CN114135545B - 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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- CN114135545B CN114135545B CN202111351788.7A CN202111351788A CN114135545B CN 114135545 B CN114135545 B CN 114135545B CN 202111351788 A CN202111351788 A CN 202111351788A CN 114135545 B CN114135545 B CN 114135545B
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- 238000000034 method Methods 0.000 title claims description 15
- 230000001105 regulatory effect Effects 0.000 claims abstract description 7
- 230000000875 corresponding effect Effects 0.000 claims description 17
- 210000000245 forearm Anatomy 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 description 16
- 230000033001 locomotion Effects 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 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
- 238000010276 construction Methods 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
- 239000000446 fuel Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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"
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The utility model relates to an arm support 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, an action selection valve electrically connected with the action control switch, and a speed regulating valve connected with the output end of the proportional amplifier, wherein 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 utility model belongs to the technical field of electrohydraulic control, and particularly relates to a cantilever crane control circuit and method of a folding arm type overhead working truck.
Background
Currently, widely used aerial vehicles mainly include folding arm aerial vehicles and telescopic arm aerial vehicles. 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 is mainly an oil inlet proportional speed regulating valve hydraulic system provided with a multi-path selection valve, and the multi-path selection valve has the functions of realizing selection of user operation actions, such as arm support amplitude variation, turntable rotation, arm support expansion and retraction, winch lifting and the like; a bypass throttle speed control valve is arranged at the inlet of the multi-way selection valve and used for adjusting 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 the actions, so that the user operation experience is poor.
The boom control circuit is used for completing the motion and speed control of the boom in cooperation with the hydraulic system. So that the arm support action of the aerial working vehicle can be controlled more quickly and conveniently. The current scheme uses a toggle switch to select the type of manipulation action and uses an electrical proportional handle to manipulate the speed of the selected action.
The electric proportional handle converts the angle of an operator pushing the handle 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 a speed control valve proportional electromagnet driving current in an equal proportion, so that the boom movement speed is controlled by controlling the flow of hydraulic oil. But 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 small arm amplitude lifting, the small arm amplitude falling, the rotating table forward rotation, the rotating table reverse rotation and the lower arm amplitude falling actions is far smaller than the hydraulic oil flow required by the upper arm amplitude lifting, the upper arm amplitude falling and the lower arm amplitude lifting actions. But a common bypass throttle, electrical proportional handle and amplifier provide the same hydraulic flow for all actions. Therefore, when the user operation needs the action with small hydraulic flow, such as the revolving action of the turntable, the amplitude-changing action of the forearm and the descending action of the lower arm, the electric proportional handle needs to be pushed with a wing carefully so as to avoid the impact and the shaking of the arm support caused by the too high speed.
At present, the partial folding arm type overhead working truck upgrades the oil inlet proportional speed regulating valve hydraulic system into a load sensitive proportional multi-way reversing valve hydraulic system, and each action of the load sensitive proportional multi-way reversing valve hydraulic system 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 increases the cost of the user.
The utility model patent CN202369350U discloses an automatic acceleration control system for lifting operation of a working arm of an overhead working truck, but the control scheme is that two paths of voltage signals with different level values are controlled to be input into an ECU (electronic control Unit) accelerator control signal acquisition port of a chassis through switching of relay contacts, and the rotation speed of an engine is regulated to regulate the speed of an arm support. However, the scheme needs to frequently adjust the rotation speed of the engine, and because the power of the hydraulic system is far lower than that of the chassis engine, the fuel injected by the engine is not completely combusted, carbon deposition is easy to form after long-time use, and the rotation speed of the engine is changed slowly compared with a proportional valve, so that the defects of high oil consumption, easy damage of the engine, slow speed regulation and the like exist.
Disclosure of Invention
In order to solve the problems in the prior art, the utility model provides the arm support control circuit and the method for the folding arm type aerial working vehicle, which can automatically adapt to the requirements of different types of actions on speed control, and have the advantages of simple structure, easy realization, low cost, high reliability and high safety.
