for controlling the posture of a working device of a vertical lifting drainage vehicle, which can realize the adjustment of the posture position of the working device of the vertical lifting drainage vehicle and improve the drainage efficiency.

In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:

the invention provides a working device attitude control system of a vertical lifting drainage vehicle, which comprises:

the telescopic water pipe is used for conveying and draining water;

the rotary platform is used for adjusting the water suction and discharge directions of the telescopic water pipes;

the lifting assembly is connected to the rotary platform and used for adjusting the lifting angle of the telescopic water pipe;

the horizontal telescopic assembly is connected to the lifting assembly and used for adjusting the horizontal telescopic of the telescopic water pipe;

the length adjusting assembly is connected to the horizontal telescopic assembly and used for adjusting the vertical telescopic of the telescopic water pipe;

and the controller is used for controlling the rotation platform, the lifting assembly, the horizontal telescopic assembly and the length adjusting assembly to operate, so that the posture position of the telescopic water pipe is adjusted.

Further, the rotary platform comprises an electric brush rotary body and a rotary angle sensor arranged on the electric brush rotary body;

the rotary platform is provided with a rotary table left-turning electromagnetic valve and a rotary table right-turning electromagnetic valve which are both connected with the controller and used for turning the electric brush rotary body;

the rotation angle sensor is connected with the controller and is used for measuring the rotation angle of the rotation platform and sending the rotation angle to the controller;

The lifting assembly comprises an amplitude-variable arm support assembly, an amplitude-variable oil cylinder and an arm support lifting angle sensor connected with the controller;

the end part of the amplitude-variable arm support assembly is hinged with the rotary platform;

one end of the amplitude variation oil cylinder is hinged with the rotary platform, and the other end of the amplitude variation oil cylinder is hinged with the amplitude variation arm support assembly; the amplitude-variable oil cylinder is provided with an amplitude-variable ascending electromagnetic valve and an amplitude-variable descending electromagnetic valve which are both connected with the controller and used for controlling the expansion and contraction of the amplitude-variable oil cylinder;

the arm support lifting angle sensor is arranged at the hinge joint of the rotary platform and the amplitude variation arm support assembly and is used for measuring the lifting angle of the amplitude variation arm support assembly;

the horizontal telescopic assembly comprises a connecting rod welding assembly, a translation mechanism oil cylinder and a translation extension angle sensor connected with the controller;

the connecting rod welding assembly comprises two groups of connecting rods which are arranged in parallel, one end of each connecting rod is hinged to the amplitude arm support assembly, and the other end of each connecting rod is hinged to the length adjusting assembly;

the translation mechanism oil cylinder is obliquely arranged between two groups of parallel connecting rods, one end of the translation mechanism oil cylinder is hinged to the amplitude arm support assembly, and the other end of the translation mechanism oil cylinder is hinged to the length adjusting assembly; the translation mechanism oil cylinder is provided with a translation extension electromagnetic valve and a translation retraction electromagnetic valve which are both connected with the controller and used for controlling the extension and retraction of the translation mechanism oil cylinder;

The translation extension angle sensor is arranged at the hinge joint of the connecting rod and the amplitude boom assembly and is used for measuring the angle between the amplitude boom assembly and the connecting rod;

the telescopic water pipe is arranged on the length adjusting assembly and comprises an outer pipe and an inner pipe which is connected in the outer pipe in a nested manner;

the length adjusting assembly comprises an outer pipe bracket, an inner pipe bracket, an outer pipe bracket sliding oil cylinder, an inner pipe bracket sliding oil cylinder, an outer pipe bracket length sensor and an inner pipe bracket length sensor which are all connected with the controller;

the outer pipe support is connected to the horizontal telescopic assembly, and the inner pipe support is connected to the outer pipe support in a sliding manner; the outer tube is arranged on the outer tube bracket;

one end of the outer tube support sliding oil cylinder is connected with the outer tube support, and the other end of the outer tube support sliding oil cylinder is connected with the inner tube support and is used for driving the inner tube support to slide along the length direction of the outer tube support; the outer pipe rack sliding oil cylinder is provided with an outer pipe rack extending electromagnetic valve and an outer pipe rack retracting electromagnetic valve which are connected with the controller, and the outer pipe rack extending electromagnetic valve and the outer pipe rack retracting electromagnetic valve are used for controlling the outer pipe rack sliding oil cylinder to stretch;

one end of the inner tube support sliding oil cylinder is connected with the inner tube support, and the other end of the inner tube support sliding oil cylinder is connected with the inner tube and used for driving the inner tube to slide along the length direction of the inner tube support; the inner pipe rack sliding oil cylinder is provided with an inner pipe rack extending electromagnetic valve and an inner pipe rack retracting electromagnetic valve which are both connected with the controller and used for controlling the extension and retraction of the inner pipe rack sliding oil cylinder;

The outer pipe rack length sensor is used for measuring the elongation of the outer pipe rack sliding oil cylinder; the inner pipe rack length sensor is used for measuring the elongation of the inner pipe rack sliding oil cylinder.

Further, the system also comprises one or more gesture switching buttons connected with the controller, and the gesture switching buttons can respond to button actions to send gesture switching signals to the controller;

the controller can receive the gesture switching signal of the gesture switching button and control the rotation platform, the lifting assembly, the horizontal telescopic assembly and the length adjusting assembly to operate according to the gesture switching signal, so that the system is switched to a corresponding gesture;

there is an interlock function between the plurality of gesture switching buttons.

Further, the gesture switching button includes a seated gesture button connected to the controller;

the controller is capable of receiving the gesture switching signal of the gesture button in place and executing the following steps according to the gesture switching signal:

after receiving the gesture switching signal of the gesture button in place, powering the amplitude-variable ascending electromagnetic valve, and driving the amplitude-variable oil cylinder to drive the amplitude-variable arm support assembly to ascend; acquiring the lifting angle of the amplitude-variable arm support assembly through an arm support lifting angle sensor, and when the lifting angle is 60 degrees, powering off the amplitude-variable lifting electromagnetic valve to stop lifting the amplitude-variable arm support assembly;

Triggering a translation extension electromagnetic valve to obtain electricity, and controlling the telescopic water pipe to extend in a translation manner; and acquiring the translation angle of the amplitude boom assembly and the connecting rod welding assembly through a translation extension angle sensor, when the translation angle is 90 degrees, powering off the translation extension electromagnetic valve, stopping translation extension, and completing the conversion of the in-situ posture when the system is in the in-situ posture.

