CN114408753A

CN114408753A - Arm support control method, system and device and engineering vehicle

Info

Publication number: CN114408753A
Application number: CN202111656968.6A
Authority: CN
Inventors: 刘宇; 陈新志; 禹源
Original assignee: Hunan Zoomlion Emergency Equipment Co Ltd
Current assignee: Hunan Zoomlion Emergency Equipment Co Ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2022-04-29

Abstract

The invention relates to a method, a system and a device for controlling arm support and an engineering vehicle, wherein the control method comprises the following steps: acquiring a first parameter of the current position of the arm support; whether the first parameter exceeds a preset parameter range of the movable support is taken as a judgment condition, and a first judgment result of whether the first parameter exceeds the preset parameter range is obtained; if the difference is over, the first parameter of the current position of the arm support is obtained again; if not, adjusting the position of the movable support to a first state; whether the center line of the arm support and the center of the movable support in the first state coincide is taken as a second judgment condition, and a second judgment result whether the arm support can directly fall is obtained; if not, the position of the movable support is adjusted to the first state. If so, the arm support falls on the movable support, and the arm support and the movable support are coincided with the center line of the vehicle. The boom support control method, system and device and the engineering vehicle can improve the boom centering efficiency and improve the driving safety of the engineering vehicle.

Description

Arm support control method, system and device and engineering vehicle

Technical Field

The invention belongs to the technical field of engineering vehicle control, and particularly relates to a method, a system and a device for controlling arm support and an engineering vehicle.

Background

With the rapid development of economic construction in China, the market demand for engineering vehicles, particularly large-tonnage engineering vehicles, is increasing day by day, so that the common engineering vehicles are developing towards large-scale, and the large-scale engineering vehicles are an important design target of the engineering vehicles.

Taking a lifting fire truck or an aerial working truck as an example, the top ends of the arm supports of the arm support type fire truck and the large aerial working truck are provided with fire-fighting bubbles or working platforms and other mechanisms, so that the functions of water spraying, rescue, aerial working and the like can be realized, along with the continuous development of the market, the rice-number aerial working truck has higher requirements, and the vehicles are continuously developed towards large-scale.

The large-scale lifting vehicle has the advantages that due to the existence of the long arm support, the gravity center of the whole vehicle is high, the weight of the arm support is large, if the formed state cannot be in a locking state, the vehicle is easy to have accidents, meanwhile, the arm support effectively separates an arm support system from a cab and other parts, and reasonable distance is ensured to be reserved among the parts, so that the large-scale lifting vehicle is a very key and important part.

In the prior art, the boom support is a fixed support, and for an engineering vehicle with a long boom, the movement speed of the boom within the boom support range must be very low, and due to the existence of inertia, the boom often rushes through the boom support middle position, which requires continuous and repeated adjustment by an operator, and the efficiency is very low.

Disclosure of Invention

The invention aims to solve the technical problems and provide an arm support control method, wherein a following arm support centering mode is adopted to support an arm support, the arm support does not need to adjust the posture repeatedly to adapt to the position of the arm support, and finally the arm support, the arm support center and the vehicle center are overlapped, so that the driving safety of an engineering vehicle can be improved on the basis of improving the arm support centering efficiency, and the side turning of the vehicle caused by the problems of deflection, unstable gravity center and the like can be avoided. Other objects of the present invention are to provide a system, a device and an engineering vehicle for supporting a boom, which can achieve the above technical effects by directly or indirectly using a control method for supporting the boom.

The technical scheme of the invention is as follows:

a boom support control method, the method comprising:

acquiring a first parameter of the current position of the arm support;

taking whether the first parameter exceeds a preset parameter range of the movable support as a judgment condition, and obtaining a first judgment result whether the first parameter is out of tolerance;

if the first judgment result is out of tolerance, the first parameter of the current position of the arm support is obtained again;

if the first judgment result is that the error does not exist, adjusting the position of the movable support to a first state;

whether the center line of the arm support and the center of the movable support in the first state coincide is taken as a second judgment condition, and a second judgment result whether the arm support can directly fall is obtained;

if the second judgment result is negative, the position of the movable support is adjusted to the first state.

If the second judgment result is yes, the arm support is directly dropped on the movable support, and the centers of the arm support and the movable support are adjusted to be coincident with the center line of the vehicle.

Preferably, before the first parameter of the current position of the arm support is obtained, the mobile support is in an initial state;

when the movable support is in the initial state, the center of the movable support is coincident with the center line of the vehicle.

Preferably, when the movable support is in an initial state, the center of the movable support is coincident with the center line of the fixed support of the bottom;

when the movable support is in the first state, the center of the movable support is staggered with the center line of the fixed support at the bottom.