The utility model adopts the technical scheme that: 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, an action selection valve electrically connected with the action control switch, a voltage dividing resistor connected with the input end of the electric proportional handle in series, a coil of a speed selection relay electrically connected with the action control switch, and a normally closed switch of the speed selection relay connected with the voltage dividing 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 resistor adopts an adjustable resistor.
Preferably, the action control switch adopts a single-link double-side self-reset toggle switch, and the four action control switches are an upper arm amplitude variation control switch, a lower arm amplitude variation control switch, a forearm amplitude variation control switch and a turntable rotation control switch respectively.
Preferably, the four action selection valves are an upper arm amplitude changing valve, a lower arm amplitude changing valve, a small arm amplitude changing valve and a rotary table rotary valve respectively.
Preferably, the five speed selection relays are respectively a rotary forward relay, a rotary reverse relay, a small arm drop relay, a small arm start relay and a lower arm drop relay; the rotary forward relay and the rotary reverse relay are electrically connected with the rotary control switch of the turntable; the small arm drop relay and the small arm lifting relay are electrically connected with the small arm amplitude variation control switch; the lower arm drop relay is electrically connected with the lower arm amplitude variation control switch.
Preferably, the voltage division adjustable resistors are respectively connected with normally closed switches of the rotary forward relay, the rotary reverse relay, the small arm drop relay, the small arm start relay and the lower arm drop relay in parallel.
A cantilever crane control method of a folding arm type overhead working truck comprises the following steps:
s1: vehicle actions are classified into small flow actions and large flow actions, where the small flow actions include: the small arm amplitude is started, the small arm amplitude is dropped, the rotary table rotates forward, and the rotary table rotates reversely and the lower arm amplitude is dropped; the high flow action includes: the upper arm amplitude is up, the upper arm amplitude is down, and the lower arm amplitude is up;
s2: all the small-flow action control switches are electrically connected with a speed selection relay, and normally closed switches of the speed selection relay are connected with a voltage dividing resistor in parallel;
s3: when the small flow action control switch is pressed down, the corresponding speed is used for selecting the relay coil to be electrified, the normally closed switch is opened, and the voltage dividing resistor is connected to the power supply circuit of the proportional handle, so that the reference voltage of the proportional handle is reduced;
s4: after the large-flow action control switch is pressed, the voltage dividing resistor is not connected to the proportional handle power supply circuit, and the corresponding action selection valve is communicated with the corresponding pipeline to realize action.
The utility model has the beneficial effects that: 1. the circuit is matched with a hydraulic system to realize the electric control operation of the folding arm type overhead working truck, the control circuit can control the hydraulic system to adapt to the requirements of different actions of different working arms 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 possibly caused by operation delay of a processor on arm support control; 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 utility model;
in the figure, 1-1, voltage division adjustable electronics R1,1-2, voltage division adjustable electronics R2,1-3, voltage division adjustable electronics R3,1-4, voltage division adjustable electronics R4,1-5, voltage division adjustable electronics R5,2, potentiometer-type electric proportional handles, 3, digital proportional amplifiers, 4-1, upper arm amplitude control switches, 4-2, lower arm amplitude control switches, 4-3, forearm amplitude control switches, 4-4, turntable rotation control switches, 5-1, rotation relay, 5-2, rotation relay, 5-3, forearm relay, 5-4, forearm relay, 5-5, lower arm relay, 6-1, turntable rotary valve, 6-2, forearm amplitude valve, 6-3, lower arm amplitude valve, 6-4, upper arm amplitude valve, 7, speed regulation valve.
Detailed Description
For further explanation of the details of the technical solution of the present utility model and its advantages, reference will now be 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 then outputs a high-frequency PWM signal through a MOSFET high-speed switching circuit, and the output end of the digital proportional amplifier 3 is connected with a proportional electromagnet of the speed regulating valve 7. The digital proportional amplifier 3 detects the electromagnet coil current through the detection resistor and performs current adjustment to compensate for current errors caused by system supply voltage fluctuations and electromagnet coil resistance changes. A series of voltage dividing variable resistors (R1-R5) are added in a power supply circuit of the potentiometer type electric proportional handle 2, and the reference voltage of the electric proportional handle is changed by selecting different voltage dividing resistors during different operation actions, so that the output driving current of the digital proportional amplifier is influenced, the displacement of a valve core of a proportional electromagnet and the accurate and flexible flow control of hydraulic oil are realized, and the gentle control effect of the arm support action is achieved.