Further, the gesture switching button comprises a vertical deepest drainage button connected with the controller;

the controller can receive the gesture switching signal of the vertical deepest drainage button and execute the following steps according to the gesture switching signal:

after receiving the gesture switching signal of the vertical deepest drainage button, triggering an amplitude variation ascending electromagnetic valve to obtain electricity, so that an amplitude variation oil cylinder drives an amplitude variation arm support assembly to ascend; acquiring the lifting angle of the luffing jib assembly through a jib lifting angle sensor, and when the lifting angle is 90 degrees, powering off a luffing lifting electromagnetic valve, and stopping lifting the luffing jib assembly;

triggering the translation extension electromagnetic valve to obtain electricity, and driving the translation mechanism oil cylinder to drive the telescopic water pipe to extend in a translation way; acquiring a translation angle of the amplitude boom assembly and the connecting rod welding assembly through a translation extension angle sensor, and when the translation angle is 130 degrees, powering off the translation extension electromagnetic valve to stop translation extension;

Triggering the outer pipe support to extend out of the electromagnetic valve to obtain electricity, so that the outer pipe support sliding oil cylinder extends out; the elongation of the outer tube support sliding oil cylinder is obtained through an outer tube support length sensor, when the elongation of the outer tube support sliding oil cylinder reaches a threshold value, the outer tube support extending electromagnetic valve is powered off, and the outer tube support sliding oil cylinder stops extending;

triggering the inner pipe support to stretch out the electromagnetic valve to obtain electricity, enabling the inner pipe support to stretch out, obtaining the stretch out quantity of the inner pipe support to stretch out of the sliding oil cylinder through the inner pipe support length sensor, enabling the inner pipe support to stretch out of the electromagnetic valve to lose electricity when the stretch out quantity of the inner pipe support to stretch out of the sliding oil cylinder reaches a threshold value, enabling the inner pipe support to stretch out of the sliding oil cylinder to stop stretching, enabling the system to be in a vertical deepest drainage attitude at the moment, and completing conversion of the vertical deepest drainage attitude.

Further, the posture switching button includes a left/right side drain selection switch and a horizontal farthest drain button, both connected to the controller;

the controller is capable of receiving the posture switching signals of the left/right side drain selection switch and the horizontal farthest drain button, and performing the following steps according to the posture switching signals:

after receiving the posture switching signal of the horizontal farthest water discharging button, powering the amplitude variation ascending electromagnetic valve, and driving the amplitude variation oil cylinder to drive the amplitude variation arm support assembly to ascend; when the lifting angle obtained by the arm support lifting angle sensor is 20 degrees, the amplitude-variable lifting electromagnetic valve is powered off, and the amplitude-variable arm support assembly stops lifting;

Determining a target rotation angle of the rotary platform according to the direction selection signal of the left/right side drainage selection switch, detecting the rotation angle of the rotary platform through a rotation angle sensor, triggering a turntable right-turn electromagnetic valve or a turntable left-turn electromagnetic valve to be electrified according to the target rotation angle and the rotation angle, driving the rotary platform to rotate, and when the rotation angle of the rotary platform is obtained as the target rotation angle, powering off the turntable right-turn electromagnetic valve or the turntable left-turn electromagnetic valve, and stopping the rotary platform;

triggering an inner pipe rack to extend out of the electromagnetic valve to obtain electricity, enabling the inner pipe rack to extend out of the sliding oil cylinder, obtaining the extending quantity of the sliding oil cylinder of the inner pipe rack through an inner pipe rack length sensor, when the extending quantity of the sliding oil cylinder of the inner pipe rack reaches a threshold value, enabling the inner pipe rack to extend out of the electromagnetic valve to lose electricity, enabling the sliding oil cylinder of the inner pipe rack to stop extending out, enabling the system to be in a horizontal farthest drainage attitude at the moment, and completing conversion of the horizontal farthest drainage attitude;

The direction selection signal of the left/right side drain selection switch includes left and right sides;

when the direction selection signal of the left/right side drainage selection switch is left side, the target rotation angle of the rotary platform is-90 degrees;

when the direction selection signal of the left/right side drainage selection switch is right side, the target rotation angle of the rotary platform is 90 degrees.

Further, the gesture switching button comprises a return gesture button connected with the controller;

the controller can receive the gesture switching signal of the return gesture button and execute the following steps according to the gesture switching signal:

after receiving the gesture switching signal of the return gesture button, triggering an inner pipe rack retracting electromagnetic valve to obtain electricity, so that the inner pipe rack sliding oil cylinder is retracted, obtaining the extension amount of the inner pipe rack sliding oil cylinder through an inner pipe rack length sensor, and when the extension amount of the inner pipe rack sliding oil cylinder is 0, powering off the inner pipe rack retracting electromagnetic valve, and stopping retracting the inner pipe rack sliding oil cylinder;

triggering an outer pipe rack retracting electromagnetic valve to be electrified, so that the outer pipe rack sliding oil cylinder is retracted; the elongation of the outer tube support sliding oil cylinder is obtained through an outer tube support length sensor, when the elongation of the outer tube support sliding oil cylinder is 0, the outer tube support retracting electromagnetic valve is powered off, and the outer tube support sliding oil cylinder stops retracting;

Triggering a translation retraction electromagnetic valve to obtain electricity, and driving a translation mechanism oil cylinder to drive a telescopic water pipe to translate and retract; acquiring a translation angle of the amplitude boom assembly and the connecting rod welding assembly through a translation extension angle sensor, and when the translation angle is 0 degree, powering off a translation retraction electromagnetic valve to stop translation retraction;

detecting the rotation angle of the rotary platform by a rotation angle sensor, triggering a rotary table right-turn electromagnetic valve or a rotary table left-turn electromagnetic valve to be electrified according to the rotation angle, driving the rotary platform to rotate, and when the acquired rotation angle of the rotary platform is 0 degree, powering off the rotary table right-turn electromagnetic valve or the rotary table left-turn electromagnetic valve, and stopping the rotary platform from rotating;

the amplitude variation descending electromagnetic valve is powered on, and the amplitude variation oil cylinder is driven to drive the amplitude variation arm support assembly to descend; acquiring the lifting angle of the luffing jib assembly through a jib lifting angle sensor, and when the lifting angle is 0 degree, powering off a luffing descending electromagnetic valve, and stopping descending the luffing jib assembly; at this time, the system is in a return posture, and the return posture conversion is completed.

In a second aspect, the invention provides a method for controlling the posture of a working device of a vertical lifting drainage vehicle, which is based on the working device posture control system of the vertical lifting drainage vehicle in the first aspect, wherein the system comprises a telescopic water pipe, a rotary platform, a lifting assembly, a horizontal telescopic assembly and a length adjusting assembly;

The method comprises the following steps:

controlling the rotary platform to rotate the telescopic water pipe to the water suction and drainage working direction;

controlling the lifting assembly to adjust the lifting angle of the telescopic water pipe;

controlling a horizontal telescopic assembly to adjust the horizontal telescopic distance of the telescopic water pipe;

controlling a length adjusting assembly to adjust the vertical telescopic distance of the telescopic water pipe;

controlling the telescopic water pipe to pump water to perform water sucking and draining operation.