Preferably, the moving means moves in a first direction, the first direction being a direction perpendicular to the vehicle centerline;

the mobile device has a first extreme position point and a second extreme position point in a first direction.

Preferably, a first line segment is constructed by the first limit position point and the boom rotation center point;

constructing a second line segment by using the second extreme position point and the arm support rotation central point;

the preset parameter range of the movable support comprises a first included angle, and the first included angle comprises an included angle between a first line segment and a second line segment;

the first parameter for acquiring the current position of the arm support comprises a second included angle, and the second included angle is an included angle between a center line of the arm support and a vehicle center line when the arm support is at the current position;

whether the first parameter exceeds the preset parameter range of the movable support or not comprises whether the second included angle is larger than the first included angle or not.

the mobile device has a first extreme position point and a second extreme position point in a first direction;

the preset parameter range of the movable support comprises a first distance, and the first distance comprises the distance between a first limit position point and a second limit position point;

the first parameter of the current position of the arm support comprises a second distance, and the second distance is a vertical distance from a projection point of the center line of the arm support projected on the mobile support to the center line of the vehicle when the arm support is at the current position;

whether the first parameter exceeds a preset parameter range of the movable support comprises whether the second distance is greater than the first distance.

Preferably, the control system comprises:

the boom gesture obtaining module is used for obtaining a first parameter corresponding to the boom gesture in real time;

the first comparison module is used for comparing the first parameter with a preset parameter range of the movable support;

the first control module is used for controlling the arm support posture acquisition module to acquire the first parameter corresponding to the arm support posture again in real time when the first parameter exceeds the preset parameter range of the mobile support;

the second control module is used for controlling the movable support to adjust the position to a first state when the first parameter does not exceed the preset parameter range of the movable support;

the first judgment module is used for judging whether the center line of the arm support is superposed with the center of the movable support in the first state;

the third control module is used for controlling the second control module to continuously control the movable support to adjust the position to the first state when the center line of the arm support is coincident with the center of the movable support in the first state;

and the fourth control module is used for controlling the arm support to directly fall on the movable support when the center line of the arm support is not coincident with the center of the movable support in the first state, and adjusting the centers of the arm support and the movable support to be coincident with the center line of the vehicle.

Preferably, the boom posture acquiring module acquires an included angle between a boom center line and a vehicle center line corresponding to the boom posture in real time, and/or acquires an included angle between the boom center line and the vehicle center line corresponding to the boom posture in real time

And acquiring the vertical distance between the projection point of the central line of the arm support projected on the movable support and the central line of the vehicle under the arm support posture in real time.

The arm support supporting device is adopted in the arm support supporting control method, and comprises a movable supporting component.

An engineering vehicle comprises the arm support control system.

The invention provides a method for controlling the support of an arm support, which judges whether the arm support moves to the supportable range of a mobile support or not by comparing a first parameter of the arm support in a real-time state with a preset parameter range of the mobile support, if the first parameter of the arm support falls to the supportable range of the mobile support, the mobile support moves to the lower part of the current state of the arm support, then judges whether the mobile support has the actual condition of directly falling the arm support or not, judges whether the center line of the arm support is coincident with the center line of the mobile support in the current state or not, if the center line of the arm support is coincident with the center line of the mobile support, the mobile support does not move in place, continuously adjusts the position of the mobile support until the center line of the arm support and the center line of the mobile support are coincident, and after the arm support falls to the mobile support, the positions of the arm support, the center of the arm support and the center of a vehicle are coincident, so that the engineering vehicle does not need to continuously adjust the position of the arm support to place the arm support on the arm support, the method for controlling the cantilever crane support is characterized in that the position of the cantilever crane is firstly roughly adjusted initiatively, and then the position of the movable support is continuously adjusted in a mode of moving the support to follow the cantilever crane, so that the cantilever crane is overlapped with the center of the movable support before falling to the movable support, and the centering time of the cantilever crane caused by the reasons of length, inertia and the like is greatly reduced.

The boom support control system, the device and the engineering vehicle provided by the invention adopt a boom support control method directly or indirectly, and the technical effects can be achieved.

Drawings

Fig. 1 is a flowchart of a boom support control method according to an embodiment of the present invention;

fig. 2 is a flowchart of a boom support control method according to an embodiment of the present invention;

fig. 3 is a structural diagram of an arm support control system according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of the boom support device provided in the present invention;

fig. 5 is a schematic structural diagram of the arm support supporting device moving seat for finding the arm support provided by the invention;

FIG. 6 is a front view of the boom support apparatus of the present invention on a vehicle;

fig. 7 is a top view of the boom support apparatus provided in the present invention on a vehicle;

fig. 8 is a schematic structural view of the boom provided by the present invention not yet falling onto the boom support device;

fig. 9 is a schematic structural diagram of the boom support apparatus provided in the present invention;

fig. 10 is a schematic structural diagram of the boom support apparatus provided in the present invention;

fig. 11 is a schematic structural diagram of the boom support device provided in the present invention.

