CN114135545A - Arm support control circuit and method of folding arm type overhead working truck - Google Patents
Arm support control circuit and method of folding arm type overhead working truck Download PDFInfo
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- CN114135545A CN114135545A CN202111351788.7A CN202111351788A CN114135545A CN 114135545 A CN114135545 A CN 114135545A CN 202111351788 A CN202111351788 A CN 202111351788A CN 114135545 A CN114135545 A CN 114135545A
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- 238000000034 method Methods 0.000 title claims description 11
- 230000000875 corresponding effect Effects 0.000 claims description 14
- 238000010276 construction Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 abstract description 9
- 239000010720 hydraulic oil Substances 0.000 description 15
- 230000033001 locomotion Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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Classifications
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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
- F15B21/08—Servomotor systems incorporating electrically operated control means
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
Abstract
The invention relates to an arm frame control circuit of a folding arm type overhead working truck, which comprises an electric proportional handle, a proportional amplifier electrically connected with the electric proportional handle, an action control switch electrically connected with the proportional amplifier, and an action selection valve electrically connected with the action control switch, wherein the output end of the proportional amplifier is connected with a speed regulating valve, the input end of the electric proportional handle is connected with a voltage dividing resistor in series, the action control switch is electrically connected with a coil of a speed selection relay, and a normally closed switch of the speed selection relay is connected with the voltage dividing resistor in parallel.
Description
Technical Field
The invention belongs to the technical field of electro-hydraulic control, and particularly relates to an arm support control circuit and an arm support control method for a folding arm type overhead working truck.
Background
At present, widely used aerial working vehicles mainly comprise a folding arm type aerial working vehicle and a telescopic arm type aerial working vehicle. The folding arm type overhead working truck has the advantages of high cost performance and durability, and is widely applied to the fields of railway construction, power maintenance and the like. The hydraulic system adopts an oil inlet proportional speed regulating valve hydraulic system provided with a multi-way selector valve, and the multi-way selector valve has the function of realizing the selection of user control actions, such as boom amplitude variation, rotary table rotation, boom extension, winch rising and falling and the like; a bypass throttle speed regulating valve is arranged at the inlet of the multi-way selector valve and used for regulating the speed of the selected control action. In actual operation, the hydraulic oil flow required by the action of each working arm is different, but the traditional control circuit provides the same hydraulic flow for all actions, so that the operation experience of a user is poor.
The arm support control circuit is used for completing the action and speed control of the arm support in cooperation with a hydraulic system. The arm support of the overhead working truck can be controlled to move more quickly and conveniently. The current scheme uses a button switch to select the type of operation and a proportional electric handle to control the speed of the selected operation.
The electric proportional handle converts the angle of the handle pushed by an operator into a boom movement speed control voltage signal, and the amplifier collects the speed control voltage signal and converts the speed control voltage signal into the driving current of the proportional electromagnet of the speed regulating valve in an equal proportion manner, so that the control of the boom movement speed is realized by controlling the flow of hydraulic oil. However, the hydraulic flow required by different operation actions of the folding arm type overhead working truck is different, such as the hydraulic oil flow required by the actions of the small arm amplitude changing start, the small arm amplitude changing fall, the clockwise rotation of the rotary table, the anticlockwise rotation of the rotary table and the lower arm amplitude changing fall is far less than the actions of the upper arm amplitude changing start, the upper arm amplitude changing fall and the lower arm amplitude changing start. But a common bypass throttle, electrically proportional handle and amplifier provide hydraulic flow for all the same actions. Therefore, when the user needs to operate actions with small hydraulic flow, such as the rotary table rotation action, the small arm amplitude variation action and the lower arm descending action, the electric proportional handle needs to be pushed by the user with great care, so as to avoid the impact and the shaking of the arm support caused by too high speed.
At present, a hydraulic system of an oil inlet proportional speed regulating valve of a part of folding arm type overhead working truck is upgraded into a hydraulic system of a load sensitive proportional multi-way reversing valve, and each action of the hydraulic system of the load sensitive proportional multi-way reversing valve is provided with an independent amplifier and a speed regulating valve, so that the problems can be effectively solved. But greatly increases the cost of the product and the cost of the user.
Chinese utility model patent CN202369350U high altitude construction car work arm plays to rise automatic acceleration control system of operation discloses an automatic acceleration system, but its control scheme is for the switching through the relay contact, controls two way different level value voltage signal input chassis ECU throttle control signal acquisition ports, through adjusting engine speed and then adjust cantilever crane speed. However, the scheme needs to frequently adjust the rotating speed of the engine, because the power of the hydraulic system is far lower than that of the chassis engine, the fuel oil sprayed by the engine is incompletely combusted, carbon deposition is easily formed after long-time use, the rotating speed of the engine changes slowly compared with a proportional valve, and the defects of high oil consumption, easy damage to the engine, slow speed regulation and the like exist.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an arm support control circuit and an arm support control method for a folding arm type overhead working truck, which can automatically adapt to the requirements of different types of actions on speed control, have a simple structure, are easy to realize, and have the advantages of low cost, high reliability and high safety.