Further, the system comprises an amplitude variation arm support assembly, an amplitude variation oil cylinder, a connecting rod welding assembly, a translation mechanism oil cylinder, an outer pipe support, an inner pipe support, an outer pipe support sliding oil cylinder, an inner pipe support sliding oil cylinder, a turntable rotation angle sensor, an arm support lifting angle sensor, a translation extension angle sensor, an inner pipe support length sensor, an outer pipe support length sensor, a turntable left-turning electromagnetic valve, a turntable right-turning electromagnetic valve, an amplitude variation rising electromagnetic valve, an amplitude variation descending electromagnetic valve, a translation extension electromagnetic valve, a translation retraction electromagnetic valve, an outer pipe support extension electromagnetic valve, an outer pipe support retraction electromagnetic valve, an inner pipe support extension electromagnetic valve, an inner pipe support retraction electromagnetic valve and a gesture switching button;

the method further comprises the steps of:

and receiving a gesture switching signal of the gesture switching button, and controlling the rotation platform, the lifting assembly, the horizontal telescopic assembly and the length adjusting assembly to operate according to the gesture switching signal, so that the system is switched into a corresponding gesture.

Further, the system also comprises a gesture switching button which can respond to button actions to send gesture switching signals to the controller;

the gesture switching button comprises a positioning gesture button connected with the controller;

the method comprises a seating posture conversion method, which comprises the following steps:

after receiving the gesture switching signal of the gesture button in place, powering up the amplitude variation ascending electromagnetic valve, and driving the amplitude variation oil cylinder to drive the amplitude variation arm support assembly to ascend; acquiring the lifting angle of the luffing jib assembly through a jib lifting angle sensor, and when the lifting angle is 60 degrees, powering off the luffing lifting solenoid valve to stop lifting the luffing jib assembly;

triggering a translation extension electromagnetic valve to obtain electricity, and controlling the telescopic water pipe to extend in a translation manner; acquiring a translation angle of the amplitude boom assembly and the connecting rod welding assembly through a translation extension angle sensor, powering off a translation extension electromagnetic valve when the translation angle is 90 degrees, stopping translation extension, and completing the conversion of the in-situ posture when the system is in the in-situ posture;

and/or the number of the groups of groups,

the gesture switching button comprises a vertical deepest drainage button;

the method comprises a vertical deepest drainage gesture conversion method, wherein the vertical deepest drainage gesture conversion method comprises the following steps of:

After receiving the gesture switching signal of the vertical deepest drainage button, triggering the amplitude variation ascending electromagnetic valve to be electrified, so that the amplitude variation oil cylinder drives the amplitude variation arm support assembly to ascend; acquiring the lifting angle of the luffing jib assembly through a jib lifting angle sensor, and when the lifting angle is 90 degrees, powering off the luffing lifting solenoid valve, and stopping lifting the luffing jib assembly;

And/or the number of the groups of groups,

the posture switching buttons include a left/right side drainage selection switch and a horizontal farthest drainage button;

the method includes a horizontal farthest drainage gesture conversion method including the steps of:

determining a target rotation angle of the rotary platform according to a direction selection signal of the left/right side drainage selection switch, detecting the rotation angle of the rotary platform through the rotation angle sensor, triggering a turntable right-turning electromagnetic valve or a turntable left-turning electromagnetic valve to be electrified according to the target rotation angle and the rotation angle, driving the rotary platform to rotate, and powering off the turntable right-turning electromagnetic valve or the turntable left-turning electromagnetic valve when the rotation angle of the rotary platform is obtained as the target rotation angle, so that the rotary platform stops rotating;

when the direction selection signal of the left/right side drainage selection switch is right side, the target rotation angle of the rotary platform is 90 degrees;

and/or the number of the groups of groups,

the gesture switching button comprises a return gesture button;

the method comprises a return posture conversion method, wherein the return posture conversion method comprises the following steps of:

after receiving a posture switching signal of the return posture button, triggering an inner pipe rack retracting electromagnetic valve to obtain electricity, so that the inner pipe rack sliding oil cylinder is retracted, obtaining the extension amount of the inner pipe rack sliding oil cylinder through an inner pipe rack length sensor, and when the extension amount of the inner pipe rack sliding oil cylinder is 0, powering off the inner pipe rack retracting electromagnetic valve, and stopping retracting the inner pipe rack sliding oil cylinder;

the amplitude variation descending electromagnetic valve is powered on, and the amplitude variation oil cylinder is driven to drive the amplitude variation arm support assembly to descend; acquiring the lifting angle of the luffing jib assembly through a jib lifting angle sensor, and when the lifting angle is 0 degree, powering off the luffing descending electromagnetic valve, and stopping descending the luffing jib assembly; at this time, the system is in a return posture, and the return posture conversion is completed.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention provides a posture control system of a vertical lifting drainage vehicle working device, which is characterized in that a rotation platform is used for adjusting the water suction and drainage direction of a telescopic water pipe, a lifting assembly is used for adjusting the lifting angle of the telescopic water pipe, a horizontal telescopic assembly is used for adjusting the horizontal telescopic of the telescopic water pipe, a length adjusting assembly is used for adjusting the vertical telescopic of the telescopic water pipe, and a controller is used for controlling the work of each part, so that the posture position of the vertical lifting drainage vehicle working device can be flexibly adjusted according to various drainage working environments, the telescopic water pipe can be better stretched into a working water body, the drainage efficiency is improved, and meanwhile, the controller enables most of posture adjustment to be free from manual operation, the labor intensity of operators is reduced, and the working environment of the operators is improved;

2. according to the invention, the rapid and accurate detection, identification and control of the posture of the working device are realized through the sensors arranged on the components, and the switching control of four typical positions of the vertical deepest drainage posture, the horizontal farthest drainage posture, the in-place drainage posture and the return drainage posture can be realized by arranging the posture switching buttons on the working device, so that the operation intensity of workers is reduced, the operation comfort of operators is improved, the preparation time of drainage operation is reduced, and the rescue efficiency and the intelligent level of the vertical lifting drainage vehicle are improved;

3. The control system of the invention is provided with the vertical deepest drainage attitude, the horizontal farthest drainage attitude and the control of the in-situ attitude, and can flexibly adjust the drainage distance, the drainage height and the drainage direction, so that the drainage target is positioned more accurately, the drainage target can be switched without complex operation, the working efficiency of the vertical lifting drainage vehicle is improved, the preparation time of the drainage operation of the vertical lifting drainage vehicle is reduced, the operation safety of operators is ensured, the operation intensity of the operators is reduced, and the operation comfort of the operators is improved.

Drawings

FIG. 1 is a schematic block diagram of a work implement attitude control system of the present invention;

FIG. 2 is a schematic view of the working device structure of the present invention;

FIG. 3 is a schematic illustration of the working device of the present invention in a return position;

FIG. 4 is a schematic view of the working device of the present invention in a vertically deepest drainage attitude;

FIG. 5 is a schematic view of the work device of the present invention in a horizontal right most drainage attitude;

fig. 6 is a schematic view of the working device of the present invention in a seated position.