Description of the reference numerals

1. Fixing the support component; 11. a support frame; 111. a straight web member; 112. a diagonal web member; 2. moving the support assembly; 21. a movable seat; 211. a second rack portion; 22. a transverse support; 23. a vertical support; 24. an anti-collision block; 3. a drive assembly; 31. a holder; 32. a belt; 33. a belt pulley; 34. a mounting seat; 341. a first rack portion; 35. a first driving member; 36. a first gear; 37. a second gear; 10. an arm support posture acquisition module; 20. a first comparison module; 30. a first control module; 40. a second control module; 50. a first judgment module; 60. a third control module; 70. a fourth control module; 100. a boom; 200. a vehicle; 300. arm support strutting arrangement.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present invention, it is to be understood that the terms "upper", "lower", and the like, indicate an orientation or positional relationship only for convenience of description and simplicity of description, but do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the prior art, the boom support is a fixed support, and the limiting parts are arranged at two ends of the boom support, so that the boom is prevented from falling off from the boom support in the driving process of a vehicle, the distance between the limiting part and the side part of the boom cannot be too large, and the boom is shaken in the boom support length due to the too large distance, which easily causes damage to the boom, therefore, the limiting part is arranged, so that the centering (placed at the central position of the boom support) precision requirement of the boom is extremely high when the boom is below, and the boom rotation error is usually required to be placed on the support within +/-0.5 degrees. However, for an engineering vehicle with a long boom, such as a 150m long boom, it is difficult to control the rotation error within ± 0.5 °, the movement speed of the boom within the boom support range must be very low, and due to the existence of inertia, the boom often rushes through the center of the boom support, which requires the operator to repeatedly adjust the boom, and the efficiency is very low.

As shown in fig. 1, the method for controlling the support of the boom provided by the present invention includes:

s101, acquiring a first parameter of the current position of the arm support 100;

s102, obtaining a first judgment result of whether the first parameter is out of tolerance by taking whether the first parameter exceeds a preset parameter range of the movable support as a judgment condition;

s103, if the first judgment result is out of tolerance, jumping to the step S101;

s104, if the first judgment result is that the error is not out of tolerance, adjusting the position of the movable support to a first state;

s105, obtaining a second judgment result of whether the arm support 100 can directly fall or not by taking whether the center line of the arm support 100 is superposed with the center of the movable support in the first state as a second judgment condition;

s106, if the second judgment result is negative, jumping to the step S104;

s107, if the second judgment result is yes, the arm support 100 directly falls on the movable support,

and S108, the centers of the arm support 100 and the movable support are coincided with the center line of the vehicle 200.

The boom support control method comprises the steps that when an engineering vehicle runs or the boom 100 needs to obtain auxiliary support from the bottom to achieve the purpose of safe running of the engineering vehicle, a first parameter of the boom 100 in real time (the current position) is obtained, whether the first parameter exceeds a preset parameter range of a movable support or not is judged, the position of the movable support capable of supporting the boom 100 is limited due to the structural limitation of the movable support and the limitation of other practical conditions, the movable support is enabled to have a supportable preset parameter range by the limited position, when the first parameter exceeds the preset parameter range of the movable support, the boom 100 is not close to a supportable area of the movable support, and then the current position of the boom 100 is continuously monitored; if the first parameter does not exceed the preset parameter range of the mobile support, it indicates that the boom 100 is already close to the region where the mobile support can be supported, the mobile support is adjusted to the first state, at this time, the boom 100 is not moved, the mobile support is close to the boom 100, the mobile support can make a preparation for the boom 100 to fall, on the basis of completing the above steps, it is further determined whether the boom 100 has an implementation condition for directly falling onto the mobile support, therefore, whether the center line of the boom 100 is overlapped with the center of the mobile support in the first state is performed, if the center line of the boom 100 is not overlapped with the center of the mobile support, it indicates that the mobile support is not moved in place, the boom 100 does not have a realistic condition for directly falling onto the mobile support, for example, if the falling is possible or the boom 100 is collided with other limit pieces on the mobile support, the state of the mobile support is continuously adjusted until the center line of the boom 100 is overlapped with the center of the mobile support in the first state, the actual condition that the boom 100 directly falls on the movable support is shown, the boom 100 can directly fall, then the positions of the boom 100 and the movable support are synchronously adjusted, so that the center line of the boom 100, the center line of the movable support and the center line of the vehicle 200 are always coincided, therefore, the invention aims to provide the boom support control method, the boom 100 is supported in a following type boom 100 support centering mode, the boom 100 does not need to repeatedly adjust the posture to adapt to the position supported by the boom 100, and finally the support of the boom 100, the center of the boom 100 and the center of the vehicle 200 are coincided, so that on the basis of improving the centering efficiency of the boom 100, the driving safety of the engineering vehicle can be improved, and the rollover of the vehicle 200 caused by the problems of deflection, unstable gravity center and the like can be avoided.