The technical scheme adopted by the invention is as follows: the arm support control circuit of the folding arm type overhead working truck comprises an electric proportional handle, a proportional amplifier electrically connected with the electric proportional handle, an action control switch electrically connected with the proportional amplifier, and an action selection valve electrically connected with the action control switch, wherein the input end of the electric proportional handle is connected with a divider resistor in series, the action control switch is electrically connected with a coil of a speed selection relay, and a normally closed switch of the speed selection relay is connected with the divider resistor in parallel.
Preferably, the electric proportional handle adopts a potentiometer type electric proportional handle, the proportional amplifier adopts a digital proportional amplifier, and the divider resistance adopts an adjustable resistor.
Preferably, the action control switches are single-connection double-side self-resetting button switches, and the number of the action control switches is four, namely an upper arm amplitude variation control switch, a lower arm amplitude variation control switch, a small arm amplitude variation control switch and a rotary table rotation control switch.
Preferably, the number of the action selection valves is four, and the action selection valves are an upper arm amplitude variation valve, a lower arm amplitude variation valve and a rotary table rotary valve respectively.
Preferably, the speed selection relays are five, namely a rotary forward relay, a rotary reverse relay, a small arm falling relay, a small arm starting relay and a lower arm falling relay; the rotary forward relay and the rotary backward relay are electrically connected with the rotary control switch of the rotary table; the small arm falling relay and the small arm starting relay are electrically connected with the small arm amplitude variation control switch; and the lower arm drop relay is electrically connected with the lower arm amplitude variation control switch.
Preferably, the voltage-dividing adjustable resistors are five and are respectively connected in parallel with normally closed switches of a rotary forward relay, a rotary reverse relay, a small arm falling relay, a small arm starting relay and a lower arm falling relay.
A boom control method of a folding boom type overhead working truck comprises the following steps:
s1: the method comprises the following steps of dividing vehicle actions into small flow actions and large flow actions, wherein the small flow actions comprise: the small arm amplitude-variable start, the small arm amplitude-variable fall, the rotary table clockwise rotation, the rotary table anticlockwise rotation and the lower arm amplitude-variable fall; the large flow action includes: an upper arm amplitude raising device, an upper arm amplitude lowering device and a lower arm amplitude raising device;
s2: all the small-flow action control switches are electrically connected with a speed selection relay, and a normally closed switch of the speed selection relay is connected with a voltage dividing resistor in parallel;
s3: when the small-flow action control switch is pressed down, the coil of the corresponding speed selection relay is electrified, the normally closed switch is opened, and the divider resistor is connected to the proportional handle power supply circuit, so that the reference voltage of the proportional handle is reduced;
s4: when the large-flow action control switch is pressed down, the divider resistor is not connected with the proportional handle power supply circuit, and the corresponding action selection valve is communicated with the corresponding pipeline to realize action.
The invention has the beneficial effects that: 1. the circuit is matched with a hydraulic system to realize the electric control operation of the double-boom type aerial work vehicle, the control circuit can control the hydraulic system to adapt to the requirements of different actions of different working booms on the flow of hydraulic oil, the control is flexible, and the operation hand feeling of a user is improved; 2. the circuit has almost no control delay, and avoids adverse effects on arm support control possibly caused by processor operation delay; 3. the circuit is simple and reliable, is easy to realize and has higher safety; 4. the circuit reduces the overall cost of the control system.
Drawings
FIG. 1 is an electrical schematic of the present invention;
in the figure, 1-1, partial pressure adjustable electrons R1, 1-2, partial pressure adjustable electrons R2, 1-3, partial pressure adjustable electrons R3, 1-4, partial pressure adjustable electrons R4, 1-5, partial pressure adjustable electrons R5, 2, a potentiometer type electric proportional handle, 3, a digital proportional amplifier, 4-1, an upper arm amplitude variation control switch, 4-2, a lower arm control switch, 4-3, a small arm amplitude variation control switch, 4-4, a rotary table rotary control switch, 5-1, a rotary cis-relay, 5-2, a rotary inverse relay, 5-3, a small arm drop relay, 5-4, a small arm start relay, 5-5, a lower arm drop relay, 6-1, a rotary table, 6-2, a small arm amplitude variation valve, 6-3, a lower arm amplitude variation valve, 6-4, An upper arm amplitude valve 7 and a speed regulating valve.
Detailed Description
For further explanation of details and advantages of the present invention, reference is now made to the accompanying drawings and examples.