In the figure: 2.1, a rotary platform; 2.2, an amplitude-variable oil cylinder; 2.3, an amplitude-variable arm support assembly; 2.4, connecting rod welding assembly; 2.5, a translation mechanism oil cylinder; 2.6, an outer tube bracket; 2.7, inner tube support; 2.8, an outer tube bracket sliding oil cylinder; 2.9, an inner pipe bracket sliding oil cylinder; 2.10, a telescopic water pipe; 2.11, a rotation angle sensor; 2.12, an arm support lifting angle sensor; 2.13, a translational extension angle sensor; 2.14, an outer pipe rack length sensor; 2.15, inner tube frame length sensor.

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.

In the description of the present embodiment, it should be noted that, if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are presented, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, only for convenience of describing the present embodiment and simplifying the description, and does not indicate or imply that the indicated apparatus or element must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present embodiment.

Embodiment one:

the embodiment provides a working device attitude control system of a vertical lift drainage vehicle, as shown in fig. 2, including:

a telescopic water pipe 2.10 for conveying and draining water;

the rotary platform 2.1 is used for adjusting the water suction and discharge directions of the telescopic water pipes 2.10;

the lifting assembly is connected to the rotary platform 2.1 and used for adjusting the lifting angle of the telescopic water pipe 2.10;

The horizontal telescopic assembly is connected to the lifting assembly and used for adjusting the horizontal telescopic of the telescopic water pipe 2.10;

the length adjusting assembly is connected to the horizontal telescopic assembly and used for adjusting the vertical telescopic of the telescopic water pipe 2.10;

and the controller is used for controlling the rotation platform 2.1, the lifting assembly, the horizontal telescopic assembly and the length adjusting assembly to operate, so that the posture position of the telescopic water pipe 2.10 is adjusted.

The implementation principle is as follows: according to the embodiment, the water suction and drainage directions of the telescopic water pipes 2.10 are adjusted through the rotary platform 2.1, the lifting angle of the telescopic water pipes 2.10 is adjusted through the lifting assembly, the horizontal telescopic of the telescopic water pipes 2.10 is adjusted through the horizontal telescopic assembly, the vertical telescopic of the telescopic water pipes 2.10 is adjusted through the length adjusting assembly, the work of each part is controlled by the controller, the gesture positions of the vertical lifting drainage vehicle working devices can be flexibly adjusted according to various drainage working environments, and accordingly the telescopic water pipes 2.10 are better stretched into a working water body, the drainage efficiency is improved, meanwhile, manual operation is not needed for most gesture adjustment by the controller, the labor intensity of operators is reduced, and the working environment of the operators is improved.

Embodiment two:

the embodiment provides a working device attitude control system of a vertical lifting drainage vehicle, which comprises:

a telescopic water pipe 2.10 for conveying and draining water;

The control system of the embodiment can be arranged on the drainage vehicle or other engineering machinery. The controller can adopt the controller of fixing on the automobile body panel board, also can adopt independent remote controller, can be wired, also can be wireless, external operating panel that has, specific operating panel does not do the restriction, but should rotate platform 2.1, lift assembly, horizontal flexible assembly and each module of length adjustment assembly and carry out the operating panel function subregion.

The rotary platform 2.1 comprises a brush rotary body and a rotary angle sensor 2.11 arranged on the brush rotary body; the rotary platform 2.1 is provided with a rotary table left-turning electromagnetic valve and a rotary table right-turning electromagnetic valve which are both connected with a controller and used for turning the electric brush rotary body; the rotation angle sensor 2.11 is connected with the controller and is used for measuring the rotation angle of the rotation platform 2.1 and sending the rotation angle to the controller.

The angle of the telescopic water pipe 2.10 can be changed by the rotary platform 2.1, so that the water pumping work is more flexible, the water pumping direction is not required to be adjusted through adjustment of the vehicle position by the rotary platform 2.1, and the water pumping efficiency is improved. The controller can accurately control the rotation angle of the rotary platform 2.1 through the rotary table left-turn electromagnetic valve, the rotary table right-turn electromagnetic valve and the rotation angle sensor 2.11.

In addition, the structure of the rotary platform 2.1 can also be composed of a bearing platform provided with a fluted disc and a driving device with a gear, the driving device is meshed with the fluted disc through the gear to drive the fluted disc to rotate, and the lifting assembly, the length adjusting assembly and the horizontal telescopic assembly can rotate on the rotary platform 2.1 in the horizontal plane direction by hinging the lifting bracket on the bearing platform, so that the water pumping assembly is more flexible to use.

The lifting assembly comprises a luffing jib assembly 2.3, a luffing cylinder 2.2 and a jib lifting angle sensor 2.12 connected with the controller; the end part of the amplitude-variable arm support assembly 2.3 is hinged with the rotary platform 2.1; one end of the luffing cylinder 2.2 is hinged with the rotary platform 2.1, and the other end is hinged with the luffing jib assembly 2.3; the amplitude-variable lifting electromagnetic valve and the amplitude-variable descending electromagnetic valve which are both connected with the controller are arranged on the amplitude-variable oil cylinder 2.2 and are used for controlling the expansion and the contraction of the amplitude-variable oil cylinder 2.2; the boom lifting angle sensor 2.12 is arranged at the hinge joint of the rotary platform 2.1 and the luffing boom assembly 2.3 and is used for measuring the lifting angle of the luffing boom assembly 2.3.

The angle of the support is adjusted by arranging the lifting assembly, and when the height difference between the water body to be extracted and the road surface is large, the water pump can be lifted by the lifting assembly to extract the water body by arranging the telescopic water pipe 2.10. The controller can realize accurate control of the boom lifting through the luffing lifting electromagnetic valve, the luffing descending electromagnetic valve and the boom lifting angle sensor 2.12.

The horizontal telescopic assembly comprises a connecting rod welding assembly 2.4, a translation mechanism oil cylinder 2.5 and a translation extension angle sensor 2.13 which is connected with the controller; the connecting rod welding assembly 2.4 comprises two groups of connecting rods which are arranged in parallel, one end of each connecting rod is hinged to the amplitude boom assembly 2.3, and the other end of each connecting rod is hinged to the length adjusting assembly; the translation mechanism oil cylinder 2.5 is obliquely arranged between two groups of parallel connecting rods, one end of the translation mechanism oil cylinder is hinged to the amplitude boom assembly 2.3, and the other end of the translation mechanism oil cylinder is hinged to the length adjusting assembly; the translation mechanism oil cylinder 2.5 is provided with a translation extension electromagnetic valve and a translation retraction electromagnetic valve which are both connected with the controller and used for controlling the extension and retraction of the translation mechanism oil cylinder 2.5; the translation extension angle sensor 2.13 is arranged at the hinge joint of the connecting rod and the amplitude variation arm support assembly 2.3 and is used for measuring the angle between the amplitude variation arm support assembly 2.3 and the connecting rod.