Meanwhile, the pointed first state refers to that the boom 100 and the mobile support are at least partially overlapped (the projection of the boom 100 can fall on the mobile support), and the boom support method provided by the invention can also effectively avoid that the boom 100 starts to be centered when not approaching the mobile support, and on the other hand, the centering efficiency of the boom 100 is also improved. The moving support in the arm support control method can be regarded as the moving support component 2.

It should be noted that, the boom support control method provided by the present invention is fundamentally different from the boom 100 support method in the prior art in terms of technical mechanism, and the boom 100 support method in the prior art is, for example, that a boom 100 support seat is arranged between a cab of a vehicle 200 and a rotation center of the boom 100, and an operator continuously adjusts the posture of the boom 100 until the boom 100 can be placed on the boom 100 support seat, especially some long booms 100 are located at a position close to the boom 100 support seat, so that the long boom 100 inevitably has some rotation errors, and the boom 100 cannot be placed at a centered position, and thus the operator is required to continuously and repeatedly adjust the boom, and the efficiency is extremely low. The core of the invention is that the arm support 100 is firstly moved to the region where the movable support can be supported, and then the movable support is moved through the immobility of the arm support 100, so that once the arm support 100 falls into the region where the movable support can be supported, the movable support follows the arm support 100 in real time, and the center of the movable support is coincident with the center line of the arm support 100, which only indicates that the movable support has the implementation condition that the arm support 100 can directly fall down. The method changes the mode that the arm support 100 in the prior art moves to adapt to the support of the arm support 100 into the mode that the whole supporting and centering process of the arm support 100 is decomposed into a first step, wherein the arm support 100 moves, and whether the arm support 100 is in a region which can be supported by the movable support is judged; and secondly, moving the support to track the center line of the arm support 100, so that the arm support control method provided by the invention is different from the arm support 100 support mode in the prior art in the technical mechanism from step logic to implementation.

Without loss of generality, as shown in fig. 1 and fig. 2, on the basis of the previous embodiment, before the first parameter of the current position of the boom 100 is obtained, the mobile support is in an initial state; when the mobile support is in the initial state, the center of the mobile support coincides with the center line of the vehicle 200. The working condition that the boom 100 just falls into the region where the movable support can be supported when the boom 100 starts to move is applicable, the center line of the boom 100 just coincides with the center line of the movable support in the initial state, the boom 100 directly falls on the movable support, and the result that the center lines of the boom 100, the movable support and the vehicle 200 coincide in the last step can be directly obtained. Therefore, the embodiment can be used for special working conditions, namely, a driver directly moves the arm support 100 to the initial moving support state and can directly fall down. Therefore, the boom support control method provided by the application can adapt to various working conditions of placing the boom 100 on the movable support, and further improves the centering efficiency of the boom 100 in the support process.

For example, the examples are:

s100, the movable support is in an initial state, and the center of the movable support is coincided with the center line of the vehicle 200;

s104, if the first judgment result is that the tolerance is not exceeded, adjusting the position of the movable support to a first state or enabling the movable support to be in an initial state;

s106, if the second judgment result is negative, jumping to the step S104 to adjust the position of the movable support to a first state;

s107, if the second judgment result is yes, the arm support 100 directly falls on the movable support;

s108, the centers of the arm support 100 and the movable support coincide with the center line of the vehicle 200;

on the basis of the above embodiment, in the embodiment provided by the application, when the movable support is in the initial state, the center of the movable support is coincident with the center line of the fixed support at the bottom; when the movable support is in the first state, the center of the movable support is staggered with the center line of the fixed support at the bottom. The control method for the support of the arm support 100 is different from some pure dynamic centering modes, and the pure dynamic centering mode means that the movable support is in an active state and has no any restriction. The fixed support and the movable support provided by the embodiment have the freedom of movement constraint, so that the movable support can only move beyond a certain fixed direction, for example, along a vertical direction perpendicular to the center line of the vehicle 200. The method can reduce the error of the movable support when the movable support is reset to coincide with the central line of the vehicle 200, has simple movement mode, can reduce the repeated positioning error generated by the posture change of the movable support between the first state and the initial state, and can improve the control precision of the arm support control method provided by the application.