As shown in fig. 1, the output end of the potentiometer type electric proportional handle 2 is connected to the input end of the digital proportional amplifier 3, the digital proportional amplifier 3 normalizes the collected input signal and outputs a high-frequency PWM signal through the MOSFET high-speed switching circuit, and the output end of the digital proportional amplifier 3 is connected to the proportional electromagnet of the speed regulating valve 7. The digital proportional amplifier 3 detects the current of the electromagnet coil through the detection resistor and carries out current regulation to compensate current errors caused by system power supply voltage fluctuation and electromagnet coil resistance change. A series of series-connected voltage division variable resistors (R1-R5) are added in a power supply circuit of a potentiometer type electric proportional handle 2, and different voltage division resistors are connected to change the reference voltage of the electric proportional handle when different operation actions are selected, so that the output driving current of a digital proportional amplifier is influenced, the displacement of a proportional electromagnet valve core and the accurate and flexible hydraulic oil flow control are realized, and the gentle control effect of the arm support actions is achieved.
The method is characterized in that the method combines the actual situation of a folding arm type overhead working truck to divide the motion of the truck into small flow motion and large flow motion, wherein the small flow motion comprises the following steps: the small arm amplitude-variable start, the small arm amplitude-variable fall, the rotary table clockwise rotation, the rotary table anticlockwise rotation and the lower arm amplitude-variable fall; the large flow action includes: upper arm amplitude rising, upper arm amplitude falling and lower arm amplitude rising.
The action control switch is a single-connection double-side self-reset button switch. When the button switch is pulled to select the action with smaller hydraulic oil flow, the electromagnet coil of the action selection valve corresponding to the action is electrified, and the P port of the action selection valve is communicated with the pipeline corresponding to the action; meanwhile, the speed selection relay corresponding to the action is electrified, the normally closed contact of the speed selection relay corresponding to the action is opened, and a corresponding voltage division variable resistor (R1-R5) connected with the normally closed contact of the speed selection relay in parallel is connected into a circuit. When the button switch is pulled to select the action with larger hydraulic oil flow, the electromagnet coil of the action selection valve corresponding to the action is electrified, the P port of the action selection valve is communicated with the pipeline corresponding to the action, the coil of the speed selection relay is not electrified, and the voltage division variable resistor (R1-R5) is short-circuited by the normally closed contact of the speed selection relay and is not connected into a loop. The adjustable hydraulic control device comprises a speed selection relay, a speed selection relay and a voltage division variable resistor, wherein the voltage division variable resistor (R1-R5) selects an adjustable resistor, the total resistance value of a handle is 4k omega-5 k omega according to the selected electric proportion, the adjustable range of the resistance value is 0-5k omega, the resistance value of the corresponding voltage division variable resistor connected with a normally closed contact of the speed selection relay in parallel can be independently adjusted according to the hydraulic oil flow required by different arm actions, and the accurate and flexible control of the hydraulic oil flow is achieved.
The reference voltage signal of the electric proportional handle is the reference voltage Vref, the output voltage signal of the electric proportional handle, etcThe reference voltage Vref is multiplied by the handle pull angle. The reference voltage Vref is an advanced precision dc reference power provided by the digital proportional amplifier 3. When the required hydraulic oil flow is selected to be small, the electric proportional handle reference voltage signal is changed into kVref due to the voltage dividing effect of the resistor, and the output voltage signal of the electric proportional handle is equal to the product of the handle pulling angle and the reference voltage kVref. If the total resistance value of the electric proportional handle is RJ, when the rotary table is selected to rotate clockwise through the button switch,
when the reverse motion of the turntable is selected by the button switch,
when the small arm is selected to move in a variable amplitude and fall way through the button switch,
when the lower arm is selected to move in a variable amplitude and fall way through the button switch,
when the small arm is selected to change amplitude to act through the button switch,
when the hydraulic oil flow required by the operation is small, such as clockwise rotation of the rotary table, reverse rotation of the rotary table, amplitude drop of the forearm, amplitude drop of the lower arm and amplitude rise of the forearm, the output signals of the electric proportional handle are respectively and automatically reduced to the output signals of the electric proportional handle when the hydraulic oil flow required by the operation is large
And
therefore, when the rotary table is operated to rotate clockwise, the rotary table is operated to rotate reversely, the small arm amplitude falls, the lower arm amplitude falls and the small arm amplitude rises, the hydraulic oil flow when the electric proportional handle pulls the same angle is respectivelyOperating hydraulic oil flow during luffing of upper arm, luffing of lower arm
And
therefore, the hydraulic oil flow required by automatic matching of different arm support actions is realized.