The vehicle actions are divided into small flow actions and large flow actions by combining the actual situation of the folding arm type overhead working truck, wherein the small flow actions comprise: the small arm amplitude is started, the small arm amplitude is dropped, the rotary table rotates forward, and the rotary table rotates reversely and the lower arm amplitude is dropped; the high flow action includes: the upper arm amplitude is up, the upper arm amplitude is down, and the lower arm amplitude is up.
The action control switch is a single-connection double-side self-reset toggle switch. When the toggle switch is operated to select 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 corresponding speed selection relay is powered on, the normally-closed contact of the corresponding speed selection relay is opened, and the corresponding voltage division variable resistors (R1-R5) connected in parallel with the normally-closed contact of the speed selection relay are connected into a circuit. When the toggle switch is operated with larger flow of hydraulic oil, 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 coils of the speed selection relay are not electrified, and the voltage division variable resistors (R1-R5) are short-circuited by the normally closed contacts of the speed selection relay and are not connected into the loop. The voltage-dividing variable resistors (R1-R5) are adjustable resistors, the total resistance of the selected electric proportional handles is 4k omega-5 k omega, the adjustable range of the resistance is 0-5k omega, the resistance of the corresponding voltage-dividing variable resistor which is connected with the normally-closed contact of the speed-selecting relay in parallel can be independently adjusted according to the hydraulic oil flow required by different arm body actions, and the accurate and flexible control of the hydraulic oil flow is achieved.
The reference voltage signal of the electric proportional handle is reference voltage Vref, and the output voltage signal of the electric proportional handle is equal to the handle pulling angle multiplied by the reference voltage Vref. The reference voltage Vref is an advanced precision direct current reference power supply provided by the digital proportional amplifier 3. When the required hydraulic oil flow is selected to be smaller, the reference voltage signal of the electric proportional handle is changed into kVref under the voltage division effect of the resistor, and the output voltage signal of the electric proportional handle is equal to the handle pulling angle multiplied by the reference voltage kVref. If the total resistance of the electric proportional handle is RJ, when the rotary table is selected to rotate forward through the toggle switch,when the reversing action of the turntable is selected by the toggle switch, < + >>When the forearm amplitude-variable falling action is selected through the toggle switch, the user is in the left/right direction>When the lower arm amplitude-changing falling action is selected through the toggle switch, the user is in the left or right position>When the forearm amplitude is selected to act through the toggle switch,
because the hydraulic oil flow required by operation is small, such as the rotation of the rotary table, the reverse rotation of the rotary table, the falling of the small arm amplitude, the falling of the lower arm amplitude and the starting of the small arm amplitude, the output signal of the electric proportional handle is respectively and automatically reduced to the output signal of the electric proportional handle when the hydraulic oil flow required by operation is largeIs->Therefore, when the rotary table is operated to rotate clockwise, the rotary table is reversed, the small arm amplitude is lowered, the lower arm amplitude is lowered and the small arm amplitude is raised, the hydraulic oil flow when the electric proportional handle is pulled at the same angle is respectively the hydraulic oil flow when the upper arm amplitude is raised, the upper arm amplitude is lowered and the lower arm amplitude is raisedIs->Thereby realizing the automatic matching of different arm support actions and the required hydraulic oil flow.
Meanwhile, the action control button switch also has the function of enabling a key, and a user can control the arm support to operate when the arm support action control button switch and the electric proportional handle are operated simultaneously. Therefore, the misoperation of the arm support caused by the mistaken touch of the electric proportional handle or the damage of the electric proportional handle can be avoided.