Wherein the moving device moves in a first direction, the first direction being a direction perpendicular to a centerline of the vehicle 200; the mobile device has a first extreme position point and a second extreme position point in a first direction. It should be noted that, the mobile device is a whole mobile device, and the supportable range of the mobile device is not expanded, and the supportable preset parameter range of the mobile device is always fixed. The first limit position point and the second limit position point can be understood that when the arm support 100 is located at the two limit position points, the side wall of the arm support 100 cannot scrape or collide with the movable support, and a safety gap is always reserved. I.e. the arm support 100 does not scrape or collide with the moving support between the first extreme position point and the second extreme position point. The first and second limit points may be configured according to the type of the arm support 100 or other practical situations. For example, the first and second extreme position points are on the left side of the centerline of the vehicle 200, or the first and second extreme position points are on the right side of the centerline of the vehicle 200; or the first limit position point is on either the left side or the right side of the center line of the vehicle 200, the second limit position point is on either the left side or the right side of the center line of the vehicle 200, and the first limit position point and the second limit position point are not on the same side of the center line of the vehicle 200. It follows that the setting of the first and second extreme position points is related to the setting of the supportable preset parameter range of the mobile device and the orientation of the movement of the mobile device. The present embodiment provides various embodiments for the mobile device to obtain a supportable preset parameter range, which can be configured according to practical situations.

There are various ways of determining that the boom 100 falls into the region where the mobile support can be supported, and it should be noted that, in any way, it can be considered that the first parameter exceeds the preset parameter range of the mobile support to determine whether the boom 100 falls into the region where the mobile support can be supported, and the first parameter falls into the protection range of the present application. The following description will be given by way of example on how to know whether the boom 100 falls into the region where the mobile support can be supported:

for example, as shown in fig. 1 to fig. 3, a first line segment is constructed by using a first extreme position point and a rotation center point of the boom 100; constructing a second line segment by using the second limit position point and the rotation central point of the arm support 100; the preset parameter range of the movable support comprises a first included angle, and the first included angle comprises an included angle between a first line segment and a second line segment; the first parameter of the current position of the boom 100 includes a second included angle, and the second included angle is an included angle between a center line of the boom 100 and a center line of the vehicle 200 when the boom 100 is at the current position; whether the first parameter exceeds the preset parameter range of the movable support or not comprises whether the second included angle is larger than the first included angle or not. In the moving process of the boom 100, whether the second included angle is larger than the first included angle is judged in real time to determine whether the moving support follows below the boom 100, in this embodiment, mainly, a rotation center is used as an original point, a first angle corresponding to the moving support is determined, an angle value of the first angle is fixed, a first plane constructed by the original point, a first limit position and a second limit position swings, a second plane constructed by a center line of the boom 100 and a center line of the vehicle 200, and the first plane can completely cover or partially cover the second plane, so that the boom 100 is considered to fall into an area which can be supported by the moving support.

For example, the preset parameter range of the movable support comprises a first distance, and the first distance comprises the distance between a first limit position point and a second limit position point; the first parameter of the current position of the boom 100 comprises a second distance, wherein the second distance is a vertical distance from a projection point of a central line of the boom 100 projected on the mobile support to a central line of the vehicle 200 when the boom 100 is at the current position; whether the first parameter exceeds a preset parameter range of the movable support comprises whether the second distance is greater than the first distance. The second embodiment is more direct than the first embodiment, and directly compares the second distance from the center of the vehicle 200 to the boom 100 in the direction of the moving support, and if the second distance exceeds the supportable distance range of the moving support, it indicates that the boom 100 is further away from the center of the vehicle 200, and the auxiliary support for the boom 100 cannot be completed even if the moving support approaches the moving support, and the boom 100 needs to continue to rotate.

The application also provides a boom 100 support control system, which comprises a boom 100 posture acquisition module 10, a first parameter acquisition module, a second parameter acquisition module and a second parameter acquisition module, wherein the first parameter acquisition module is used for acquiring a first parameter corresponding to the boom 100 posture in real time; a first comparing module 20, configured to compare the first parameter with a preset parameter range of the movable support; the first control module 30 is configured to control the boom 100 posture acquisition module 10 to acquire the first parameter corresponding to the boom 100 posture again in real time when the first parameter exceeds a preset parameter range of the mobile support; the second control module 40 is used for controlling the movable support to adjust the position to a first state when the first parameter does not exceed the preset parameter range of the movable support; the first judging module 50 is configured to judge whether the center line of the boom 100 coincides with the center of the mobile support in the first state; the third control module 60 is configured to control the second control module 40 to continue to control the mobile support to adjust the position to the first state when the center line of the boom 100 coincides with the center of the mobile support in the first state; and the fourth control module 70 is configured to, when the center line of the boom 100 does not coincide with the center of the mobile support in the first state, control the boom 100 to directly fall on the mobile support, and adjust the centers of the boom 100 and the mobile support to coincide with the center line of the vehicle 200.