Through addding horizontal flexible assembly, can reach the flexibility and the position that improve this system, make the radius of drawing water of this system improve greatly. Through translation extension solenoid valve and translation withdrawal solenoid valve and translation extension angle sensor 2.13, the controller can realize the accurate control of translation telescopic position, better regulation telescopic water pipe 2.10's form.

The telescopic water pipe 2.10 is arranged on the length adjusting assembly and comprises an outer pipe and an inner pipe which is nested and connected in the outer pipe. A water pump is arranged in the telescopic water pipe 2.10.

The length adjusting assembly comprises an outer pipe bracket 2.6, an inner pipe bracket 2.7, an outer pipe bracket sliding oil cylinder 2.8, an inner pipe bracket sliding oil cylinder 2.9, an outer pipe bracket length sensor 2.14 and an inner pipe bracket length sensor 2.15 which are all connected with the controller;

the outer pipe bracket 2.6 is connected to the horizontal telescopic assembly, and the inner pipe bracket 2.7 is connected to the outer pipe bracket 2.6 in a sliding manner; the outer tube is arranged on the inner tube bracket 2.7;

one end of the outer tube support sliding oil cylinder 2.8 is connected with the outer tube support 2.6, and the other end is connected with the inner tube support 2.7, and is used for driving the inner tube support 2.7 to slide along the length direction of the outer tube support 2.6; an outer pipe rack extending electromagnetic valve and an outer pipe rack retracting electromagnetic valve which are both connected with a controller are arranged on the outer pipe rack sliding oil cylinder 2.8 and are used for controlling the extension and retraction of the outer pipe rack sliding oil cylinder 2.8;

One end of the inner tube support sliding oil cylinder 2.9 is connected with the inner tube support 2.7, and the other end of the inner tube support sliding oil cylinder is connected with the inner tube and is used for driving the inner tube to slide along the length direction of the inner tube support 2.7; the inner pipe rack sliding oil cylinder 2.9 is provided with an inner pipe rack extending electromagnetic valve and an inner pipe rack retracting electromagnetic valve which are both connected with the controller and used for controlling the extension and retraction of the inner pipe rack sliding oil cylinder 2.9;

the outer pipe support length sensor 2.14 is used for measuring the elongation of the outer pipe support sliding oil cylinder 2.8; the inner pipe support length sensor 2.15 is used for measuring the elongation of the inner pipe support sliding oil cylinder 2.9.

Through nested inner tube and outer tube support 2.6, inner tube support 2.7, outer tube support slipping cylinder 2.8, inner tube support slipping cylinder 2.9 and outer tube support length sensor 2.14 and inner tube support length sensor 2.15 that all are connected with the controller, the controller can control expansion telescopic water pipe 2.10, contact with the water of work, cooperation revolving platform 2.1, lifting assembly, horizontal telescopic assembly realize the drainage, the gesture to working device carries out quick accurate detection discernment and control, reduce staff's operating strength, improve the comfort level of operating personnel operation, reduce the preparation time of drainage operation, improve the rescue efficiency and the intelligent level of perpendicular lifting drainage car.

The system also comprises one or more gesture switching buttons connected with the controller, and the gesture switching buttons can respond to button actions to send gesture switching signals to the controller; the controller can receive the gesture switching signal of the gesture switching button and control the rotation platform 2.1, the lifting assembly, the horizontal telescopic assembly and the length adjusting assembly to operate according to the gesture switching signal, so that the system is switched to the corresponding gesture.

The posture switching buttons comprise a positioning posture button, a vertical deepest draining button, a horizontal farthest draining button and a positioning posture button which are connected with the controller.

According to the embodiment, the rapid and accurate detection, identification and control of the gesture of the working device are realized, and the switching control of four typical positions of the vertical deepest drainage gesture, the horizontal farthest drainage gesture, the in-place drainage gesture and the return drainage gesture can be realized by one key for the working device, so that the operation intensity of workers is reduced, the comfort level of operation personnel is improved, the preparation time of drainage operation is reduced, and the rescue efficiency and the intelligent level of the vertical lifting drainage vehicle are improved.

There is an interlock function between the plurality of gesture switching buttons, the interlock being that two command buttons cannot be pressed at the same time, and only one is valid if two are pressed. The second gesture button is only active when all actions are completed after the first button is pressed. In order to prevent misoperation of operators, interlocking functions exist among a vertical deepest drainage button, a horizontal farthest drainage button, a positioning posture button and a return posture button, and only an operator is allowed to press one of them in any case.

The controller is capable of receiving a gesture switching signal of the gesture button in place and performing the following steps according to the gesture switching signal:

after receiving the gesture switching signal of the gesture button in place, powering up the amplitude variation ascending electromagnetic valve, and driving the amplitude variation oil cylinder 2.2 to drive the amplitude variation arm support assembly 2.3 to ascend; acquiring the lifting angle of the luffing jib assembly 2.3 through a jib lifting angle sensor 2.12, and when the lifting angle is 60 degrees, powering off a luffing lifting electromagnetic valve to stop lifting the luffing jib assembly 2.3;

triggering a translation extension electromagnetic valve to obtain electricity, and controlling the extension water pipe 2.10 to extend in a translation way; and acquiring the translation angle of the amplitude boom assembly 2.3 and the connecting rod welding assembly 2.4 through the translation extension angle sensor 2.13, when the translation angle is 90 degrees, powering off the translation extension electromagnetic valve, stopping translation extension, and finishing the conversion of the in-situ posture when the system is in the in-situ posture.

after receiving the gesture switching signal of the vertical deepest drainage button, triggering the amplitude-variable ascending electromagnetic valve to be electrified, so that the amplitude-variable oil cylinder 2.2 drives the amplitude-variable arm support assembly 2.3 to ascend; acquiring the lifting angle of the luffing jib assembly 2.3 through the jib lifting angle sensor 2.12, and when the lifting angle is 90 degrees, powering off the luffing lifting electromagnetic valve, and stopping lifting the luffing jib assembly 2.3;

Triggering the translation extension electromagnetic valve to obtain electricity, and driving the translation mechanism oil cylinder 2.5 to drive the telescopic water pipe 2.10 to extend in a translation way; the translation angle of the amplitude boom assembly 2.3 and the connecting rod welding assembly 2.4 is obtained through the translation extension angle sensor 2.13, and when the translation angle is 130 degrees, the translation extension electromagnetic valve is powered off, and the translation extension is stopped;

triggering the outer pipe support to extend out of the electromagnetic valve to obtain electricity, so that the outer pipe support sliding oil cylinder 2.8 extends out; the elongation of the outer tube support sliding oil cylinder 2.8 is obtained through the outer tube support length sensor 2.14, when the elongation of the outer tube support sliding oil cylinder 2.8 reaches a threshold value, the electromagnetic valve for extending the outer tube support is deenergized, and the outer tube support sliding oil cylinder 2.8 stops extending;

triggering the inner pipe rack to stretch out the electromagnetic valve to obtain electricity, enabling the inner pipe rack to stretch out the sliding oil cylinder 2.9, obtaining the stretch out quantity of the inner pipe rack sliding oil cylinder 2.9 through the inner pipe rack length sensor 2.15, enabling the inner pipe rack to stretch out the electromagnetic valve to lose electricity when the stretch out quantity of the inner pipe rack sliding oil cylinder 2.9 reaches a threshold value, enabling the inner pipe rack sliding oil cylinder 2.9 to stop stretching out, enabling the system to be in a vertical deepest drainage attitude at the moment, and completing conversion of the vertical deepest drainage attitude.