Claims (6)
1. The arm support control method 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, an action selection valve electrically connected with the action control switch, a speed regulating valve connected with the output end of the proportional amplifier, a voltage dividing resistor connected with the input end of the electric proportional handle in series, a coil of a speed selection relay electrically connected with the action control switch, a normally closed switch of the speed selection relay connected with the voltage dividing resistor in parallel,
the method is characterized by comprising the following steps of:
s1: vehicle actions are classified into small flow actions and large flow actions, where the small flow actions include: the small arm amplitude is started, the small arm amplitude is dropped, the rotary table rotates forward, and the rotary table rotates reversely and the lower arm amplitude is dropped; the high flow action includes: the upper arm amplitude is up, the upper arm amplitude is down, and the lower arm amplitude is up;
s2: all the small flow action control switches are electrically connected with a speed selection relay, the corresponding voltage division variable resistors R1-R5 connected in parallel with the normally closed contacts of the speed selection relay are connected into a circuit, when the toggle switch selects large flow action, the electromagnet coils of the action selection valves corresponding to the actions are powered on, the action selection valves are communicated with the corresponding action pipelines, the coils of the speed selection relay are not powered on, and the voltage division variable resistors R1-R5 are short-circuited by the normally closed contacts of the speed selection relay and are not connected into the circuit;
s3: when the small flow action control switch is pressed down, the corresponding speed is used for selecting the relay coil to be electrified, the normally closed switch is opened, and the voltage dividing resistor is connected to the power supply circuit of the proportional handle, so that the reference voltage of the proportional handle is reduced; when the small flow action is selected, the reference voltage signal of the electric proportional handle is changed into kVref under the voltage division effect of the resistor, the output voltage signal of the electric proportional handle is equal to the handle pulling angle multiplied by the reference voltage kVref, and the total resistance value of the electric proportional handle is set as R J When the rotary table is selected to rotate forward through the toggle switch,when the reversing action of the turntable is selected by the toggle switch, < + >>When the forearm amplitude-variable falling action is selected through the toggle switch, the user is in the left/right direction> When the lower arm amplitude-changing falling action is selected through the toggle switch, the user is in the left or right position>When the forearm amplitude is selected to act through the toggle switch, the control valve is in the opening state>
S4: after the large-flow action control switch is pressed, the voltage dividing resistor is not connected to the proportional handle power supply circuit, and the corresponding action selection valve is communicated with the corresponding pipeline to realize action.
2. The boom manipulation method of a folding-arm type aerial working vehicle according to claim 1, wherein the boom manipulation method comprises the following steps: the electric proportional handle adopts a potentiometer type electric proportional handle (2), the proportional amplifier adopts a digital proportional amplifier (3), and the divider resistor adopts an adjustable resistor.
3. The boom manipulation method of a folding-arm type aerial working vehicle according to claim 1 or 2, characterized by comprising the steps of: the action control switches adopt single-linked double-sided self-reset toggle 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 forearm amplitude variation control switch (4-3) and a turntable rotation control switch (4-4).
4. The boom manipulation method of a folding-arm type aerial working vehicle according to claim 1 or 2, characterized by comprising the steps of: the four action selection valves are respectively an upper arm amplitude changing valve (6-4), a lower arm amplitude changing valve (6-3), a small arm amplitude changing valve (6-2) and a rotary table rotary valve (6-1).
5. The boom manipulation method of a folding-arm type aerial working vehicle according to claim 1, wherein the boom manipulation method comprises the following steps: the five speed selection relays are respectively a rotary forward relay (5-1), a rotary reverse relay (5-2), a small arm drop relay (5-3), a small arm lifting 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 drop relay (5-3) and the small arm lifting relay (5-4) are electrically connected with the small arm amplitude change 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 manipulation method of a folding-arm type aerial working vehicle according to claim 1, wherein the boom manipulation method comprises the following steps: the five voltage dividing resistors are respectively connected with normally closed switches of the rotary forward relay (5-1), the rotary reverse relay (5-2), the small arm drop relay (5-3), the small arm starting relay (5-4) and the lower arm drop relay (5-5) in parallel.
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| Application Number | Priority Date | Filing Date | Title |
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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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| Application Number | Priority Date | Filing Date | Title |
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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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| CN114135545A CN114135545A (en) | 2022-03-04 |
| CN114135545B true CN114135545B (en) | 2024-03-12 |
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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
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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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| Publication number | Publication date |
|---|---|
| CN114135545A (en) | 2022-03-04 |
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