In order to determine that the boom 100 falls into the region where the mobile support can be supported, the boom 100 posture acquiring module 10 may be configured to: the boom 100 posture acquiring module 10 includes acquiring an included angle between a center line of the boom 100 and a center line of the vehicle 200 corresponding to the posture of the boom 100 in real time, and/or acquiring a vertical distance between a projection point of the center line of the boom 100 projected on the mobile support and the center line of the vehicle 200 in real time at the posture of the boom 100.

The application provides an arm support supporting device, which is applied to the arm support supporting method and comprises a movable supporting component 2.

The application provides an engineering vehicle, which comprises the arm support 100 support control system and also has the beneficial effects.

As shown in fig. 4 to 11, the present invention provides a boom support apparatus, which includes a fixed support assembly 1; the movable support assembly 2 comprises a movable seat 21 and a support structure, the support structure is connected with the movable seat 21, and the support structure is used for supporting the arm support 100; the driving assembly 3 is arranged between the movable supporting assembly 2 and the fixed supporting assembly 1, the bottom of the driving assembly 3 is connected with the fixed supporting assembly 1, the top of the driving assembly 3 is connected with the movable seat 21, and the driving assembly 3 is used for driving the movable supporting assembly 2 to move back and forth relative to the fixed supporting assembly 1 along the width direction of the vehicle 200.

When the arm support 100 moves to the supportable range of the movable support component 2, the movable support component 2 moves along the width direction of the vehicle 200, at this time, the arm support 100 does not move any more, the movable support component 2 moves towards the arm support 100 until the center line of the movable support component 2 coincides with the center line of the arm support 100, the arm support 100 is directly placed on the support structure, and then the movable support component 2 and the arm support 100 reset to the initial state at the same time. In the support mode of the boom 100 in the prior art, the boom 100 is continuously and repeatedly adjusted until the center line of the boom 100 coincides with the center line of the vehicle 200, but in the boom support device provided by the present application, after the boom 100 rotates to a preset area, for example, the farthest position of the movable support component is located, and then the movable support component 2 is moved to a position right below the boom 100, the movement of the movable support component 2 does not need to consider the inertia of the boom 100 in movement and the length of the boom 100, so that the control is convenient and fast, and the efficiency of centering (placing the boom 100 at the center position supported by the boom 100) of the boom 100 is greatly improved. Finally, it is also possible to return to the initial position, for example coinciding with the centre line of the fixed support assembly 1, the centre line of the vehicle 200, by moving the support assembly 2. Therefore, in the supporting process of the arm support 100, the arm support supporting device provided by the application does not need to consider factors such as the length of the arm support 100 and the motion inertia which influence the centering efficiency, and the centering is realized by adopting the movable supporting component 2 which can move in a reciprocating manner along the width direction of the vehicle 200, so that the centering efficiency of the arm support 100 is greatly improved, the driving safety of the engineering vehicle is improved, and the side turning of the vehicle 200 caused by the problems of deflection, unstable gravity center and the like is avoided.

It should be noted that, the movable support assembly 2 makes a linear reciprocating motion along the width direction of the vehicle 200, and the movable support assembly 2 can only move towards a certain fixed direction, this method can reduce the error when the movable support assembly 2 is reset to coincide with the center line of the vehicle 200, the movement mode is simple, the repeated positioning error caused by the posture change of the movable support between the first state and the initial state of the following boom 100 can be reduced, and the control accuracy of the boom support device provided by the present application can be improved.

It should be noted that, it is within the protection scope of the present application that the efficiency of the boom 100 in the centering process is improved by using the driving component 3 to drive the movable supporting component 2 to reciprocate relative to the fixed supporting component 1, and the connection modes of the movable supporting component 2 and the driving component 3 are various, and may be configured according to actual working conditions, such as the length and the weight of the boom 100, and for a clearer understanding of the technical mechanism of the present application, a specific description is now made for the connection mode of the movable supporting component 2 and the driving component 3:

in the first embodiment, as shown in fig. 9, the driving assembly 3 includes a fixing device 31, and the fixing device 31 is connected to the movable base 21; a belt 32, an upper portion of the belt 32 being connected to the holder 31; a belt pulley 33, the belt pulley 33 is sleeved by the belt 32, and the belt pulley 33 drives the belt 32 to move through rotation. The fixing device 31 can be understood as fixing the movable seat 21 on the upper belt 32, two belt pulleys 33 are provided, one is a driving wheel and the other is a driven wheel, the rotation of the belt pulley 33 is driven by a driving member such as an electric motor or a hydraulic motor, other electric energy or hydraulic energy is converted into the driving wheel in the belt pulley 33 to rotate, and then the driven wheel is driven to rotate, so as to realize the movement of the belt 32, and the reciprocating movement of the belt 32 is realized by the forward rotation or the reverse rotation of the driving member, that is, the movement of the following arm support 100 of the movable seat 21 is realized, and the belt returns to the initial state of the movable seat 21.