The gesture switching button comprises a left/right side drainage selection switch and a horizontal farthest drainage button which are both connected with the controller;

The controller is capable of receiving an attitude switching signal of the left/right side drain selection switch and the horizontal farthest drain button, and performing the following steps according to the attitude switching signal:

after receiving the gesture switching signal of the horizontal farthest drainage button, powering on the amplitude-variable ascending electromagnetic valve to drive the amplitude-variable oil cylinder 2.2 to drive the amplitude-variable arm support assembly 2.3 to ascend; when the lifting angle obtained by the arm support lifting angle sensor 2.12 is 20 degrees, the amplitude-variable lifting electromagnetic valve is de-energized, and the amplitude-variable arm support assembly 2.3 stops lifting;

determining a target rotation angle of the rotary platform 2.1 according to a direction selection signal of the left/right side drainage selection switch, detecting the rotation angle of the rotary platform 2.1 through a rotation angle sensor 2.11, triggering a turntable right-turn electromagnetic valve or a turntable left-turn electromagnetic valve to obtain electricity according to the target rotation angle and the rotation angle, driving the rotary platform 2.1 to rotate, and when the rotation angle of the rotary platform 2.1 is obtained as the target rotation angle, powering off the turntable right-turn electromagnetic valve or the turntable left-turn electromagnetic valve, and stopping rotation of the rotary platform 2.1;

Triggering an inner pipe rack extending electromagnetic valve to obtain electricity, enabling the inner pipe rack sliding oil cylinder 2.9 to extend, obtaining the extending quantity of the inner pipe rack sliding oil cylinder 2.9 through an inner pipe rack length sensor 2.15, enabling the inner pipe rack extending electromagnetic valve to lose electricity when the extending quantity of the inner pipe rack sliding oil cylinder 2.9 reaches a threshold value, enabling the inner pipe rack extending electromagnetic valve to stop extending the inner pipe rack sliding oil cylinder 2.9, enabling the system to be in a horizontal farthest drainage attitude at the moment, and completing conversion of the horizontal farthest drainage attitude;

when the direction selection signal of the left/right side drainage selection switch is left side, the target rotation angle of the rotary platform 2.1 is-90 degrees;

when the direction selection signal of the left/right side drain selection switch is right side, the target rotation angle of the swing platform 2.1 is 90 degrees.

after receiving a posture switching signal of a return posture button, triggering an inner pipe rack retracting electromagnetic valve to be electrified so as to retract the inner pipe rack sliding oil cylinder 2.9, acquiring the extension amount of the inner pipe rack sliding oil cylinder 2.9 through an inner pipe rack length sensor 2.15, and when the extension amount of the inner pipe rack sliding oil cylinder 2.9 is 0, powering off the inner pipe rack retracting electromagnetic valve to stop retracting the inner pipe rack sliding oil cylinder 2.9;

Triggering an outer pipe rack retracting electromagnetic valve to be electrified, so that the outer pipe rack sliding oil cylinder 2.8 is retracted; the elongation of the outer tube support sliding oil cylinder 2.8 is obtained through the outer tube support length sensor 2.14, when the elongation of the outer tube support sliding oil cylinder 2.8 is 0, the outer tube support retracting electromagnetic valve is deenergized, and the outer tube support sliding oil cylinder 2.8 stops retracting;

triggering a translation retraction electromagnetic valve to obtain electricity, and driving a translation mechanism oil cylinder 2.5 to drive a telescopic water pipe 2.10 to translate and retract; the translation angle of the amplitude boom assembly 2.3 and the connecting rod welding assembly 2.4 is obtained through the translation extension angle sensor 2.13, and when the translation angle is 0 degree, the translation retraction electromagnetic valve is powered off, and translation retraction is stopped;

detecting the rotation angle of the rotary platform 2.1 through a rotation angle sensor 2.11, triggering a rotary table right-turn electromagnetic valve or a rotary table left-turn electromagnetic valve to be electrified according to the rotation angle, driving the rotary platform 2.1 to rotate, and when the acquired rotation angle of the rotary platform 2.1 is 0 degree, powering off the rotary table right-turn electromagnetic valve or the rotary table left-turn electromagnetic valve, and stopping the rotation of the rotary platform 2.1;

the amplitude variation descending electromagnetic valve is powered on, and the amplitude variation oil cylinder 2.2 is driven to drive the amplitude variation arm support assembly 2.3 to descend; acquiring the lifting angle of the luffing jib assembly 2.3 through the jib lifting angle sensor 2.12, and when the lifting angle is 0 degree, powering off the luffing descending electromagnetic valve, and stopping descending the luffing jib assembly 2.3; at this time, the system is in a return posture, and the return posture conversion is completed.

The working flow of the working device attitude control system of the vertical lifting drainage vehicle is realized by the following steps: the initial state of the working device of the vertical lifting drainage vehicle is generally a return posture, as shown in fig. 3, when reaching a drainage rescue site, firstly judging which working posture the arm support working device needs to adopt, if the vertical deepest drainage posture is adopted, as shown in fig. 4, an operator presses a vertical deepest drainage button, after receiving a signal, a working device controller triggers an amplitude lifting electromagnetic valve to power up, so that an amplitude cylinder 2.2 drives the arm support to lift; when the boom lifting angle sensor 2.12 detects that the lifting angle is 90 degrees, the working device controller de-energizes the luffing lifting electromagnetic valve, the luffing boom assembly 2.3 stops lifting, meanwhile, the translation extending electromagnetic valve is triggered to be powered on, and the translation mechanism oil cylinder 2.5 drives the telescopic water pipe 2.10 to extend in a translation mode; when the translation extension angle sensor 2.13 detects that the translation mechanism oil cylinder 2.5 extends to the proper position, the working device controller de-energizes the translation extension electromagnetic valve, and simultaneously triggers the outer pipe rack extension electromagnetic valve to obtain electricity, so that the outer pipe rack sliding oil cylinder 2.8 extends; when the outer pipe rack length sensor 2.14 detects that the outer pipe rack sliding oil cylinder 2.8 stretches out to the right, the working device controller enables the outer pipe rack stretching electromagnetic valve to lose electricity, the outer pipe rack sliding oil cylinder 2.8 stops stretching out, meanwhile, the inner pipe rack stretching out electromagnetic valve is triggered to be electrified, the inner pipe rack sliding oil cylinder 2.9 stretches out, when the inner pipe rack length sensor 2.15 detects that the inner pipe rack sliding oil cylinder 2.9 stretches out to the right, the working device controller enables the inner pipe rack stretching out electromagnetic valve to lose electricity, the inner pipe rack sliding oil cylinder 2.9 stops stretching out, and therefore the working device is switched from a return posture to a vertical deepest drainage posture.