Meanwhile, the action control button switch also has the function of enabling the button, and when a user needs to simultaneously operate the arm support action control button switch and the electric proportional handle, the arm support can be controlled to operate. Therefore, the misoperation of the arm support caused by the fact that the electric proportional handle is touched by mistake or damaged can be avoided.
Claims (7)
1. The utility model provides a roll over cantilever crane control circuit of arm-type high altitude construction car, includes electric proportional handle, proportional amplifier with electric proportional handle electric connection, with proportional amplifier electric connection's action control switch, with action control switch electric connection's action selection valve, proportional amplifier's output connection governing valve, its characterized in that: the input end of the electric proportional handle is connected with a divider resistor in series, the action control switch is electrically connected with a coil of the speed selection relay, and a normally closed switch of the speed selection relay is connected with the divider resistor in parallel.
2. The boom control circuit of the folding boom type aerial lift truck according to claim 1, wherein: the electric proportional handle adopts a potentiometer type electric proportional handle (2), the proportional amplifier adopts a digital proportional amplifier (3), and the divider resistance adopts an adjustable resistor.
3. The boom control circuit of the folding boom type aerial lift truck according to claim 1 or 2, wherein: the action control switches are single-connection double-side self-resetting button switches, and the number of the action control switches is four, namely an upper arm amplitude variation control switch (4-1), a lower arm amplitude variation control switch (4-2), a lower arm amplitude variation control switch (4-3) and a rotary table rotation control switch (4-4).
4. The boom control circuit of the folding boom type aerial lift truck according to claim 1 or 2, wherein: the four action selection valves are respectively an upper arm amplitude variation valve (6-4), a lower arm amplitude variation valve (6-3), a lower arm amplitude variation valve (6-2) and a rotary table rotary valve (6-1).
5. The boom control circuit of the folding boom type aerial lift truck according to claim 3, wherein: the speed selection relays are five, namely a rotary forward relay (5-1), a rotary reverse relay (5-2), a small arm drop relay (5-3), a small arm start relay (5-4) and a lower arm drop relay (5-5); the rotary forward relay (5-1) and the rotary reverse relay (5-2) are electrically connected with the rotary control switch (4-4) of the rotary table; the small arm falling relay (5-3) and the small arm starting relay (5-4) are electrically connected with the small arm amplitude-changing control switch (4-3); the lower arm drop relay (5-5) is electrically connected with the lower arm amplitude variation control switch (4-2).
6. The boom control circuit of the folding boom type aerial lift truck according to claim 5, wherein: five voltage-dividing adjustable resistors are connected in parallel with normally closed switches of a rotary forward relay (5-1), a rotary reverse relay (5-2), a small arm falling relay (5-3), a small arm starting relay (5-4) and a lower arm falling relay (5-5) respectively.
7. A boom control method of a folding boom type overhead working truck is characterized in that: the method comprises the following steps:
s1: the method comprises the following steps of dividing vehicle actions into small flow actions and large flow actions, wherein the small flow actions comprise: the small arm amplitude-variable start, the small arm amplitude-variable fall, the rotary table clockwise rotation, the rotary table anticlockwise rotation and the lower arm amplitude-variable fall; the large flow action includes: an upper arm amplitude raising device, an upper arm amplitude lowering device and a lower arm amplitude raising device;
s2: all the small-flow action control switches are electrically connected with a speed selection relay, and a normally closed switch of the speed selection relay is connected with a voltage dividing resistor in parallel;
s3: when the small-flow action control switch is pressed down, the coil of the corresponding speed selection relay is electrified, the normally closed switch is opened, and the divider resistor is connected to the proportional handle power supply circuit, so that the reference voltage of the proportional handle is reduced;
s4: when the large-flow action control switch is pressed down, the divider resistor is not connected with the proportional handle power supply circuit, and the corresponding action selection valve is communicated with the corresponding pipeline to realize action.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111351788.7A CN114135545B (en) | 2021-11-15 | 2021-11-15 | Arm support control circuit and method of folding arm type overhead working truck |
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| CN202111351788.7A CN114135545B (en) | 2021-11-15 | 2021-11-15 | Arm support control circuit and method of folding arm type overhead working truck |
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| CN209411632U (en) * | 2018-11-22 | 2019-09-20 | 徐州海伦哲特种车辆有限公司 | A kind of small connecting lever insulating overhead operating vehicle cantilever crane and its control system |
| CN111857007A (en) * | 2020-07-30 | 2020-10-30 | 徐州徐工随车起重机有限公司 | Arm support control circuit suitable for folding arm type overhead working truck |
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2021
- 2021-11-15 CN CN202111351788.7A patent/CN114135545B/en active Active
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| JP2004323227A (en) * | 2003-04-28 | 2004-11-18 | Aichi Corp | Accelerator control device of equipment mounted working vehicle |
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| CN114135545B (en) | 2024-03-12 |
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