In the second embodiment, as shown in fig. 4 and 5, fig. 10 and fig. 11, the fixed supporting assembly 1 includes a supporting frame 11, and the supporting frame 11 is connected to the vehicle 200; the drive assembly 3 includes: the mounting base 34 has one end of the mounting base 34 fixedly connected to the support frame 11 in the vertical direction, and a sliding pair is formed at least partially between the other end of the mounting base 34 and the locomotion base 21. The support frame 11 can provide auxiliary support for the movable base 21, and compared with the moving mode only with the movable base 21, the structure has small repeated positioning error. A sliding pair is formed at least in a part of the position between the other end of the mounting seat 34 and the movable seat 21, and the sliding pair is provided to reduce the frictional resistance of the mutual movement between the movable seat 21 and the mounting seat 34, and to provide guidance for the movement of the movable seat 21, so that the movable seat can only linearly move in one direction. The structure of the sliding pair is various, and is not limited in detail, for example, the sliding pair may be a sliding groove disposed in the mounting seat 34, a sliding block engaged with the sliding groove, the sliding block may be a protrusion on the bottom of the moving seat 21, or vice versa, and the sliding pair may also be a profile of a nested structure, etc.

In the third embodiment, as shown in fig. 4 and 5, on the basis of the first embodiment, the driving assembly 3 includes a first driving member 35, and a telescopic end of the first driving member 35 is connected to the bottom of the movable base 21. The first driving member 35 is a telescopic cylinder, the telescopic end of the telescopic cylinder is connected with the bottom of the movable base 21, and in order to improve the structural rigidity of the telescopic cylinder, a connecting block is arranged at the telescopic end of the telescopic cylinder and is connected with the bottom of the movable base 21. As for the installation position of the first driving member 35, it can be selected according to the actual situation, for example, it can be installed on the side of the movable seat 21, in the interior of the movable seat 21, etc., and is not limited in detail herein.

In a fourth embodiment, as shown in fig. 10, the driving assembly 3 includes a first gear 36, the first gear 36 is rotatably connected to the movable base 21, a first rack portion 341 is disposed at an upper end of the mounting base 34, and the first rack portion 341 is engaged with the first gear 36. The first gear 36 is rotatably coupled to the movable base 21, and it is understood that the first gear 36 is rotated and coupled to the movable base 21, and the first gear 36 is rotated and coupled to the movable base 21, so that the rotation is converted into the linear movement of the movable base 21 by engaging with the first rack portion 341 at the upper end of the mounting base 34, thereby realizing the reciprocating movement of the movable base 21 with respect to the mounting base 34.

In the fifth embodiment, as shown in fig. 11, the principle of the fifth embodiment is similar to that of the fourth embodiment, and is different from that of the fourth embodiment, the second gear 37 and the second rack portion 211 are installed at different positions, the second gear 37 is installed on the installation base 34, the second gear 37 rotates, and by meshing with the second rack portion 211, the rotation is converted into the implementation motion of the moving base 21, so as to implement the reciprocating motion of the moving base 21 relative to the installation base 34, that is, the following arm support 100 of the moving base 21 is centered, and the arm support 100 is driven to return to the initial position.

The above embodiments are all for realizing the reciprocating movement of the moving seat 21, and are applicable to different working conditions, for example, the belt 32 and the belt pulley 33 are adopted, the moving speed is fast, the telescopic cylinder has high transmission efficiency, the gear and rack are engaged, the transmission precision is high, and the above embodiments can be selected according to the type of the arm support 100 or other practical situations.

As shown in fig. 4 and 5, in the embodiment of the present invention, the supporting structure includes a transverse support 22, and the transverse support 22 is used for supporting the bottom of the arm support 100; two vertical supporting members 23 are provided, and the two vertical supporting members 23 are respectively connected with two ends of the transverse supporting member 22, and the bottom of each vertical supporting member 23 is connected with the movable seat 21. When the arm support 100 is placed on the transverse support member 22 of the support structure, the transverse support member 22 provides an auxiliary supporting force for the arm support 100 from the bottom, and two vertical support members 23 are arranged and are connected with the transverse support member 22, so that the structure is symmetrical, and the local excessive stress is avoided. On the other hand, the vertical support 23 is mainly used to prevent the arm support 100 from falling off the transverse support 22 when the vehicle 200 is running while being placed on the transverse support 22.