If the switching from the return posture to the furthest drainage posture of the horizontal right side is needed, as shown in fig. 5, an operator presses a left/right side drainage selection switch, then presses a button of the furthest drainage posture of the horizontal right side, and after receiving a signal, a working device controller receives the signal, an amplitude lifting electromagnetic valve is electrified, so that an amplitude cylinder 2.2 drives an arm support to lift; when the boom lifting angle sensor 2.12 detects that the lifting angle is 20 degrees, the working device controller de-energizes the luffing lifting electromagnetic valve, simultaneously triggers the turntable right-turning electromagnetic valve to be electrified, then the luffing boom assembly 2.3 stops lifting, and the rotary platform 2.1 rotates leftwards; when the rotation angle sensor 2.11 detects that the rotation angle is 90 degrees, the working device controller causes the electromagnetic valve for right rotation of the turntable to lose electricity, the rotation of the rotary platform 2.1 is stopped, and simultaneously the electromagnetic valve for extending the outer pipe rack is triggered to obtain electricity, so that the sliding oil cylinder 2.8 of the outer pipe rack extends; when the outer pipe rack length sensor 2.14 detects that the outer pipe rack sliding oil cylinder 2.8 stretches out to the right, the working device controller enables the outer pipe rack stretching out electromagnetic valve to lose electricity, the outer pipe rack sliding oil cylinder 2.8 stops stretching out, meanwhile, the inner pipe rack stretching out electromagnetic valve is triggered to be electrified, the inner pipe rack sliding oil cylinder 2.9 stretches out, when the inner pipe rack length sensor 2.15 detects that the inner pipe rack sliding oil cylinder 2.9 stretches out to the right, the working device controller enables the inner pipe rack stretching out electromagnetic valve to lose electricity, the inner pipe rack sliding oil cylinder 2.9 stops stretching out, and therefore the working device completes switching from a return posture to a horizontal right furthest drainage posture.

If the change from the return posture to the positioning posture is needed, as shown in fig. 6, the operator presses the positioning posture button, and after receiving the positioning posture signal, the working device controller receives the power of the amplitude lifting electromagnetic valve, so that the amplitude lifting oil cylinder 2.2 drives the arm support to lift; when the boom lifting angle sensor 2.12 detects that the lifting angle is 60 degrees, the working device controller de-energizes the luffing lifting electromagnetic valve, triggers the translational extension electromagnetic valve to be powered on, and then stops lifting the luffing boom assembly 2.3, and the telescopic water pipe 2.10 is in translational extension; when the translational extension angle sensor 2.13 detects that the angle between the arm support and the connecting rod welding assembly 2.4 is 90 degrees, the working device controller de-energizes the translational extension electromagnetic valve, the telescopic water pipe 2.10 stops translational extension, and therefore the posture of the working device is converted from the return posture to the positioning posture.

After the drainage rescue work task is completed, the posture of the working device needs to be restored to the return posture. After the operator presses the return gesture button, the working device controller needs to judge which gesture the working device is in according to the rotation angle sensor 2.11, the arm support lifting angle sensor 2.12, the translational extension angle sensor 2.13, the outer pipe frame length sensor 2.14 and the inner pipe frame length sensor 2.15. When the working device is detected to be in the vertical deepest drainage posture according to the parameters of the sensors and the program logic, the working device is switched from the vertical deepest drainage posture to the return posture. After the working device controller receives the signal, the inner pipe rack retracting electromagnetic valve is triggered to be electrified to retract the inner pipe rack sliding oil cylinder 2.9, when the inner pipe rack length sensor 2.15 detects that the inner pipe rack sliding oil cylinder 2.9 is retracted in place, the working device controller enables the inner pipe rack retracting electromagnetic valve to be deenergized, the inner pipe rack sliding oil cylinder 2.9 stops moving, the outer pipe rack retracting electromagnetic valve is triggered to be electrified to retract the outer pipe rack sliding oil cylinder 2.8, when the outer pipe rack length sensor 2.14 detects that the outer pipe rack sliding oil cylinder 2.8 is retracted in place, the working device controller enables the outer pipe rack retracting electromagnetic valve to be deenergized, the outer pipe rack sliding oil cylinder 2.8 stops moving, and meanwhile triggers the translation retracting electromagnetic valve to be electrified to enable the translation mechanism oil cylinder 2.5 to drive the telescopic water pipe 2.10 to translate and retract, when the translation extending angle sensor 2.13 detects that the translation mechanism oil cylinder 2.5 is retracted in place, the translation mechanism oil cylinder 2.5 stops moving, the amplitude changing descending electromagnetic valve is triggered to be electrified, then the amplitude changing oil cylinder 2.2 drives to descend, when the lifting angle sensor 2.12 detects that the outer pipe rack sliding oil cylinder 2.8 is retracted in place, the amplitude changing device is controlled to descend, and the amplitude changing assembly is controlled to move down. In this way, the posture of the working device is switched from the vertical deepest drainage posture to the return posture.

After the operator presses the return posture button, when the working device controller detects that the working device is in the horizontal right side farthest drainage posture according to each sensor of the arm support, the working device is indicated to be switched from the horizontal right side farthest drainage posture to the return posture. After receiving the signal, the working device controller triggers the inner pipe rack retracting electromagnetic valve to be electrified so as to retract the inner pipe rack sliding oil cylinder 2.9, when the inner pipe rack length sensor 2.15 detects that the inner pipe rack sliding oil cylinder 2.9 is retracted in place, the working device controller causes the inner pipe rack retracting electromagnetic valve to be deenergized, the inner pipe rack sliding oil cylinder 2.9 stops moving, and triggers the outer pipe rack retracting electromagnetic valve to be electrified so as to retract the outer pipe rack sliding oil cylinder 2.8, when the outer pipe rack length sensor 2.14 detects that the outer pipe rack sliding oil cylinder 2.8 is retracted in place, the working device controller causes the outer pipe rack retracting electromagnetic valve to be deenergized, the outer pipe rack sliding oil cylinder 2.8 stops moving, and triggers the turntable left-turning electromagnetic valve to be electrified, then the turntable left-turning electromagnetic valve is deenergized, the turntable left-turning platform 2.1 stops rotating, and simultaneously triggers the boom descending electromagnetic valve to be electrified, then the boom assembly 2.3 descends along with the retraction of the luffing oil cylinder 2.2, when the lifting angle sensor 2.12 detects that the boom descending electromagnetic valve 2.2 is in place, the luffing device stops moving from the luffing device to the luffing device, and the luffing device is in the luffing state, and the luffing device is in the luffing state.

Embodiment III:

the embodiment provides a working device posture control method of a vertical lifting drainage vehicle, which is based on a working device posture control system of the vertical lifting drainage vehicle of the second embodiment, wherein the system comprises a telescopic water pipe 2.10, a rotary platform 2.1, a lifting assembly, a horizontal telescopic assembly and a length adjusting assembly;

the control method comprises the following steps:

controlling the rotary platform 2.1 to rotate the telescopic water pipe 2.10 to the water suction and drainage working direction;

controlling the lifting assembly to adjust the lifting angle of the telescopic water pipe 2.10;

controlling the horizontal telescopic assembly to adjust the horizontal telescopic distance of the telescopic water pipe 2.10;

controlling the length adjusting assembly to adjust the vertical telescopic distance of the telescopic water pipe 2.10;

and controlling the telescopic water pipe 2.10 to pump water to perform water suction and drainage operation.

The method further comprises the steps of: and receiving an attitude switching signal of an attitude switching button, and controlling the rotation platform 2.1, the lifting assembly, the horizontal telescopic assembly and the length adjusting assembly to operate according to the attitude switching signal, so that the system is switched into a corresponding attitude.

The control method comprises a positioning posture conversion method, and the positioning posture conversion method comprises the following steps of:

Triggering a translation extension electromagnetic valve to obtain electricity, and controlling the extension water pipe 2.10 to extend in a translation way; the translation angle of the amplitude boom assembly 2.3 and the connecting rod welding assembly 2.4 is obtained through the translation extension angle sensor 2.13, when the translation angle is 90 degrees, the translation extension electromagnetic valve is powered off, the translation extension is stopped, and the system is in a position posture at the moment, and the position posture conversion is completed;

the control method comprises a vertical deepest drainage gesture conversion method, and the vertical deepest drainage gesture conversion method comprises the following steps:

The control method comprises a horizontal farthest drainage gesture conversion method, and the horizontal farthest drainage gesture conversion method comprises the following steps:

when the direction selection signal of the left/right side drainage selection switch is right side, the target rotation angle of the rotary platform 2.1 is 90 degrees;

the control method comprises a return posture conversion method, wherein the return posture conversion method comprises the following steps of:

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature, and in the description of the invention, "a plurality" means two or more, unless otherwise specifically and clearly defined.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.

Claims

1. The utility model provides a perpendicular operating means attitude control system who lifts drainage car which characterized in that includes:

the telescopic water pipe is used for conveying and draining water;

the controller is used for controlling the rotation platform, the lifting assembly, the horizontal telescopic assembly and the length adjusting assembly to operate so as to adjust the posture position of the telescopic water pipe;

the rotary platform comprises an electric brush rotary body and a rotary angle sensor arranged on the electric brush rotary body;

The outer pipe rack length sensor is used for measuring the elongation of the outer pipe rack sliding oil cylinder; the inner pipe rack length sensor is used for measuring the elongation of the inner pipe rack sliding oil cylinder;

the system further comprises one or more gesture switching buttons connected to the controller, capable of sending gesture switching signals to the controller in response to button actions;

the controller can receive the gesture switching signals of the gesture switching buttons, realizes rapid and accurate detection, identification and control of the gesture of the working device through sensors arranged on each component, and controls the rotation platform, the lifting assembly, the horizontal telescopic assembly and the length adjusting assembly to operate according to the gesture switching signals, so that the system is switched to the corresponding gesture;

2. The work device attitude control system for a vertical lift drain vehicle of claim 1, wherein an interlock function exists between the plurality of attitude switching buttons.

3. The work device attitude control system of a vertical lift drain vehicle of claim 1, wherein said attitude switch button comprises a vertical deepest drain button connected to said controller;

4. The working device posture control system of a vertical lift drain vehicle of claim 1, wherein the posture switching button includes a left/right side drain selection switch and a horizontal farthest drain button each connected to the controller;

5. The work device attitude control system of a vertical lift drain vehicle of claim 1, wherein said attitude switching button includes a return attitude button connected to said controller;

6. A working device posture control method of a vertical lift drainage vehicle, based on the working device posture control system of a vertical lift drainage vehicle according to claim 1; the system comprises a telescopic water pipe, a rotary platform, a lifting assembly, a horizontal telescopic assembly and a length adjusting assembly;

the method comprises the following steps:

controlling the telescopic water pipe to pump water to perform water sucking and draining operation;

the system comprises a luffing jib assembly, a luffing cylinder, a connecting rod welding assembly, a translation mechanism cylinder, an outer pipe bracket, an inner pipe bracket, an outer pipe bracket sliding cylinder, an inner pipe bracket sliding cylinder, a turntable rotation angle sensor, a jib lifting angle sensor, a translation extension angle sensor, an inner pipe bracket length sensor, an outer pipe bracket length sensor, a turntable left-turning electromagnetic valve, a turntable right-turning electromagnetic valve, a luffing lifting electromagnetic valve, a luffing descending electromagnetic valve, a translation extension electromagnetic valve, a translation retraction electromagnetic valve, an outer pipe bracket extension electromagnetic valve, an outer pipe bracket retraction electromagnetic valve, an inner pipe bracket extension electromagnetic valve, an inner pipe bracket retraction electromagnetic valve and a gesture switching button;

The method further comprises the steps of:

receiving an attitude switching signal of the attitude switching button, and controlling the rotation platform, the lifting assembly, the horizontal telescopic assembly and the length adjusting assembly to operate according to the attitude switching signal, so that the system is switched to a corresponding attitude;

the gesture switching button comprises a positioning gesture button;

triggering a translation extension electromagnetic valve to obtain electricity, and controlling the telescopic water pipe to extend in a translation manner; the translation angle of the amplitude boom assembly and the connecting rod welding assembly is obtained through the translation extension angle sensor, when the translation angle is 90 degrees, the translation extension electromagnetic valve is powered off, the translation extension is stopped, the system is in a position posture at the moment, and the position posture conversion is completed.

7. The method for controlling the posture of a working device of a vertical lift drainage vehicle according to claim 6, wherein the posture switching button includes a vertical deepest drainage button;

triggering an inner pipe rack to extend out of the electromagnetic valve to obtain electricity, enabling the inner pipe rack to extend out of the sliding oil cylinder, obtaining the extending quantity of the sliding oil cylinder of the inner pipe rack through an inner pipe rack length sensor, when the extending quantity of the sliding oil cylinder of the inner pipe rack reaches a threshold value, enabling the inner pipe rack to extend out of the electromagnetic valve to lose electricity, enabling the sliding oil cylinder of the inner pipe rack to stop extending out, enabling the system to be in a vertical deepest drainage attitude at the moment, and completing conversion of the vertical deepest drainage attitude;

And/or the number of the groups of groups,

and/or the number of the groups of groups,

the gesture switching button comprises a return gesture button;