Wherein, the supporting structure comprises an anti-collision block 24, and the anti-collision block 24 is arranged on one side of the vertical supporting piece 23 close to the central line of the transverse supporting piece 22. The bumper block 24 is preferably made of an elastic material, such as nylon or other elastic material, so as to prevent collision between the vertical support 23 and the arm support 100.

In the embodiment provided by the invention, the supporting frame 11 comprises at least two straight web members 111; at least two inclined web members 112 are provided, and the inclined web members 112 are respectively connected between different straight web members 111. The structural rigidity of the support frame 11 is improved by the arrangement, and the support frame is not easy to deform.

The invention provides an engineering vehicle which comprises the arm support supporting device, wherein the engineering vehicle is a fire truck or other overhead working truck.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A boom support control method is characterized by comprising the following steps:

acquiring a first parameter of the current position of the arm support (100);

if the first judgment result is out of tolerance, the first parameter of the current position of the arm support (100) is obtained again;

whether the center line of the arm support (100) is superposed with the center of the movable support in the first state is taken as a second judgment condition, and a second judgment result whether the arm support (100) can directly fall is obtained;

if the second judgment result is negative, adjusting the position of the movable support to a first state;

if the second judgment result is yes, the arm support (100) directly falls on the movable support, and the centers of the arm support (100) and the movable support are coincided with the center line of the vehicle (200).

2. The boom support control method according to claim 1,

before the first parameter of the current position of the arm support (100) is obtained, the mobile support is in an initial state;

when the movable support is in the initial state, the center of the movable support is coincident with the center line of the vehicle (200).

3. The boom support control method according to claim 2,

when the movable support is in an initial state, the center of the movable support is coincided with the center line of the fixed support at the bottom;

4. The boom support control method according to claim 3,

the moving means moves in a first direction, the first direction being a direction perpendicular to a centerline of the vehicle (200);

5. The boom support control method according to claim 4,

constructing a first line segment by using the first extreme position point and the rotation central point of the arm support (100);

constructing a second line segment by using the second limit position point and the rotation central point of the arm support (100);

the first parameter for acquiring the current position of the arm support (100) comprises a second included angle, and the second included angle is an included angle between the center line of the arm support (100) and the center line of the vehicle (200) when the arm support (100) is at the current position;

6. The boom support control method according to claim 4, wherein,

the first parameter of the current position of the arm support (100) comprises a second distance, and the second distance is a vertical distance from a projection point of the central line of the arm support (100) projected on the mobile support to the central line of the vehicle (200) when the arm support (100) is at the current position;

7. A boom support control system is characterized in that,

the control system includes:

the arm support (100) gesture obtaining module (10) is used for obtaining a first parameter corresponding to the gesture of the arm support (100) in real time;

the first comparison module (20) is used for comparing the first parameter with a preset parameter range of the movable support;

the first control module (30) is used for controlling the boom (100) gesture obtaining module (10) to obtain the first parameter corresponding to the boom (100) gesture again in real time when the first parameter exceeds the preset parameter range of the mobile support;

the second control module (40) is used for controlling the movable support to adjust the position to a first state when the first parameter does not exceed the preset parameter range of the movable support;

the first judgment module (50) is used for judging whether the center line of the arm support (100) is superposed with the center of the movable support in the first state or not;

the third control module (60) is used for controlling the second control module (40) to continuously control the movable support to adjust the position to the first state when the center line of the arm support (100) is coincident with the center of the movable support in the first state;

and the fourth control module (70) is used for controlling the arm support (100) to directly fall on the mobile support when the center line of the arm support (100) is not coincident with the center of the mobile support in the first state, and adjusting the centers of the arm support (100) and the mobile support to be coincident with the center line of the vehicle (200).

8. The boom support control system of claim 7,

the boom (100) posture acquisition module (10) acquires an included angle between a boom (100) central line and a vehicle (200) central line corresponding to the boom (100) posture in real time, and/or acquires an included angle between the boom (100) central line and the vehicle (200) central line in real time

And acquiring the vertical distance between the projection point of the central line of the arm support (100) projected on the mobile support and the central line of the vehicle (200) in the attitude of the arm support (100) in real time.

9. A boom support device, characterized in that the boom support control method according to any one of claims 1 to 6 is applied to the boom support device, and the boom support device comprises a mobile support assembly (2).

10. A working vehicle, characterized by comprising the boom support control system of any one of claims 7 or 8.